A double-rotor grinding and polishing tool suitable for a robot and a robot grinding and polishing system

Abstract

A dual-rotor grinding and polishing tool and robot grinding and polishing system suitable for robots include a tool head connecting flange, a servo motor, a synchronous pulley, a telescopic cylinder, a linear guide, a dovetail slide, a revolution axis, a hollow rotation axis, a hollow rotation axis connecting seat, a rotation bearing seat, a laser rangefinder, and a hollow grinding and polishing disc. The core improvement of the tool head lies in the hollow design of the rotation axis and polishing disc, with a laser rangefinder installed above the central hole. This rangefinder measures the distance to the surface of the optical element being processed in real time via the hollow rotation axis. This distance signal is fed back to the robot control system to form a closed loop, dynamically compensating for the robot's own positioning and motion errors, thereby ensuring stable contact pressure between the grinding and polishing disc and the workpiece surface. This invention effectively overcomes the processing errors caused by relying solely on the robot's positioning accuracy, improving the grinding and polishing quality of optical elements with large diameters and high surface accuracy requirements.

Description

Technical Field

[0001] This invention relates to the field of optical precision processing and intelligent equipment technology, specifically to a dual-rotor grinding and polishing tool and a robot grinding and polishing system suitable for robots. Background Technology

[0002] Grinding and polishing of optical components, especially for large-diameter, high-precision planar, aspherical, and freeform surfaces, are key processes in modern optical manufacturing. Dual-rotor grinding and polishing tools, due to their ability to simultaneously generate both revolution and rotation of the tool head, forming complex composite motion trajectories, are beneficial for achieving uniform material removal rates and good surface accuracy, thus occupying an indispensable position in this field. In recent years, industrial robots, with their advantages of multiple degrees of freedom, large workspace, and relatively lower cost compared to traditional gantry machine tools, have been introduced into the field of high-precision optical processing. The common practice is to mount the dual-rotor grinding and polishing tool head to the robot's end joint via a flange, allowing the robot to drive the tool head to move along a trajectory on the workpiece surface.

[0003] However, this robotic polishing system has a significant technical bottleneck: the robot's absolute positioning accuracy and repeatability are limited, and its accuracy is easily affected by factors such as load, kinematic parameter errors, joint temperature drift, and rigid deformation. When machining optical components with extremely high surface accuracy requirements, the robot's own pose error will directly cause deviations in the relative position and orientation of the tool head and the workpiece surface, resulting in unstable actual contact pressure between the polishing disc and the workpiece surface, failing to maintain the preset optimal value, and affecting the stability of the material removal function.

[0004] In existing technologies, passive pneumatic compensation mechanisms (such as providing constant pressure through telescopic cylinders and pressure regulating valves) are typically used to control pressure. However, this method is open-loop or semi-closed-loop, and it cannot sense or compensate for changes in the distance between the tool head and the workpiece surface caused by robot positioning errors. In other words, it can only guarantee that the force applied to the rotation axis is constant, but it cannot guarantee that the relative spatial position of the tool disk and the workpiece is precise when this force is applied. Therefore, the motion error of the robot body will ultimately be directly converted into machining error, limiting the application of robotic polishing systems in ultra-high precision optical processing.

[0005] Therefore, there is an urgent need in this field for a technical solution that can fundamentally overcome the robot's own errors and achieve precise, stable, and active closed-loop control of the relative distance and contact pressure between the tool head and the workpiece surface, so as to break through the precision bottleneck of robots applied to high-precision optical processing. Summary of the Invention

[0006] To address the shortcomings of existing technologies where the distance and pressure between the tool head and the workpiece surface become uncontrollable due to the robot's own posture errors when using a dual-rotor polishing tool, thus affecting processing accuracy, this invention provides a dual-rotor grinding and polishing tool and a robot grinding and polishing system suitable for robots. By utilizing a laser rangefinder for real-time online ranging and closed-loop feedback control, the system actively compensates for robot motion errors, ensuring the stability and accuracy of the processing.

[0007] The technical solution adopted in this invention is: A dual-rotor grinding and polishing tool suitable for robots, connected to the robot's end effector, the tool includes a tool head connecting and fixing flange, a revolution drive mechanism, a rotation drive mechanism, and a grinding and polishing disc, characterized in that: the revolution drive mechanism is used to drive the revolution axis to rotate, the rotation drive mechanism is used to drive the rotation axis to rotate, and the grinding and polishing disc is fixedly installed at the bottom end of the rotation axis; The rotating shaft is a hollow shaft with a through hole along its axial center; A laser rangefinder is fixedly installed above the rotating shaft, and its laser emission direction is coaxially aligned with the axis of the rotating shaft, so that the laser beam passes through the through hole of the rotating shaft, irradiates and measures the real-time distance to the surface of the workpiece below the grinding and polishing disk. The control system is communicatively connected to the laser rangefinder and the controller that drives the robot; and is configured to: receive the measured distance value fed back by the laser rangefinder in real time, compare it with the preset target distance value to calculate the distance deviation, generate control commands based on the distance deviation, drive the robot to adjust the pose of its end effector, so as to dynamically compensate for the position and attitude errors caused by the robot's own movement, thereby maintaining a constant relative distance between the grinding and polishing disc and the workpiece surface.

