Polishing robot end effector with vibration reduction function

Abstract

The invention discloses a grinding robot end effector with a vibration reduction function. The grinding robot end effector comprises a motor mounting frame, a rotating motor, a vibration reduction mechanism assembling frame, a magnetorheological damper and a vibration reduction plate. One end of the motor mounting frame is connected with the polishing robot; the rotating motor is mounted at the other end of the motor mounting frame; one end, corresponding to an output shaft of the rotating motor, of the vibration reduction mechanism assembly frame is fixedly sleeved on a shell of the rotating motor; the output shaft of the rotating motor penetrates through the vibration reduction mechanism assembly frame and is vertically and fixedly connected with the grinding turntable; the multiple magnetorheological dampers are all installed in the vibration reduction mechanism assembling frame, and the moving end of each magnetorheological damper abuts against the output shaft and applies radial damping force to the output shaft. The multiple vibration reduction plates are fixed to the vibration reduction mechanism assembling frame, and each vibration reduction plate is provided with the multiple elastic buffering units. The grinding robot end effector with the vibration reduction function has an excellent vibration reduction effect, and the grinding precision is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of polishing robot end effector damping device, more particularly to a polishing robot end effector with damping function. BACKGROUND

[0002] The polishing robot is an industrial equipment combining robot technology and polishing process to realize automatic polishing operation. Its core is to accurately control the relative movement between the polishing tool and the workpiece to be polished through the cooperation of the mechanical arm, end effector and sensor system, so as to achieve the expected polishing effect. The polishing robot is flexible and efficient in operation, and has become an inevitable trend in the field of grinding and polishing.

[0003] In the fine grinding and polishing operation, the traditional polishing end effector relies on the motor to provide power for polishing the workpiece to be polished. The vibration caused by the whole executioner and the spindle rotation when the motor is working will reduce the stability and polishing precision of the polishing tool, so that the polishing surface does not meet the standard of precision machining. In order to deal with the vibration problem, some polishing end effectors are equipped with damping pads or simple vibration isolation structures on the shaft connected with the polishing tool to reduce the vibration of the shaft. However, this damping method is difficult to deal with complex polishing conditions, and often cannot meet the damping requirements, so it cannot guarantee the polishing precision.

[0004] Therefore, how to provide a polishing robot end effector with damping function is a problem that those skilled in the art need to solve. SUMMARY

[0005] Therefore, the purpose of the present application is to provide a polishing robot end effector with damping function, which has excellent damping effect and improves the polishing precision.

[0006] In order to achieve the above purpose, the present application adopts the following technical scheme: The polishing robot end effector with the damping function comprises a motor mounting frame, a rotating motor, a damping mechanism assembly frame, a magnetorheological damper and a damping plate; one end of the motor mounting frame is connected with a polishing robot; the rotating motor is installed at the other end of the motor mounting frame; the damping mechanism assembly frame is cylindrical and is sleeved on the outer shell of the rotating motor at one end corresponding to the output shaft of the rotating motor; the output shaft of the rotating motor penetrates through the damping mechanism assembly frame and is vertically fixedly connected with a grinding turntable; the magnetorheological dampers are multiple and are all installed in the damping mechanism assembly frame; the multiple magnetorheological dampers are uniformly arranged along the circumferential direction of the output shaft; the movement end of each magnetorheological damper abuts against the output shaft and applies a radial damping force to the output shaft; the damping plates are multiple and are all fixed on the damping mechanism assembly frame; the multiple damping plates are uniformly arranged along the circumferential direction of the output shaft; and multiple elastic buffering units are installed on each damping plate to elastically buffer the vibration on the damping plate.

[0007] Through the technical scheme, the polishing robot end effector with the damping function is provided; when the rotating motor drives the grinding turntable to rotate, vibration is generated; the multiple magnetorheological dampers are uniformly arranged along the circumferential direction of the output shaft; the movement end of each magnetorheological damper abuts against the output shaft and applies a damping force to the output shaft, so as to reduce the vibration amplitude of the output shaft; when the vibration on the outer shell of the rotating motor is transmitted to the damping plate, the elastic buffering units can buffer the vibration on the damping plate. The polishing robot end effector with the damping function has a good damping effect on the output shaft of the driving motor, and can improve the grinding precision of the grinding turntable on the workpiece to be ground in the lapping operation.

