Floating belt sander and control method thereof

Abstract

The invention provides a floating belt sander and a control method thereof, the floating belt sander comprises a fixed plate, a driving motor is fixedly mounted on one side of the fixed plate, and a floating plate is rotatably mounted on the other side of the fixed plate; a driving wheel and a driven wheel are rotationally mounted on the floating plate, and the driving wheel is in transmission connection with an output shaft of the driving motor and is in transmission connection with the driven wheel through an abrasive belt; the floating driving mechanism is hinged to the fixed plate and comprises a first telescopic end which is telescopic, and the first telescopic end is hinged to the floating plate; the floating driving mechanism is used for driving the floating plate to rotate relative to the fixed plate; the deviation adjusting and tensioning mechanism is mounted on the floating plate, is arranged on the inner side of the abrasive belt and is used for adjusting the tension of the abrasive belt; and the image recognition mechanism is installed on the driving motor and used for collecting image information of the workpiece. The floating belt sander can be attached to a workpiece in a self-adaptive mode and automatically adjust deviation and tension, and the polishing precision and stability are effectively improved.

Description

Technical Field

[0001] This invention belongs to the technical field of belt sanders, specifically relating to a floating belt sander and its control method. Background Technology

[0002] Belt sanders are commonly used surface treatment equipment, widely applied in grinding, polishing, and descaling of workpieces. In the automated grinding of complex curved or contoured workpieces, the abrasive belt must closely adhere to the workpiece surface and maintain constant contact pressure to ensure processing accuracy and consistency. This places high demands on the belt sander's adaptive floating capability and stability.

[0003] Existing belt sanders, when dealing with curved surface grinding, suffer from several drawbacks. Firstly, their floating adjustment mechanisms are often too simple or overly rigid, making it difficult to achieve precise, smooth, and adaptive belt contact with the workpiece surface. This can easily lead to overcutting or uneven grinding. Secondly, the belt tension is prone to change during the floating process, lacking an effective real-time adjustment and tensioning mechanism, which affects operational stability and can even cause the belt to detach. Therefore, a floating belt sander that can solve these problems is urgently needed. Summary of the Invention

[0004] In view of the above-mentioned defects or deficiencies in the prior art, the first aspect of this application provides a floating belt sander, comprising: A fixed plate has a drive motor fixedly mounted on one side and a floating plate rotatably mounted on the other side. A driving wheel and a driven wheel are rotatably mounted on the floating plate. The driving wheel is driven by the output shaft of the drive motor and is also driven by the driven wheel through a sanding belt. A floating drive mechanism is hinged to the fixed plate and includes a retractable first telescopic end, which is hinged to the floating plate; the floating drive mechanism is used to drive the floating plate to rotate relative to the fixed plate. An adjustment tensioning mechanism is installed on the floating plate and located inside the sanding belt, and is used to adjust the tension of the sanding belt; An image recognition mechanism is mounted on the drive motor and is used to acquire image information of the workpiece.

[0005] According to the technical solution provided by the present invention, the bias adjustment tensioning mechanism includes: An adjusting device is fixedly connected to the floating plate and includes a retractable second telescopic end; A rotating device is fixedly installed on the second telescopic end, and a driving device is externally connected to the rotating device. The rotation axis of the rotating device is parallel to the telescopic direction of the second telescopic end. Mounting base, which is fixedly mounted on the rotating shaft, and a tensioning wheel is rotatably mounted on the mounting base, the tensioning wheel abutting against the inner side of the sanding belt.

[0006] According to the technical solution provided by the present invention, a sealing structure is provided between the floating plate and the fixed plate, and the sealing structure includes at least one end face seal and / or radial seal.

[0007] A second aspect of this application provides a control method for a floating belt sander, the control method being applied to the floating belt sander described above, comprising: The image information is acquired, and the three-dimensional contour information of the area to be polished on the workpiece surface is constructed based on the image information; Based on the three-dimensional contour information and the preset grinding process parameters, a target posture sequence and a collaborative command sequence are generated synchronously through a collaborative control algorithm. The target posture sequence includes the target rotation angle of the floating plate at each point on the grinding path. The collaborative command sequence includes the target displacement command for the adjustment device and the target angle command for the rotation device, which are synchronized with the target posture sequence in time. The floating drive mechanism is controlled to drive the floating plate to move according to the target posture sequence; at the same time, the bias adjustment tensioning mechanism is controlled to execute according to the coordinated instruction sequence so that the sanding belt contacts the workpiece and begins grinding.

[0008] According to the technical solution provided by the present invention, after bringing the abrasive belt into contact with the workpiece and starting grinding, it further includes... The actual contact pressure between the abrasive belt and the workpiece is acquired in real time. When the difference between the actual contact pressure and the target contact pressure in the preset grinding process parameters exceeds the set range, the target posture sequence and the cooperative instruction sequence are corrected.

[0009] According to the technical solution provided by the present invention, the step of synchronously generating a target posture sequence and a cooperative command sequence based on the three-dimensional contour information and preset process parameters through a cooperative control algorithm includes: Based on the three-dimensional contour information, calculate the surface normal vector at each grinding contact point; Based on the surface normal vector and the preset constant contact pressure model, the target rotation angle required to maintain the target contact pressure is solved inversely, and the target attitude sequence is obtained based on all the target rotation angles; Based on the kinematic model of the floating drive mechanism and the elastic dynamics model of the sanding belt, it is predicted that when the floating plate moves according to the target posture sequence, it will cause changes in the effective length of the sanding belt and potential deviation trends. The elastic dynamics model is a nonlinear model that considers the viscoelastic properties and wear thickness changes of the sanding belt. Its parameters are updated online by the thickness change monitored by the sanding belt thickness detection device and the pressure fed back by the adjustment device. Based on the change in effective length, the target displacement command is generated; based on the deviation trend, the target angle command is generated; and based on all the target displacement commands and target angle commands, the cooperative command sequence is obtained.

[0010] According to the technical solution provided by the present invention, the belt sander further includes a belt offset detection device, which includes two non-contact displacement measuring units symmetrically arranged on both sides of the belt, for measuring the position of the two sides of the belt relative to the reference point on the floating plate in real time, and calculating the actual deviation of the belt accordingly. After bringing the abrasive belt into contact with the workpiece and initiating grinding, the process further includes: When the actual deviation exceeds the first set threshold, an angle correction amount is generated based on the actual deviation amount, and the angle correction amount is superimposed on the target angle command at the current moment and the subsequent time in the cooperative command sequence to perform closed-loop correction. If, after closed-loop correction, the deviation continues to increase or exceeds the second set threshold, it is determined to be a tension mismatch, triggering the adjustment device to perform emergency tension compensation. After the tension stabilizes again, the subsequent part of the coordinated instruction sequence is updated based on the new tension state and execution continues.