[0008] Furthermore, the revolution drive mechanism includes a revolution servo motor and a revolution stepper pulley, the revolution servo motor drives the revolution shaft to rotate through the revolution synchronous pulley assembly; the rotation drive mechanism includes a rotation servo motor and a rotation synchronous pulley, the rotation servo motor drives the rotation shaft to rotate through the rotation synchronous pulley assembly.

[0009] Furthermore, it also includes a pressure control mechanism, which includes a telescopic cylinder and a pressure regulating unit; The cylinder body of the telescopic cylinder is fixedly mounted on the tool head frame, and the end of its piston rod contacts or connects to the top flange or bearing seat of the rotating shaft, for providing axially adjustable pressure to the rotating shaft and the grinding and polishing disc.

[0010] Furthermore, the pressure control mechanism is configured to operate in two modes: First constant pressure mode: The gas pressure input to the telescopic cylinder is controlled by the pressure regulating unit to maintain a constant normal pressure of the grinding and polishing disc on the workpiece surface; Second constant distance mode: The gas pressure input to the telescopic cylinder is set to a high value sufficient to overcome the mechanical resistance of the system, and the distance between the grinding and polishing disc and the workpiece surface is kept constant by adjusting the robot's posture in real time, thereby achieving constant deformation of the polishing disc pad and indirect stable contact pressure.

[0011] Furthermore, the pressure regulating unit is communicatively connected to the control system; the control system is also configured to: coordinately control the output of the pressure regulating unit and / or the motion posture of the robot based on the distance information fed back by the laser rangefinder and the preset pressure target, so as to simultaneously stabilize the distance and pressure during the processing of complex curved surfaces.

[0012] Furthermore, it also includes an eccentricity adjustment mechanism; the eccentricity adjustment mechanism includes a dovetail slide and an adjusting screw, and the bearing seat of the revolution shaft is fixedly installed on the slider of the dovetail slide; by rotating the adjusting screw, the slider together with the bearing seat of the revolution shaft can be driven to move laterally along the guide rail of the dovetail slide, thereby continuously changing the horizontal eccentricity of the rotation center of the revolution shaft relative to the axis of the rotation shaft; the slider is provided with a locking component for fixing its position after adjustment.

[0013] Furthermore, the tool head connecting and fixing flange is provided with at least two mounting positions along the vertical direction for connecting the robot end flange; by selecting different mounting positions, the overall height of the grinding and polishing tool relative to the robot end can be changed to adapt to different processing tables and optimize the robot's accessible workspace and movement posture.

[0014] Furthermore, the revolution drive mechanism also includes a linear guide rail and a revolution sliding bracket; the revolution shaft is slidably connected to the linear guide rail through the revolution sliding bracket, so that the rotational motion of the revolution shaft can be converted into translational motion that drives the entire rotation drive mechanism and the grinding and polishing disc to perform planar revolution through the revolution sliding bracket.

[0015] Furthermore, the spin shaft is supported in a spin bearing housing by at least one set of angular contact ball bearings; the mounting bracket of the laser rangefinder is fixed above the tool head frame or the spin bearing housing.

[0016] The present invention also provides a robotic grinding and polishing system, characterized in that it includes: an industrial robot, a dual-rotor grinding and polishing tool as described above, and the control system; The dual-rotor grinding and polishing tool is rigidly mounted on the end effector of the industrial robot via its tool head connecting and fixing flange; The control system is integrated into or communicates with the controller of the industrial robot. It is used to receive the signal from the laser rangefinder and output compensation instructions to the robot controller, thereby forming an active closed-loop processing system with the real-time relative distance between the tool and the workpiece as the feedback quantity. This system is used to compensate for the positioning error of the robot body and realize the grinding and polishing of high-precision optical components.

[0017] Compared with the prior art, the beneficial effects of the present invention are as follows: 1) By designing the spin axis as a hollow structure and integrating the laser rangefinder above the axis, the measurement beam can reach the processing area directly along the tool's rotation axis in an "in-situ" and "coaxial" non-contact distance measurement manner. This solves the problem of directly and accurately measuring the tool-workpiece gap in a compact space and on moving parts, and avoids the cumulative error of indirect measurement.

[0018] 2) A closed-loop robot motion control system was constructed, with "laser measured distance" as the direct feedback quantity. This system does not rely on the robot's absolute positioning accuracy, but rather dynamically compensates for all of the robot's own pose errors (including positioning, thermal deformation, and flexible deformation) by measuring and eliminating the relative distance deviation between the tool and the workpiece in real time. This transforms the open-loop robot accuracy problem into a closed-loop relative distance control problem.