[0008] Preferably, each magnetorheological damper comprises a shell, a piston, an excitation coil, a piston rod and a return spring; the shell comprises a cylinder body, an end cover one and an end cover two; the cylinder body is fixed on the damping mechanism assembly frame, and the axis thereof is arranged perpendicularly to the output shaft; the end cover one is sealingly connected at one end of the cylinder body close to the output shaft; and the end cover two is sealingly connected at the other end of the cylinder body; the cylinder body is arranged with magnetorheological fluid; the piston is slidingly arranged in the cylinder body; the excitation coil is wound on the circumferential wall of the piston, and one end thereof is sealingly penetrated out of the cylinder body and electrically connected with a power supply part; the piston rod is arranged perpendicularly to the output shaft, one end thereof is fixed on the piston, and the other end is the movement end and is sealingly penetrated through the end cover one and is assembled with a sleeve; the sleeve is fixed with a damping top bead corresponding to the outside of the output shaft, and the damping top bead abuts against the output shaft; the return spring is located in the cylinder body and is arranged between the end cover two and the piston; the excitation coil generates a magnetic field after being electrified; the magnetorheological fluid generates a magnetorheological effect in the magnetic field and generates a shear yield stress to resist the movement of the piston to the end cover two.

[0009] The output shaft is provided with bearings corresponding to the positions of piston rods of the magnetorheological dampers, and the damping top beads of each magnetorheological damper abut against the bearings and exert radial damping force on the output shaft through the bearings.

[0010] The magnetorheological fluid is an intelligent fluid formed by suspending micron-sized ferromagnetic particles in a base fluid.

[0011] The magnetorheological damper can flexibly control the damping force output by controlling the size of the current input into the excitation coil.

[0012] The magnetorheological effect refers to the quick and controllable change of the rheological properties such as viscosity and plasticity of the magnetorheological fluid under the action of an external magnetic field.

[0013] Preferably, the elastic buffering unit is a phononic crystal unit cell.

[0014] Preferably, the motor mounting frame comprises a rotating motor assembly plate, a connecting plate, a guide rod and a limiting block.

[0015] Preferably, the polishing robot end effector with the damping function further comprises a pushing motor fixed on one side of the connecting plate close to the first plate face and fixedly connected with the rotating motor assembly plate through a connecting piece at the telescopic end.

[0016] Specifically, the pushing motor is a voice coil motor.

[0017] The pushing motor can push the rotating motor assembly plate to move, thereby adjusting the distance between the grinding turntable and the workpiece to be ground, and the motor assembly plate slides on the guide rod to the position of the limiting block at most.

[0018] Preferably, the polishing robot end effector with the damping function further comprises a counterweight fixed to the other side of the connecting plate near the first plate surface and arranged opposite to the pushing motor, so that the connecting plate is kept in gravitational balance.

[0019] Preferably, the counterweight is a one-way output cylinder, and the telescopic rod of the one-way output cylinder is fixedly connected with the first plate surface.

[0020] The one-way output cylinder can only output in one direction, i.e., can only drive the telescopic rod to extend, and when the one-way output cylinder is not working, the telescopic rod can freely slide in the cylinder body, and when the pushing motor is started and the one-way output cylinder is not started, the output shaft of the one-way output cylinder can freely slide in the cylinder body, and the telescopic end of the pushing motor pushes the rotating motor assembly plate to slide on the guide rod through the connecting piece.

[0021] Preferably, the polishing robot end effector with the damping function further comprises a pressure sensor, which is installed on the first plate surface corresponding to the pushing motor, and the pressure detection end of which is fixedly connected with the telescopic end of the pushing motor.

[0022] The pressure sensor can monitor the pushing force of the pushing motor, i.e., the pressure when the grinding turntable abuts against the workpiece to be ground.

[0023] Preferably, the polishing robot end effector with the damping function further comprises an inclination sensor and a vibration sensor, the inclination sensor is installed on the second plate surface, and the vibration sensor is installed on the output shaft.

[0024] The inclination sensor can monitor the inclination angle of the rotating motor fixed to the rotating motor assembly plate in real time, which facilitates the worker to understand the inclination angle of the output shaft of the rotating motor, and the worker can also understand the vibration frequency and amplitude of the output shaft of the rotating motor in real time through the vibration sensor, and adjust the damping force output by each magnetorheological damper accordingly.

[0025] The polishing robot end effector with the damping function further comprises a controller electrically connected with the power supply part, the pressure sensor, the inclination sensor and the vibration sensor, and electrically controlled connected with the one-way output cylinder and the pushing motor.