[0011] According to the technical solution provided by the present invention, after acquiring the image information and constructing the three-dimensional contour information of the area to be polished on the workpiece surface based on the image information, and before simultaneously generating the target posture sequence and the cooperative instruction sequence based on the three-dimensional contour information and preset process parameters through a cooperative control algorithm, the method further includes: Based on the three-dimensional contour information, the overall curvature characteristics of the workpiece surface are identified; The overall curvature features are matched with the historical process database. If the match is successful, the optimized target posture sequence and cooperative instruction sequence in the historical data are directly invoked.

[0012] According to the technical solution provided by the present invention, after acquiring the image information and constructing the three-dimensional contour information of the area to be polished on the workpiece surface based on the image information, and before simultaneously generating the target posture sequence and the cooperative instruction sequence based on the three-dimensional contour information and preset process parameters through a cooperative control algorithm, the method further includes: The thickness wear of the abrasive belt is obtained, and the thickness wear is used to characterize roughness information; Based on the aforementioned thickness wear amount, assess the current wear condition level of the abrasive belt; When the current wear state level is determined to exceed a preset level threshold, the target contact pressure in the preset grinding process parameters is adjusted according to the current wear state level, so that the cooperative control algorithm generates the target attitude sequence and cooperative command sequence based on the updated process parameters.

[0013] According to the technical solution provided by the present invention, after obtaining the thickness wear amount of the sanding belt, the method further includes: Real-time calculation of the thickness change rate of the sand belt; When the thickness change rate exceeds a preset safety rate threshold, a control command is generated to stop the drive motor and simultaneously control the floating drive mechanism to move the floating plate away from the workpiece.

[0014] Compared with existing technologies, the advantages of this invention are as follows: This floating belt sander, by setting a floating plate that can rotate relative to a fixed plate and cooperating with a floating drive mechanism to drive the floating plate to rotate, allows the sanding belt to adaptively conform to the workpiece surface, effectively avoiding over-cutting or incomplete grinding, thus improving grinding accuracy and consistency. Simultaneously, the belt tension is adjusted in real time by an adjustment and tensioning mechanism set on the floating plate, preventing the sanding belt from falling off during the floating process and ensuring the stability and safety of the grinding process. Furthermore, an image recognition mechanism mounted on the drive motor can collect workpiece image information in real time, providing a basis for automated positioning and grinding control. The overall structure is compact and flexible, adaptable to the grinding needs of different curved workpieces, significantly reducing the difficulty of manual operation and improving grinding efficiency and quality. Attached Figure Description

[0015] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings: Figure 1 This is a schematic diagram of the structure of the floating belt sander provided in Embodiment 1 of this application; Figure 2 for Figure 1 The diagram shows the structure of the floating belt sander from another perspective. Figure 3 A schematic diagram of the connection mechanism between the fixed plate and the floating plate; Figure 4 This is a flowchart illustrating the steps of the floating belt sander control method provided in Embodiment 2 of this application.

[0016] The text labels in the diagram represent: 1. Fixed plate; 2. Drive motor; 3. Floating plate; 4. Drive wheel; 5. Driven wheel; 6. Sanding belt; 7. Floating drive mechanism; 8. Adjustment and tensioning mechanism; 9. Image recognition mechanism; 10. Adjustment device; 11. Rotation device; 12. Tensioning wheel; 13. Protective cover; 14. Connecting flange; 15. Telescopic component; 16. Protective cover; 17. Crossed roller bearing. Detailed Implementation

[0017] The present application will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings.

[0018] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0019] Example 1 As mentioned in the background section, this embodiment proposes a floating belt sander, comprising: A fixed plate 1 is provided, on one side of which a drive motor 2 is fixedly mounted, and on the other side a floating plate 3 is rotatably mounted. A drive wheel 4 and a driven wheel 5 are rotatably mounted on the floating plate 3. The drive wheel 4 is connected to the output shaft of the drive motor 2 and is connected to the driven wheel 5 through a sanding belt 6. A floating drive mechanism 7 is hinged to the fixed plate 1 and includes a retractable first telescopic end, which is hinged to the floating plate 3; the floating drive mechanism is used to drive the floating plate 3 to rotate relative to the fixed plate 1. The tension adjustment mechanism 8 is installed on the floating plate 3 and located inside the sanding belt 6, and is used to adjust the tension of the sanding belt 6. Image recognition mechanism 9, which is mounted on drive motor 2, is used to collect image information of workpiece.

[0020] Specifically, such as Figure 1 , Figure 2 , Figure 3As shown, in the floating belt sander provided in this embodiment, the fixed plate 1 serves as the basic mounting carrier for the entire equipment. A drive motor 2 is fixedly mounted on one side of the fixed plate 1 using bolts or other fasteners, while the other side is rotatably connected to the floating plate 3 via a crossed roller bearing 17. The output shaft of the drive motor 2 passes through both the fixed plate 1 and the floating plate 3. In this embodiment, the drive motor 2 is a dual-purpose (vertical and horizontal) asynchronous motor. A drive wheel 4 and a driven wheel 5 are rotatably mounted on the floating plate 3. The drive wheel 4 is connected to the output shaft of the drive motor 2 and can be fixed by a tapered sleeve tensioning method, effectively ensuring the stability and reliability of power transmission. The driven wheel 5 is located at the end of the floating plate 3 furthest from the crossed roller bearing 17. A closed transmission structure is formed between the drive wheel 4 and the driven wheel 5 via an annular sanding belt 6. After the drive motor 2 starts, it drives the drive wheel 4 to rotate at high speed, thereby driving the sanding belt 6 to circulate around the drive wheel 4 and the driven wheel 5, providing stable cutting power for workpiece grinding. By bringing the sanding belt 6 at the position of the driven wheel 5 into contact with the workpiece, the grinding operation is achieved. The drive motor 2 is equipped with a connecting flange 14, which allows the floating belt sander to be mounted on an actuator such as a robotic arm, facilitating grinding operations by driving the floating belt sander through the robotic arm. A protective cover 13 is also provided on the fixed plate 1 at the position corresponding to the drive wheel 4 to protect the drive wheel 4.

[0021] One end of the floating drive mechanism 7 is hinged to the side of the fixed plate 1 away from the drive motor 2, and the other end is provided with a retractable first telescopic end, which is hinged to the edge of the floating plate 3. Through the telescopic movement of the first telescopic end, the floating plate 3 can be driven to rotate relative to the fixed plate 1 at multiple angles around the central axis of the crossed roller bearing 17, thereby synchronously adjusting the position of the sanding belt 6. This effectively ensures that the sanding belt 6 can adjust its contact angle according to the surface contour of the workpiece, avoiding the over-cutting or under-grinding problems caused by the rigid connection of traditional belt sanders, and significantly improving grinding accuracy and processing consistency. In this embodiment, the floating drive mechanism 7 uses a cylinder.

[0022] The tensioning mechanism 8 is mounted on the floating plate 3 and located inside the sanding belt 6. It compensates for tension changes in the sanding belt 6 during its cyclic movement and the rotation adjustment of the floating plate 3, preventing slackness, deviation, or even detachment. This effectively ensures the continuity and stability of the grinding process and reduces the failure rate during equipment operation. The image recognition mechanism 9 uses an industrial camera, fixedly mounted on the housing of the drive motor 2 via a bracket. Its lens faces the workpiece grinding area, allowing real-time acquisition of the workpiece's position and surface image information. The acquired image information is transmitted to the equipment control system, providing accurate data for the system to automatically identify the workpiece's grinding position and contour dimensions. This data then coordinates with robotic arms and other actuators to drive the sander to complete precise grinding actions. A protective cover 16 is hinged to the lens of the image recognition mechanism 9. A telescopic component 15 is fixedly mounted on one side of the image recognition mechanism 9, with its telescopic end hinged to the protective cover 16. The telescopic component 15 controls the opening and closing of the protective cover 16.

[0023] Work process: The drive motor 2 is started, which drives the drive wheel 4 to rotate at high speed. This drives the driven wheel 5 to rotate synchronously through the sanding belt 6, putting the sanding belt 6 into a cyclic motion state. At the same time, the image recognition mechanism 9 collects the surface image of the workpiece to be polished in real time and transmits it to the control system. The control system identifies the polishing position and contour of the workpiece based on the image information. Subsequently, the control system controls the robot arm to move and drives the first telescopic end of the floating drive mechanism 7 to extend and retract, driving the floating plate 3 to rotate relative to the fixed plate 1, thereby adjusting the sanding belt 6 to the angle of contact with the workpiece surface. During this process, the tension adjustment mechanism 8 adjusts the tension of the sanding belt 6 in real time to ensure that the sanding belt 6 always maintains a suitable tension. After the sanding belt 6 contacts the workpiece surface, it generates cutting force through cyclic motion to perform grinding, polishing, or descaling operations on the workpiece surface. Throughout the process, the floating drive mechanism 7 continuously adjusts the position of the floating plate 3 according to the instructions of the control system to ensure the contact effect between the sanding belt 6 and the workpiece surface until the polishing operation of the workpiece is completed.

[0024] Furthermore, the bias tightening mechanism 8 includes: Adjustment device 10, which is fixedly connected to the floating plate 3 and includes a retractable second telescopic end; A rotating device 11 is fixedly installed on the second telescopic end. The rotating device 11 is externally connected to a driving device. The rotation axis of the rotating device 11 is parallel to the telescopic direction of the second telescopic end. Mounting base, which is fixedly mounted on the rotating shaft, and tension wheel 12 is rotatably mounted on the mounting base, the tension wheel 12 abutting against the inner side of the sanding belt 6.

[0025] Specifically, such as Figure 1 and Figure 2 As shown, the tensioning mechanism 8 includes an adjusting device 10, a rotating device 11, and a tensioning wheel 12. The adjusting device 10 is fixedly installed on the inner end face of the floating plate 3 facing the sanding belt 6 by bolts and fasteners, and its installation position is adapted to the position of the driving wheel 4 and the driven wheel 5 to ensure that the tensioning wheel 12 can effectively abut against the sanding belt 6. The adjusting device 10 is provided with a second telescopic end that can move back and forth in a straight line, and has precise telescopic stroke control capability. It can flexibly adjust the extension length according to the tension change of the sanding belt 6, and provide stable power for tension adjustment; in this embodiment, the adjusting device 10 adopts a cylinder. The rotating device 11 is fixedly installed on the end of the second telescopic end of the adjusting device 10 by a flange, and its external drive device is a stepper motor. The stepper motor can achieve precise angle rotation according to the signal of the control system; in this embodiment, the optional device 11 is a reducer with worm gear cooperation. The rotation axis of the rotating device 11 is parallel to the extension direction of the second extension end of the adjusting device 10. This structural design ensures that the rotation and extension actions do not interfere with each other and can work together to achieve comprehensive adjustment of the sanding belt 6. A mounting base is provided on the rotation axis of the rotating device 11 via a key connection. A tensioning wheel 12 is rotatably mounted on the mounting base via a deep groove ball bearing. The outer circumference of the tensioning wheel 12 is covered with a wear-resistant rubber layer, which ensures tight contact with the inner side of the sanding belt 6 and reduces wear on the surface of the sanding belt 6, thus extending the service life of the sanding belt 6.

[0026] The second telescopic end of the adjusting device 10 can directly adjust the tensioning pressure of the tensioning wheel 12 on the sanding belt 6 through telescopic movement, thereby compensating for the tension changes generated by the sanding belt 6 during cyclic movement and the rotation of the floating plate 3 in real time, ensuring that the sanding belt 6 always maintains a suitable tension; while the rotating device 11 can drive the tensioning wheel 12 to rotate at a small angle. When the sanding belt 6 shows a tendency to deviate, the sanding belt 6 can be pulled back to the preset running trajectory by adjusting the contact angle of the tensioning wheel 12, so as to achieve precise deviation adjustment.

[0027] Furthermore, a sealing structure is provided between the floating plate 3 and the fixed plate 1, the sealing structure including at least one end face seal and / or radial seal.