[0026] Compared with the prior art, the polishing robot end effector with the damping function provided by the technical solution has the following main effects and advantages: 1. The magneto-rheological damper has excellent damping effect on the output shaft of the driving motor, and the damping force output by the magneto-rheological damper can be adjusted by controlling the input excitation coil current of the power supply part.

[0027] 2. The damping plate provided with the phononic crystal unit cell buffers part of the vibration generated when the rotating motor works, and improves the damping effect on the output shaft of the driving motor.

[0028] 3. The pressure sensor can detect the pressure when the grinding turntable abuts against the workpiece to be ground, the inclination sensor detects the angle change of the device, and the vibration sensor detects the vibration amplitude and vibration frequency of the output shaft of the driving motor. The pressure sensor, the inclination sensor and the vibration sensor transmit the data in the form of signals to the controller, respectively. In order to improve the polishing precision of the grinding turntable, the inclination angle of the device and the pressure output by the pushing motor can be adjusted according to the above data, so as to ensure that the grinding turntable and the workpiece to be ground have the best contact angle and contact force, and the polishing posture of the device is flexibly adjusted under the monitoring of the pressure sensor and the inclination sensor, thereby avoiding the problem of uneven polishing surface and improving the polishing quality. BRIEF DESCRIPTION OF DRAWINGS

[0029] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of the provided drawings.

[0030] Figure 1 It is a schematic diagram of the overall structure of the polishing robot end effector with the damping function of the present application; Figure 2 It is a schematic diagram of the polishing robot end effector with the damping function of the present application after explosion; Figure 3 It is a schematic diagram of the structure of the damping mechanism assembly frame in the present application; Figure 4 It is a schematic diagram of the connection between the damping mechanism assembly frame and the rotating motor in the present application; Figure 5 This is a schematic diagram of the vibration damping mechanism assembly frame after the vibration damping plate has been removed in this invention; Figure 6 This is a schematic diagram of the magnetorheological damper in operation according to the present invention; Figure 7 This is a front view of the magnetorheological damper in this invention; Figure 8 for Figure 7 Cross-sectional view of the magnetorheological damper along the AA direction; Figure 9 for Figure 2 A schematic diagram of the drive motor and counterweight assembled on the connecting plate; Figure 10 for Figure 2 A schematic diagram of the intermediate rotation motor mounted on the rotation motor mounting plate; Figure 11 This is a schematic diagram of the overall structure of the motor mounting bracket.

[0031] The components are: 1-motor mounting bracket, 2-rotating motor, 3-vibration damping mechanism assembly bracket, 4-grinding turntable, 5-magnetorheological damper, 6-vibration damping plate, 7-elastic buffer unit, 8-assembly flange, 9-push motor, 10-counterweight, 20-pressure sensor, 30-tilt sensor, 40-vibration sensor, 50-bearing, 60-clamp, 70-connector, 11-rotating motor assembly plate, 12-connecting plate, 13-guide rod, 14-limiting block, 21-output shaft, 51-housing, 52-magnetorheological fluid, 53-piston, 54-excitation coil, 55-piston rod, 56-kit, 57-vibration damping ball, 58-reset spring, 511-cylinder, 512-end cap one, 513-end cap two, 111-first plate surface, 112-second plate surface. Detailed Implementation

[0032] 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 some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0033] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention. In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood broadly, for example, it can be fixed connection, or detachable connection, or integral; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through intermediate medium, it can be the internal communication of two elements or the interaction relationship between 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. Referring to the drawings Figure 1 to the drawings Figure 11 According to the polishing robot end effector with damping function of the present application, the motor mounting frame 1 is connected with the polishing robot at one end, the rotating motor 2 is installed at the other end of the motor mounting frame 1, the damping mechanism assembly frame 3 is cylindrical and is sleeved on the outer shell of the output shaft 21 of the rotating motor 2 at one end corresponding to the output shaft 21 of the rotating motor 2, the output shaft 21 of the rotating motor 2 penetrates the damping mechanism assembly frame 3 and is vertically fixedly connected with the grinding turntable 4, the magnetorheological dampers 5 are multiple and are installed in the damping mechanism assembly frame 3, the multiple magnetorheological dampers 5 are uniformly arranged along the circumferential direction of the output shaft 21, the movement end of each magnetorheological damper 5 abuts against the output shaft 21 and applies a radial damping force to the output shaft 21, and the damping plates 6 are multiple and are fixed on the damping mechanism assembly frame 3, the multiple damping plates 6 are uniformly arranged along the circumferential direction of the output shaft 21, and multiple elastic buffer units 7 are installed on each damping plate 6 to elastically buffer the vibration on the damping plate 6.