[0028] Specifically, in this embodiment, the sealing structure includes both end face sealing and radial sealing. The end face sealing is achieved using an O-ring. An annular sealing groove is formed on the end face of the fixed plate 1 facing the floating plate 3. The O-ring is embedded in the sealing groove, with its outer ring tightly fitted to the inner wall of the sealing groove and its inner ring forming elastic contact with the corresponding end face of the floating plate 3. The O-ring is made of wear-resistant and cutting fluid-resistant fluororubber. When the floating plate 3 rotates relative to the fixed plate 1, it can always maintain a tight fit with the end faces of the two plates, effectively preventing metal chips, dust, and other impurities generated during grinding from entering the interior through the gap between the end faces of the two plates. Radial sealing is achieved using an oil seal. The oil seal is fixedly installed in the mounting hole of the fixed plate 1. Its outer ring is interference-fitted with the wall of the mounting hole, and its inner ring is tightly fitted with the outer ring of the crossed roller bearing 17 or the outer circular surface of the drive wheel 4 shaft, forming a radial sealing surface. The oil seal adopts a double-lip structure design with an internal spring clamping, which further enhances the sealing fit and can effectively prevent lubricating oil from leaking from the gap between the shaft and the hole. At the same time, it prevents external impurities from entering the interior of the crossed roller bearing 17 radially, avoiding wear or jamming of the bearing due to impurity contamination.

[0029] Example 2 Based on Embodiment 1 above, this embodiment provides a floating belt sander control method, applied to the floating belt sander as described in Embodiment 1. This method is executed based on the built-in control system of the floating belt sander and includes the following steps S100-S300: S100: Acquire the image information and construct the three-dimensional contour information of the area to be polished on the workpiece surface based on the image information.

[0030] Specifically, in step S100, the image recognition mechanism 9 is triggered to operate when the robot arm drives the floating sander to approach the workpiece or reaches the preset observation position. When the robot arm, carrying the floating sander, moves along a predetermined path to above the workpiece's grinding area, the control system controls the camera to capture images of the workpiece's grinding area from multiple different perspectives, acquiring a series of two-dimensional digital images. This series of images is transmitted to the control system in real time via a data cable. Subsequently, the system calls a three-dimensional reconstruction algorithm based on Structure from Motion (SfM). This algorithm first extracts and matches feature points (such as SIFT or ORB features) from the input image sequence. By analyzing the pixel displacement of the same feature point in multiple images and combining it with the known motion trajectory of the camera driven by the robot arm (provided by the robot arm controller), the coordinates of these feature points in three-dimensional space are calculated. By performing triangulation and dense reconstruction on all matched feature points, a three-dimensional contour model representing the grinding area on the workpiece surface, such as a three-dimensional point cloud or triangular mesh model, is finally generated. To obtain a more accurate and smooth contour, the system also performs filtering and noise reduction on the point cloud and surface fitting, outputting digital 3D contour information that can be used for subsequent path planning.

[0031] S200: Based on the three-dimensional contour information and the preset grinding process parameters, a target posture sequence and a collaborative command sequence are generated synchronously through a collaborative control algorithm; the target posture sequence includes the target rotation angle of the floating plate 3 at each point on the grinding path; the collaborative command sequence includes the target displacement command for the adjustment device 10 and the target angle command for the rotation device 11, which are synchronized with the target posture sequence in time.

[0032] Specifically, in step S200, after obtaining the three-dimensional contour information of the workpiece, the control system processes the information based on preset grinding process parameters (such as grinding path, feed speed, target contact pressure, etc.) using a collaborative control algorithm. This algorithm first calculates a series of target rotation angles required by the floating plate 3 to achieve the bonding of the abrasive belt 6 to the workpiece surface along the planned grinding path, based on the three-dimensional contour information. These target rotation angles are arranged in chronological order to form a target posture sequence. Simultaneously, to compensate for changes in the effective length of the abrasive belt 6 and potential deviation trends caused by changes in the posture of the floating plate 3 and the grinding process, the algorithm synchronously calculates a series of target displacement commands required by the adjusting device 10 in the adjustment and tensioning mechanism 8, and a series of target angle commands required by the rotating device 11. These displacement and angle commands strictly correspond to the target posture sequence on the timeline, together forming a collaborative command sequence. This collaborative planning process aims to provide a precise set of commands for subsequent floating bonding and tension / alignment collaborative control.

[0033] Furthermore, step S200 specifically includes S210-S240 as follows: S210: Calculate the surface normal vector at each grinding contact point based on the three-dimensional contour information.

[0034] Specifically, in step S210, after obtaining the three-dimensional contour model of the workpiece surface (such as a three-dimensional point cloud or triangular mesh model), the system performs grinding on each planned grinding path point. The system calculates the surface normal vectors. For surfaces represented by triangular meshes, the system first locates the points... The point is the unit normal vector of the triangular facet containing the point. Surface normal vector at the location For surfaces represented by dense point clouds, the system uses points... Centered on a given point, extract all points within its neighborhood (e.g., within a radius of 2 mm), fit a local tangent plane using the least squares method, and then calculate the unit normal vector of that plane as... This process iterates through all polishing path points, thereby obtaining a sequence of surface normal vectors corresponding to each path point. .

[0035] S220: Based on the surface normal vector and the preset constant contact pressure model, the target rotation angle required to maintain the target contact pressure is solved inversely, and the target attitude sequence is obtained based on all the target rotation angles.

[0036] Specifically, in step S220, the system invokes a preset constant contact pressure model. This model defines the target contact pressure required to maintain a constant contact pressure under ideal fit conditions. The relationship between the normal reaction force of the abrasive belt 6 acting on the workpiece surface, the geometric orientation of the abrasive belt 6 (represented by the rotation angle of the floating plate), and the normal direction of the workpiece surface. This relationship can be simplified to a static mapping based on the balance of lever arm and torque: ,in The equivalent force arm from the contact force to the center of rotation of the floating plate 3 (which can be calculated from the three-dimensional geometric model). For the floating drive mechanism 7 at the corner The effective output force / torque that can be provided (obtained from mechanism characteristic calibration).

[0037] For each path point and its surface normal vector The system will Direction, target contact pressure and the geometric configuration parameters (including the equivalent arm) determined by the current three-dimensional profile and the attitude of the floating plate 3. Substituting into the above model, by solving the model equations, the solution for the sand belt 6 along the normal direction can be obtained. Target contact pressure The target rotation angle required for the floating plate 3 when it is in contact with the workpiece surface After traversing all waypoints, a complete sequence of target poses is obtained. .

[0038] S230: Based on the kinematic model of the floating drive mechanism 7 and the elastic dynamics model of the sanding belt 6, it is predicted that when the floating plate 3 moves according to the target posture sequence, it will cause changes in the effective length of the sanding belt 6 and potential deviation trends. The elastic dynamics model is a nonlinear model that considers the viscoelastic properties and wear thickness changes of the sanding belt 6. Its parameters are updated online by the thickness change monitored by the sanding belt thickness detection device and the pressure fed back by the adjustment device 10.

[0039] Specifically, in step S230, the control system initiates a prediction of the state changes of the sanding belt 6. This prediction is based on the kinematic model of the floating drive mechanism 7 and the elastic dynamics model of the sanding belt 6. The kinematic model of the floating drive mechanism 7 is a geometric model describing the positional relationship between the floating plate 3, the driving wheel 4, the driven wheel 5, and the tensioning wheel 12 of the biasing tensioning mechanism 8. When the floating plate 3 moves according to the target posture sequence, the model can accurately calculate the change in the relative position between each wheel, thereby deriving the change in the theoretical wrapping length of the sanding belt 6. The elastic dynamics model of the sanding belt 6 is a simplified model for predicting the dynamic behavior of the sanding belt 6. In this embodiment, the model equates the section of the sanding belt 6 between the driving wheel 4, the driven wheel 5, and the tensioning wheel 12 to a Kelvin-Voigt unit (i.e., a spring and a damper connected in parallel) that considers viscoelastic properties, used to simulate the instantaneous elastic deformation and hysteretic elastic deformation of the sanding belt 6 after being subjected to force. At the same time, the model introduces the thickness change of the sanding belt 6 as a time-varying parameter to reflect the equivalent stiffness change caused by the thinning of the sanding belt during the grinding process.

[0040] Key parameters in the elastic dynamics model, such as equivalent stiffness, equivalent damping, and wear thickness-stiffness variation coefficient, are not fixed. They are updated in real time through online data: the abrasive belt thickness detection device periodically measures the real-time thickness of the abrasive belt 6 and calculates the thickness change; simultaneously, the pressure signal fed back by the adjusting device 10 of the tensioning mechanism 8 indirectly reflects the tension state of the abrasive belt 6. The system utilizes the thickness change and feedback pressure, and through a preset adaptive estimation algorithm, updates and corrects the model parameters online, ensuring that the model always closely approximates the actual physical state of the abrasive belt 6. In this embodiment, the abrasive belt thickness detection device is a laser rangefinder mounted on the floating plate 3, and the adjusting device 10 feeds back the pressure signal through a pressure sensor located on the tensioning wheel 12 mounting base.

[0041] Using the updated model, the system takes the current sand belt state as the initial condition and the target posture sequence as the input to predict the effective length change of the sand belt 6 due to geometric stretching and elastic deformation during the movement of the floating plate 3, as well as the lateral deviation trend that may be caused by factors such as misalignment of the wheels and uneven contact force.

[0042] S240: Generate the target displacement command based on the effective length change; generate the target angle command based on the deviation trend; obtain the cooperative command sequence based on all the target displacement commands and target angle commands.

[0043] Specifically, in step S240, to compensate for the predicted change in the effective length of the abrasive belt 6 and maintain the set reference tension, the system calculates the displacement adjustment amount that the adjusting device 10 needs to make, i.e., the target displacement command, based on the transmission relationship between the length change and the adjusting device 10. To counteract the predicted deviation trend of the abrasive belt 6, the system calculates the angle that the rotating device 11 of the deviation tensioning mechanism 8 needs to pre-tilt, based on the direction and magnitude of the trend, to generate a guiding and correcting force, i.e., the target angle command.

[0044] Finally, all target displacement and target angle commands are arranged in chronological order to form a coordinated command sequence that is strictly synchronized with the target attitude sequence in time. This series of steps ensures that the tension and alignment of the sanding belt 6 can be proactively and precisely coordinatedly controlled during the floating bonding process.

[0045] S300: Control the floating drive mechanism 7 to drive the floating plate 3 to move according to the target posture sequence; at the same time, control the bias adjustment tension mechanism 8 to execute according to the cooperative instruction sequence so that the sanding belt 6 contacts the workpiece and starts grinding.

[0046] Specifically, in step S300, the control system enters the real-time execution phase, converting the planned target attitude sequence and cooperative instruction sequence into control signals for the actuators. The system ensures synchronous instruction delivery via a high-speed bus: on one hand, it converts the angle values ​​in the target attitude sequence into control signals for the floating drive mechanism 7 in real time, driving its first extension end to move precisely, thus causing the floating plate 3 to swing along a predetermined angular trajectory; on the other hand, it synchronously converts the displacement and angle instructions in the cooperative instruction sequence into control signals for the adjusting device 10 and rotating device 11 of the tensioning mechanism 8, driving the tensioning wheel 12 to perform corresponding extension and yaw movements. Each adjusting execution unit constitutes a position / angle closed-loop control, ensuring that the actual action accurately follows the instructions.

[0047] Under the aforementioned multi-axis collaborative control, when the robotic arm carries the floating belt sander along the planned path, the floating plate 3 drives the sanding belt 6 to actively conform to the surface contour of the workpiece. Simultaneously, the tensioning mechanism 8 compensates in real time for changes in the sanding belt length and alignment caused by the conforming action. When the sanding belt 6 contacts the workpiece surface in the area of ​​the driven wheel 5, it is at the appropriate conforming angle and stable tension. At this point, the high-speed circulating sanding belt 6 begins to perform effective and consistent sanding on the workpiece surface.

[0048] Furthermore, after bringing the abrasive belt 6 into contact with the workpiece and initiating grinding, the process further includes step S400: S400: Real-time acquisition of the actual contact pressure between the abrasive belt 6 and the workpiece; when the difference between the actual contact pressure and the target contact pressure in the preset grinding process parameters exceeds the set range, the target posture sequence and the cooperative instruction sequence are corrected.

[0049] Specifically, after the grinding operation is started, the control system continuously obtains the actual contact pressure between the abrasive belt 6 and the workpiece from the pressure sensor installed in the bearing seat of the driven wheel 5 or directly connected to the floating plate 3. The pressure sensor signal is filtered and calibrated to eliminate vibration noise and convert it to standard force units. A preset allowable pressure error threshold is included in the control system. Within each control cycle, the system calculates the actual contact pressure. Contact pressure with target Deviation: . judge Does the absolute value exceed the pressure error threshold? :when The absolute value is less than or equal to the pressure error threshold. If the current contact pressure meets the process requirements, the system maintains the currently executed target attitude sequence and cooperative command sequence unchanged; when The absolute value is greater than the pressure error threshold. If the system determines that real-time correction is needed, the correction logic is a closed-loop control process based on pressure feedback: The system will adjust the pressure deviation. The pressure and its rate of change are input to a pressure closed-loop PID controller. This controller operates based on a pre-tuned proportional coefficient. Integral coefficient Differential coefficients The required angle correction of floating plate 3 to eliminate pressure deviation was calculated. Its calculation formula can be simplified to: .