[0034] The polishing robot end effector with damping function of the present application, when the rotating motor 2 works, not only applies a damping force to the output shaft 21 of the rotating motor 2 through the magnetorheological damper 5 to reduce the vibration, but also further elastically buffers the vibration of the rotating motor 2 through the elastic buffer unit 7 on the damping plate 6, improves the damping effect of the whole device, and further improves the polishing precision of the grinding turntable 4 on the workpiece to be polished.

[0035] In some embodiments, each of the magneto-rheological dampers 5 comprises a shell 51, a piston 53, an excitation coil 54, a piston rod 55 and a return spring 58; the shell comprises a cylinder body 511, an end cover one 512 and an end cover two 513, the cylinder body 511 is fixed on the damping mechanism assembly frame 3, and the axis thereof is arranged perpendicularly to the output shaft 21, the end cover one 512 is sealingly connected to one end of the cylinder body 511 close to the output shaft 21, and the end cover two 513 is sealingly connected to the other end of the cylinder body 511; the magneto-rheological fluid 52 is arranged in the cylinder body 511; the piston 53 is slidingly arranged in the cylinder body 511; the excitation coil 54 is wound on the circumferential wall of the piston 53, and one end thereof is sealingly penetrated through the cylinder body 511 and electrically connected with the power supply part; the piston rod 55 is arranged perpendicularly to the output shaft 21, one end thereof is fixed on the piston 53, the other end is a moving end and sealingly penetrates through the end cover one 512 and is provided with a sleeve 56, the sleeve 56 is fixed with a damping top bead 57 corresponding to the outside of the output shaft 21, and the damping top bead 57 abuts against the output shaft 21; the return spring 58 is located in the cylinder body 511 and arranged between the end cover two 513 and the piston 53; the excitation coil 54 generates a magnetic field after being electrified, the magneto-rheological fluid 52 generates a magnetic-rheological effect in the magnetic field and generates a shear yield stress to resist the movement of the piston 53 to the end cover two 513.

[0036] The output shaft 21 is provided with a bearing 50 corresponding to the position of the piston rod 57, and the damping top bead 59 of each of the magneto-rheological dampers 5 abuts against the bearing 50 and applies a radial damping force to the output shaft 21 through the bearing 50.

[0037] The magneto-rheological fluid is an intelligent fluid formed by suspending micron-sized ferromagnetic particles in a base fluid. In a natural state, the magneto-rheological fluid has good fluidity and low viscosity. After the excitation coil is electrified, a magnetic field is generated in the cylinder body, and the ferromagnetic particles in the magneto-rheological fluid are arranged into a fibrous or chain-like microstructure under the action of the magnetic force, thereby increasing the viscosity of the magneto-rheological fluid and generating a shear yield stress similar to that of a solid. When the output shaft 21 vibrates and pushes the piston rod 55 to slide towards the end cover two 513, the magneto-rheological fluid adheres to the piston rod 55 and generates a shear yield stress to resist the movement of the piston rod 55, and the return spring 58 is compressed to generate an elastic force opposite to the movement direction of the piston rod 55.

[0038] The present application can flexibly control the damping force output by the magneto-rheological damper 5 by controlling the size of the current input into the excitation coil 56.

[0039] The magneto-rheological effect refers to the rapid and controllable change in the rheological properties such as viscosity and plasticity of the magneto-rheological fluid under the action of an applied magnetic field. When no magnetic field is applied, the magneto-rheological fluid behaves as a Newtonian fluid; after a magnetic field is applied, the magnetic particles are arranged into a chain or column structure, instantaneously changing into a semi-solid state, and the rheological properties change abruptly.

[0040] In some specific examples, the elastic buffering units 7 are phononic crystal unit cells, which are combined by taking organic glass as a matrix and lead blocks as scatterers, and can elastically buffer vibrations at specific frequencies.

[0041] Specifically, as shown in Figure 3 each damping plate 6 of the present application adopts an arrangement of 8 rows and 3 columns of the elastic buffering units 7.