[0050] Obtain the corner correction amount Subsequently, the control system immediately updates the target attitude sequence that is currently being executed and that has not yet been executed online. This updates the sequence for each current and future target turning angle. Update it to This leads to an updated target attitude sequence. By changing the future attitude of the floating plate 3, the contact pressure is fundamentally adjusted.

[0051] As the attitude of the floating plate 3 changes, the effective length and stress state of the sand belt 6 also change accordingly. Therefore, the system needs to synchronously correct the cooperative command sequence. The correction method can refer to steps S230 and S240 above, using the updated target attitude as input to obtain the corrected cooperative command sequence. Finally, the control system issues the corrected target attitude sequence and cooperative command sequence.

[0052] Furthermore, the belt sander also includes a belt offset detection device, which includes two non-contact displacement measuring units symmetrically arranged on both sides of the belt 6. These units are used to measure the position of the edges of both sides of the belt 6 relative to the reference point on the floating plate 3 in real time, and to calculate the actual deviation of the belt 6 accordingly.

[0053] Specifically, the sanding belt offset detection device includes two high-precision non-contact displacement measurement units (e.g., laser displacement sensors or photoelectric distance sensors). These two measurement units are symmetrically mounted on the floating plate 3 via brackets, located on either side of the normal operating trajectory of the sanding belt 6, with their measurement beams aligned with the edges of the sanding belt 6. Each measurement unit measures the vertical distance from its beam illumination point to the edge of the sanding belt 6 in real time; this distance reflects the position of the edge of the sanding belt 6 relative to a preset mechanical reference point on the floating plate 3. The system collects the distance values ​​from the two measurement units. and And combined with the installation baseline distance between the two sensors The actual deviation of sand belt 6 can then be calculated. One possible calculation method is: . A positive value indicates that the sand belt 6 has shifted to one side, while a negative value indicates that it has shifted to the other side.

[0054] After bringing the abrasive belt 6 into contact with the workpiece and starting grinding, the process further includes the following steps S500-S600: It should be noted that the sequence numbers of steps S500-S600 are used for ease of explanation and are not intended to limit them to being located after step S400.

[0055] S500: When the actual deviation is greater than the first set threshold, an angle correction amount is generated based on the actual deviation, and the angle correction amount is superimposed on the target angle command at the current moment and the subsequent time in the cooperative command sequence to perform closed-loop correction.

[0056] Specifically, in step S500, during the polishing process, the system calculates and monitors the actual deviation amount in real time. The system has a preset first threshold value, which represents the allowable slight deviation range; optionally, the first threshold value is 1.5 mm. When the system determines... >When the first set threshold is reached, it is determined that the sand belt 6 has deviated and needs to be corrected, and then the angle closed-loop correction is initiated.

[0057] Correction process: The control system first calculates the proportional and derivative terms of the deviation error. The proportional term is directly the current actual deviation. The differential term yields the deviation change rate by calculating the difference between the actual deviation in the current period and the previous period. Subsequently, the angle correction amount... Calculate using the following formula: , In the formula, and These are preset proportional and differential coefficients related to the characteristics of the belt sander and the alignment mechanism, which are obtained through experimental tuning during equipment commissioning.

[0058] Subsequently, the system executes the instruction superposition: the calculated The target angle commands, corresponding to the current moment and several future prediction cycles, are superimposed in real time onto the currently executing sequence of coordinated instructions. Above. That is, the execution command of the updated rotating device 11 becomes This causes the rotating device 11 to immediately generate an additional yaw motion to correct the deviation, based on the original planned deflection angle. This, in turn, applies a lateral guiding force to the sanding belt 6 through the tensioning wheel 12, gradually correcting it back to the correct track. This process continues, forming a closed-loop dynamic correction for the sanding belt deviation.

[0059] S600: If it is determined that the deviation continues to increase or exceeds the second set threshold after closed-loop correction, it is determined to be a tension mismatch, triggering the adjustment device 10 to perform emergency tension compensation, and after the tension stabilizes again, the subsequent part of the cooperative instruction sequence is updated based on the new tension state and continues to be executed.

[0060] Specifically, in step S600, while implementing angle closed-loop correction, the control system continuously monitors the deviation amount. The system monitors the changes and pre-sets a larger second threshold (e.g., 3.0 mm) and a judgment logic for continued deterioration. When the control system determines that the deviation has decreased within several consecutive control cycles after closed-loop correction, it will... If the tension increases monotonically or directly exceeds the second set threshold, it is determined to be a tension mismatch. Once a tension mismatch is determined, the system immediately triggers an emergency handling procedure. First, it issues an emergency command to the adjusting device 10, causing it to perform a preset, large-amplitude compensation extension or contraction action within a very short set time (for example, if the sanding belt 6 deviates to one side, the adjusting device 10 is controlled to quickly extend in the tension direction of the sanding belt 6) to quickly restore the basic balance of tension on both sides of the sanding belt 6 and prevent the deviation from worsening. After performing the emergency tension compensation, the system suspends the execution of the original collaborative command sequence. After the tension feedback signal stabilizes again, based on the new sanding belt tension state and the current workpiece contour position, it quickly replans the subsequent parts of the original collaborative command sequence that have not yet been executed, generating an updated target posture sequence and collaborative command sequence. Subsequently, the control system drives each mechanism to continue the grinding operation according to this new sequence, thereby seamlessly restoring to a high-quality collaborative control state after resolving the tension crisis.

[0061] Furthermore, steps S101-S102 are also included between steps S100 and S200: S101: Identify the overall curvature characteristics of the workpiece surface based on the three-dimensional contour information.

[0062] Specifically, in step S101, the control system first divides the three-dimensional contour model (such as a triangular mesh) into regions and calculates the principal curvature value for each region (or each vertex). Subsequently, the system performs statistical analysis and feature extraction on these discrete curvature data to generate a curvature feature vector that characterizes the overall bending properties of the workpiece surface. This vector may include, but is not limited to: the average curvature of the surface, a Gaussian curvature distribution histogram, the maximum and minimum curvatures and their positional relationship, and the first few principal component coefficients extracted through principal component analysis. These calculated feature values ​​collectively constitute the overall curvature characteristics of the workpiece surface.

[0063] S102: Match the overall curvature features with the historical process database. If the match is successful, directly call the optimized target posture sequence and cooperative instruction sequence from the historical data.

[0064] Specifically, the system matches the calculated overall curvature feature vector with records stored in a historical process database. This database accumulates continuously over long-term equipment use, and each record contains at least three parts: the curvature feature vector of a historical workpiece, the target posture sequence verified and optimized through actual grinding on that workpiece, and the corresponding cooperative instruction sequence. The matching process is achieved by calculating the similarity between the current feature vector and all historical feature vectors in the database. The system presets a similarity threshold; when the similarity of one or more historical records exceeds this threshold, a successful match is determined.

[0065] If a match is successful, the system will directly call the target posture sequence and cooperative instruction sequence stored in the optimal matching history, which have been verified and optimized in practice, as the initial control instruction set for the current workpiece grinding. This process eliminates complex real-time planning calculations, directly applies mature processes, thereby significantly improving the success rate and efficiency of the first piece processing and ensuring process consistency. If a match fails, the system will continue to execute the original cooperative control algorithm, perform online planning, and after the grinding task is completed, store the successful process data (including curvature features, planning sequence, and result evaluation) as a new entry in the historical process database, realizing the system's self-learning and optimization.

[0066] Furthermore, considering that during the continuous processing of multiple workpieces by a belt sander, the abrasive belt 6 will gradually wear down due to grinding. Wear of the abrasive belt 6 alters its surface abrasive grain state and cutting performance, causing dynamic changes in its optimal grinding process parameters (especially target contact pressure and feed rate). If the fixed parameters set for the new abrasive belt 6 are still used for the collaborative planning in step S200, the generated target posture sequence and collaborative command sequence will not be able to adapt to the actual state of the abrasive belt 6, potentially leading to insufficient grinding force, reduced efficiency, or uneven quality. Therefore, this embodiment introduces an evaluation mechanism for the current wear state of the abrasive belt 6 and an adaptive adjustment mechanism for process parameters between steps S100 and S200, specifically including steps S103-S105. It should be noted that the sequence numbers of steps S103-S105 are for ease of explanation only and do not limit steps S103-S105 to being subsequent steps of step S102.

[0067] S103: Obtain the thickness wear amount of the sanding belt 6, which is used to characterize roughness information.

[0068] Specifically, in step S103, the control system monitors the current thickness of the abrasive belt 6 using a belt thickness detection device, and calculates the thickness wear amount by measuring the difference between the current thickness and the initial nominal thickness of the abrasive belt 6. This wear amount directly reflects the degree of consumption of the abrasive layer of the abrasive belt 6. Since the wear of the abrasive grains on the surface of the abrasive belt 6 changes the state of its micro-cutting edge, thereby affecting its effective roughness and cutting ability, in this method, the thickness wear amount is used as a key indirect characteristic parameter to characterize the degree of degradation of the surface roughness and cutting performance of the abrasive belt 6. The system stores the thickness wear amount of the current cycle in a sliding time window queue to analyze its changing trend.

[0069] S104: Based on the thickness wear amount, assess the current wear condition level of the sanding belt 6.

[0070] Specifically, in step S104, the control system has a pre-set wear state classification table. This table classifies the state of the sanding belt 6 into multiple levels (such as levels I, II, III, IV, and V) based on the thickness wear threshold and recent wear rate. The system compares the current thickness wear and its trend with the classification table and outputs a determined current wear state level.

[0071] S105: When it is determined that the current wear state level exceeds the preset level threshold, the target contact pressure in the preset grinding process parameters is adjusted according to the current wear state level, so that the cooperative control algorithm generates the target posture sequence and cooperative command sequence based on the updated process parameters.

[0072] Specifically, in step S105, the control system has a preset level threshold (e.g., level III) and a process parameter adjustment mapping table. If the current wear level exceeds the level threshold, the system adjusts the originally preset target contact pressure to a new value according to the mapping table. Subsequently, the collaborative control algorithm will re-execute the planning based on the workpiece's three-dimensional contour information and the updated process parameters containing the new target contact pressure, generating a set of target posture sequences and collaborative command sequences adapted to the current wear state of the sanding belt 6 for subsequent grinding control. If the wear level does not exceed the threshold, the original parameters are used.

[0073] Furthermore, after step S103, the following is also included: Real-time calculation of the thickness change rate of sand belt 6; When the thickness change rate exceeds a preset safety rate threshold, a control command is generated to stop the drive motor 2 and simultaneously control the floating drive mechanism 7 to move the floating plate 3 away from the workpiece.

[0074] Specifically, the control system calculates the thickness reduction per unit time, i.e., the thickness change rate, based on the thickness measurements continuously acquired by the belt thickness detection device. A preset safety rate threshold is established within the system, representing the critical rate at which the belt 6 experiences abnormally rapid wear (potentially due to belt breakage, abnormal friction, or impact from hard points on the workpiece). During the grinding process, the system continuously compares the thickness change rate with the safety rate threshold. If the thickness change rate is less than or equal to the safety rate threshold, the wear rate is considered normal, and the subsequent process continues. If the system's thickness change rate exceeds the safety rate threshold, a safety protection mechanism is immediately triggered: first, a control command is generated and issued to urgently stop the drive motor 2, cutting off the power to the belt 6; simultaneously, the floating drive mechanism 7 is controlled to move rapidly, driving the floating plate 3 to rotate around the axis of the crossed roller bearing 17, causing the entire belt assembly to quickly move away from the workpiece surface to avoid continuous contact under abnormal conditions that could damage the equipment or workpiece. After the emergency retraction is completed, the system can lock and issue an alarm, prompting the operator to inspect the equipment. This step adds an active safety protection based on wear dynamics to the belt sander, improving the reliability of equipment operation.

[0075] The above description is merely a preferred embodiment of this application and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention involved in this application is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the inventive concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions disclosed in this application.