[0042] In some embodiments, the motor mounting frame 1 comprises a rotating motor assembly plate 11, a connecting plate 12, guide rods 13 and limit blocks 14; the rotating motor assembly plate 11 has oppositely arranged first and second plate surfaces 111 and 112, the rotating motor 2 is arranged through the rotating motor assembly plate 11 and is fixed by a clamp 60, the damping mechanism assembly frame 3 is located on the side of the second plate surface 112 and is fixed on the shell of the rotating motor 2, and a plurality of through holes are formed in the rotating motor assembly plate 11; the connecting plate 12 is located on the side of the first plate surface 111 and is arranged in parallel with the rotating motor assembly plate 11, and an assembly flange 8 connected with the polishing robot is fixed on the plate surface of the connecting plate 12 away from the rotating motor assembly plate 11; the guide rods 13 are a plurality of rods and are arranged perpendicularly to the connecting plate 12, one end of each guide rod 13 is fixed on the connecting plate 12, and the other end is slidably arranged through the corresponding through hole; and the limit blocks 14 are arranged on the side of the second plate surface 112 and are installed on the guide rods 13.

[0043] In some other specific examples, the polishing robot end effector with the damping function further comprises a pushing motor 9, which is fixed on one side of the connecting plate 12 close to the first plate surface 111 and is fixedly connected with the rotating motor assembly plate 11 through a connecting piece 70 at the telescopic end.

[0044] Specifically, the pushing motor 9 is a voice coil motor.

[0045] The pushing motor 9 can push the rotating motor assembly plate 11 to move on the guide rods 13, so as to make the grinding turntable 4 abut against the workpiece to be polished.

[0046] In some other specific examples, the polishing robot end effector with the damping function further comprises a counterweight 10, which is fixed on the other side of the connecting plate 12 close to the first plate surface 111 and is arranged opposite to the pushing motor 9, so as to keep the connecting plate 12 in gravitational balance.

[0047] The counterweight 10 is a one-way output air cylinder, and the telescopic rod of the one-way output air cylinder is fixedly connected with the first plate surface 111.

[0048] Specifically, the polishing robot end effector with the damping function further comprises a pressure sensor 20, which is installed on the first plate surface 111 corresponding to the pushing motor 9 and is fixedly connected with the telescopic end of the pushing motor 9 at the pressure detection end.

[0049] When the one-way output cylinder is not working, the telescopic rod can freely slide in the cylinder body, the pushing motor 9 pushes the rotating motor assembly plate 11 to move, so that the grinding turntable 4 connected to the output shaft 21 abuts against the workpiece to be ground, and the pressure sensor 20 can detect the pushing force output by the pushing motor 9, that is, the pressure of the grinding turntable 4 abutting against the workpiece to be ground.

[0050] Specifically, the polishing robot end effector with the damping function further comprises an inclination sensor 30 and a vibration sensor 40; the inclination sensor 30 is installed on the second plate surface 112; and the vibration sensor 40 is installed on the output shaft 21.

[0051] The inclination sensor 30 can detect the inclination angle of the device; and the vibration sensor 40 can detect the vibration frequency and amplitude on the output shaft 21.

[0052] Specifically, the polishing robot end effector with the damping function further comprises a controller, which is electrically connected with the power supply part, the pressure sensor 20, the inclination sensor 30 and the vibration sensor 40, and is electrically controlled connected with the one-way output cylinder and the pushing motor 9.

[0053] When polishing the complex curved surface of the workpiece to be ground, the grinding turntable 4 needs to maintain a certain angle with the curved surface to be ground. The inclination sensor 30 can transmit the inclination angle of the grinding turntable 4 to the controller in the form of an electric signal, and the inclination angle of the device is adjusted under the monitoring of the inclination sensor 30 to ensure that the grinding turntable 4 has the optimal contact angle with the curved surface to be ground, thereby improving the polishing precision of the grinding turntable 4.

[0054] The above description of disclosed embodiments enables those skilled in the art to carry out or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to these embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A polishing robot end effector having a vibration reduction function, characterized by, It comprises: a motor mounting frame (1) connected with a polishing robot at one end; a rotating motor (2) mounted at the other end of the motor mounting frame (1); a damping mechanism assembly frame (3) which is cylindrical and is fixed on the outer shell of the output shaft (21) of the rotating motor (2) at one end, the output shaft (21) of the rotating motor (2) penetrates the damping mechanism assembly frame (3) and is vertically fixedly connected with a grinding turntable (4); a plurality of magneto-rheological dampers (5) which are installed in the damping mechanism assembly frame (3), the plurality of magneto-rheological dampers (5) are uniformly arranged along the circumferential direction of the output shaft (21), and the moving end of each magneto-rheological damper (5) abuts against the output shaft (21) and applies a radial damping force thereto; a plurality of damping plates (6) which are fixed on the damping mechanism assembly frame (3), the plurality of damping plates (6) are uniformly arranged along the circumferential direction of the output shaft (21), and each damping plate (6) is provided with a plurality of elastic buffer units (7) for elastically buffering the vibration on the damping plate (6).