Claims

1. A floating belt sander, characterized in that, include: A fixed plate (1) is fixedly mounted on one side of a drive motor (2) and a floating plate (3) is rotatably mounted on the other side; a driving wheel (4) and a driven wheel (5) are rotatably mounted on the floating plate (3); the driving wheel (4) is connected to the output shaft of the drive motor (2) and is connected to the driven wheel (5) through a sanding belt (6); A floating drive mechanism (7) is hinged to the fixed plate (1) and includes a retractable first telescopic end, which is hinged to the floating plate (3); the floating drive mechanism is used to drive the floating plate (3) to rotate relative to the fixed plate (1). The tension adjustment mechanism (8) is installed on the floating plate (3) and located inside the sanding belt (6) to adjust the tension of the sanding belt (6); Image recognition mechanism (9) is installed on the drive motor (2) and is used to collect image information of the workpiece.

2. The floating belt sander according to claim 1, characterized in that, The bias tensioning mechanism (8) includes: Adjustment device (10), the adjustment device (10) is fixedly connected to the floating plate (3), and includes a retractable second telescopic end; A rotating device (11) is fixedly installed on the second telescopic end. The rotating device (11) is externally connected to a driving device. The rotation axis of the rotating device (11) is parallel to the telescopic direction of the second telescopic end. Mounting base, which is fixedly mounted on the rotating shaft, and a tension wheel (12) is rotatably mounted on the mounting base, the tension wheel (12) abutting against the inner side of the sand belt (6).

3. The floating belt sander according to claim 2, characterized in that, A sealing structure is provided between the floating plate (3) and the fixed plate (1), the sealing structure including at least one end face seal and / or radial seal.

4. A control method for a floating belt sander, characterized in that, The control method is applied to the floating belt sander as described in any one of claims 2-3, and includes: The image information is acquired, and the three-dimensional contour information of the area to be polished on the workpiece surface is constructed based on the image information; Based on the three-dimensional contour information and the preset grinding process parameters, a target posture sequence and a collaborative command sequence are generated synchronously through a collaborative control algorithm; the target posture sequence includes the target rotation angle of the floating plate (3) at each point on the grinding path; the collaborative command sequence includes the target displacement command for the adjustment device (10) and the target angle command for the rotation device (11), which are synchronized with the target posture sequence in time. The floating drive mechanism (7) is controlled to drive the floating plate (3) to move according to the target posture sequence; at the same time, the bias adjustment tension mechanism (8) is controlled to execute according to the coordinated instruction sequence so that the sanding belt (6) contacts the workpiece and begins grinding.

5. The floating belt sander control method according to claim 4, characterized in that, After bringing the abrasive belt (6) into contact with the workpiece and initiating grinding, the process further includes: The actual contact pressure between the abrasive belt (6) and the workpiece is obtained in real time. When the difference between the actual contact pressure and the target contact pressure in the preset grinding process parameters exceeds the set range, the target posture sequence and the cooperative instruction sequence are corrected.

6. The floating belt sander control method according to claim 5, characterized in that, Based on the three-dimensional contour information and preset process parameters, a cooperative control algorithm is used to synchronously generate a target posture sequence and a cooperative command sequence, including: Based on the three-dimensional contour information, calculate the surface normal vector at each grinding contact point; Based on the surface normal vector and the preset constant contact pressure model, the target rotation angle required to maintain the target contact pressure is solved inversely, and the target attitude sequence is obtained based on all the target rotation angles; Based on the kinematic model of the floating drive mechanism (7) and the elastic dynamics model of the sand belt (6), it is predicted that when the floating plate (3) moves according to the target posture sequence, it will cause changes in the effective length of the sand belt (6) and potential deviation. The elastic dynamics model is a nonlinear model that considers the viscoelastic properties and wear thickness changes of the sand belt (6). Its parameters are updated online by the thickness change monitored by the sand belt thickness detection device and the pressure fed back by the adjustment device (10). Based on the change in effective length, the target displacement command is generated; based on the deviation trend, the target angle command is generated; and based on all the target displacement commands and target angle commands, the cooperative command sequence is obtained.

7. The floating belt sander control method according to claim 4, characterized in that, The belt sander also includes a belt offset detection device, which includes two non-contact displacement measurement units symmetrically arranged on both sides of the belt (6) for real-time measurement of the position of the two sides of the belt (6) relative to the reference point on the floating plate (3), and calculates the actual deviation of the belt (6) accordingly. After bringing the abrasive belt (6) into contact with the workpiece and initiating grinding, the process further includes: When the actual deviation exceeds the first set threshold, an angle correction amount is generated based on the actual deviation amount, and the angle correction amount is superimposed on the target angle command at the current moment and the subsequent time in the cooperative command sequence to perform closed-loop correction. If the deviation continues to increase or exceeds the second set threshold after closed-loop correction, it is determined to be a tension mismatch, triggering the adjustment device (10) to perform emergency tension compensation, and after the tension stabilizes again, the subsequent part of the cooperative instruction sequence is updated based on the new tension state and continues to be executed.

8. The floating belt sander control method according to claim 4, characterized in that, After acquiring the image information and constructing the three-dimensional contour information of the area to be polished on the workpiece surface based on the image information, before simultaneously generating the target posture sequence and the cooperative instruction sequence based on the three-dimensional contour information and preset process parameters through a cooperative control algorithm, the method further includes: Based on the three-dimensional contour information, the overall curvature characteristics of the workpiece surface are identified; The overall curvature features are matched with the historical process database. If the match is successful, the optimized target posture sequence and cooperative instruction sequence in the historical data are directly invoked.

9. The floating belt sander control method according to claim 6, characterized in that, After acquiring the image information and constructing the three-dimensional contour information of the area to be polished on the workpiece surface based on the image information, before simultaneously generating the target posture sequence and the cooperative instruction sequence based on the three-dimensional contour information and preset process parameters through a cooperative control algorithm, the method further includes: Obtain the thickness wear amount of the abrasive belt (6), which is used to characterize roughness information; Based on the aforementioned thickness wear amount, assess the current wear status level of the abrasive belt (6); When the current wear state level is determined to exceed a preset level threshold, the target contact pressure in the preset grinding process parameters is adjusted according to the current wear state level, so that the cooperative control algorithm generates the target attitude sequence and cooperative command sequence based on the updated process parameters.

10. The floating belt sander control method according to claim 9, characterized in that, After obtaining the thickness wear amount of the abrasive belt (6), the method further includes: The thickness change rate of the sand belt (6) is calculated in real time; When the thickness change rate exceeds the preset safety rate threshold, a control command is generated to control the drive motor (2) to stop, and at the same time, the floating drive mechanism (7) is controlled to drive the floating plate (3) away from the workpiece.

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