2. The polishing robot end effector with a damping function according to claim 1, wherein, Each magneto-rheological damper (5) comprises: a shell (51) comprising a cylinder (511), an end cover one (512) and an end cover two (513), the cylinder (511) is fixed on the damping mechanism assembly frame (3), and the axis thereof is arranged vertically to the output shaft (21), the end cover one (512) is sealingly connected at one end of the cylinder (511) close to the output shaft (21), and the end cover two (513) is sealingly connected at the other end of the cylinder (511); the cylinder (511) is arranged with magneto-rheological fluid (52) therein; a piston (53) slidingly arranged in the cylinder (511); an excitation coil (54) wound on the circumferential wall of the piston (53), and one end of the excitation coil (54) sealingly penetrates the cylinder (511) and is electrically connected with a power supply part; a piston rod (55) arranged vertically to the output shaft (21), one end of the piston rod (55) is fixed on the piston (53), and the other end is the moving end and sealingly penetrates the end cover one (512) and is provided with a sleeve (56), the sleeve (56) is fixed with a damping top bead (57) corresponding to the outside of the output shaft (21), and the damping top bead (57) abuts against the output shaft (21); a reset spring (58) located in the cylinder (511) and arranged between the end cover two (513) and the piston (53); the excitation coil (54) generates a magnetic field after being energized, the magneto-rheological fluid (52) generates a magneto-rheological effect in the magnetic field and generates a shear yield stress to resist the movement of the piston (53) towards the end cover two (513).

3. The polishing robot end effector with a damping function according to claim 1, wherein, The elastic buffer unit (7) is a phononic crystal unit cell.

4. The polishing robot end effector with a damping function according to claim 1, wherein, The motor mounting frame (1) comprises: A rotating motor assembly plate (11) is provided with oppositely arranged first and second plate surfaces (111) and (112), the rotating motor (2) is fixed on the rotating motor assembly plate (11), the damping mechanism assembly frame (3) is located on the side of the second plate surface (112) and is fixed on the shell of the rotating motor (2), and a plurality of through holes are formed in the rotating motor assembly plate (11); A connecting plate (12) is arranged on the side of the first plate surface (111) and is arranged in parallel with the rotating motor assembly plate (11), and an assembly flange (8) connected with the polishing robot is fixed on the plate surface of the connecting plate (12) away from the rotating motor assembly plate (11); A plurality of guide rods (13) are arranged perpendicularly to the connecting plate (12), one end of each guide rod (13) is fixed on the connecting plate (12), and the other end is slidably arranged through the corresponding through hole; A limiting block (14) is arranged on the side of the second plate surface (112) and is installed on the guide rod (13).

5. The polishing robot end effector with a damping function according to claim 4, wherein, A pushing motor (9) is fixed on the side of the connecting plate (12) close to the first plate surface (111), and the telescopic end is fixedly connected with the rotating motor assembly plate (11).

6. The polishing robot end effector with a damping function according to claim 5, wherein, A counterweight (10) is fixed on the other side of the connecting plate (12) close to the first plate surface (111) and is arranged opposite to the pushing motor (9), so that the connecting plate (12) is kept in gravitational balance.

7. The polishing robot end effector with damping function according to claim 6, wherein, The counterweight (10) is a one-way output air cylinder, and the telescopic rod of the one-way output air cylinder is fixedly connected with the first plate surface (111).

8. The polishing robot end effector with damping function according to claim 7, wherein, A pressure sensor (20) is installed on the first plate surface (111) corresponding to the pushing motor (9), and the pressure detection end is fixedly connected with the telescopic end of the pushing motor (9).

9. The polishing robot end effector with damping function according to claim 8, wherein, An inclination sensor (30) and a vibration sensor (40) are further included; the inclination sensor (30) is installed on the second plate surface (112); and the vibration sensor (40) is installed on the output shaft (21).

10. The polishing robot end effector with a damping function according to claim 9, wherein, A controller is electrically connected with the power supply unit, the pressure sensor (20), the inclination sensor (30) and the vibration sensor (40), and is electrically connected with the one-way output air cylinder and the pushing motor (9).

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