[0019] 3) Through real-time closed-loop compensation, the influence of robot positioning errors on the machining process is effectively isolated and eliminated. This enables the grinding and polishing tool to achieve stable sub-millimeter or even higher precision machining on optical components with large diameters and high surface accuracy requirements, breaking through the bottleneck of directly using industrial robots for ultra-high precision optical machining. It ensures that the grinding and polishing disc maintains a preset precise distance and stable contact pressure with the workpiece surface, thereby guaranteeing the consistency and predictability of the material removal function, improving surface convergence efficiency and final machining quality. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of the dual-rotor grinding and polishing tool for robots according to the present invention.

[0021] Figure 2 This is a schematic diagram of the overall device for using the dual-rotor grinding and polishing tool of the present invention in conjunction with a robot.

[0022] Figure 3 This indicates the signal flow between the laser rangefinder, robot controller, PID control module, and planetary / autorotation motor driver units in this invention. Detailed Implementation

[0023] To better present the technical solution and advantages of the present invention, the technical solution of the present invention is described in conjunction with the accompanying drawings and embodiments. This section presents typical embodiments of the present invention, and any optimizations to the implementation schemes based on the characteristics and requirements of the dual-rotor grinding and polishing tool are within the protection scope of the present invention.

[0024] Please see Figure 1 and Figure 2 This embodiment provides a dual-rotor grinding and polishing tool suitable for robots. The dual-rotor grinding and polishing tool head 2 includes a tool head connecting and fixing flange 2-1, a revolution drive mechanism, a rotation drive mechanism, and a grinding and polishing disc 2-15. The tool head connecting and fixing flange 2-1 is rigidly connected to the end flange of the industrial robot 1. The tool head connecting and fixing flange 2-1 is designed with two connection stations, upper and lower, allowing the installation position to be selected based on the processing table height and the robot's optimal working space, thereby maximizing the robot's effective travel and avoiding singularities. Figure 2 This demonstrates an installation method that uses an overhead connection station, which provides greater clearance for the robot's end effector.

[0025] The revolution drive mechanism includes a revolution servo motor 2-4, a revolution synchronous pulley 2-2, and a matching synchronous belt. The revolution servo motor 2-4 is fixed on the tool head base, and its output drives the revolution shaft 2-8 to rotate via the synchronous belt drive. The revolution shaft 2-8 is supported by an angular contact ball bearing 2-3, and its lower end is connected to a revolution flange connecting seat 2-11.

[0026] The rotation drive mechanism includes another independent rotation servo motor and a rotation synchronous pulley (not separately labeled in the figure), which is mounted on the revolution sliding bracket 2-9 and moves together with the revolution component. The output of this motor drives the rotation shaft 2-10 to rotate via the synchronous belt. The rotation shaft 2-10 is supported by bearings installed in the rotation bearing housing 2-13, and its bottom end is fixedly mounted with a hollow polishing disc 2-15 via a hollow polishing disc connecting chuck 2-14. The rotation shaft 2-10 is constructed as a hollow shaft with a through hole in the center.

[0027] A laser rangefinder 3 is mounted inside the tool head via a mounting bracket (not shown) and aligned with the through hole of the spindle 2-10. The laser beam from the laser rangefinder 3 passes through this through hole and directly illuminates the surface of the workpiece (such as optical glass) below. The signal line of the laser rangefinder 3 is led out through the wiring grooves in parts such as the spindle connector 2-12 and connected to the robot's central control system.

[0028] Step 1: Mechanical Installation and Calibration Laser rangefinders measure distance via a hollow rotating shaft; misalignment during installation will cause ranging errors, so the installation posture must be calibrated first. 1. Fix the standard planar target (made of optical glass, the same material as the component being measured) on the displacement stage; 2. Adjust the rangefinder mounting bracket to make the laser beam perpendicular to the target surface (verified by centering the beam and ensuring consistent range measurements from multiple angles: control the robot's end-effector polishing tool to rotate ±5°, and the range measurement change should be ≤0.02mm to confirm perpendicularity). 3. Tighten the rangefinder fixing screws and mark the installation reference (to avoid misalignment during subsequent disassembly and assembly).

[0029] Step 2: Zero-point calibration 1. Control the displacement stage to move the standard target to the "zero reference position" of the rangefinder (e.g., 50mm directly below the end face of the rangefinder); 2. Record the initial reading D0 of the rangefinder, and simultaneously measure the actual distance D_actual using a dial indicator; 3. Set the zero-position compensation value in the robot controller: Compensation value = D_actual - D0, and write it into the parameter table of the PID control module; 4. Verification: Repeat the movement to the zero position. The deviation between the distance measuring instrument display value and the actual value should be ≤0.02mm.

[0030] The pressure control mechanism includes a telescopic cylinder 2-5 and a pressure regulating unit (such as a pressure regulating valve or a proportional valve). The telescopic cylinder 2-5 has a fixed cylinder body, and its piston rod extends downwards, acting on the flange (or "rotation elimination flange") at the top of the rotating shaft 2-10 to provide a downward axial force. Compressed air is regulated by the pressure regulating valve before entering the cylinder, thus adjusting the pressure. This pressure is then transmitted to the rotating shaft via the telescopic cylinder, causing the grinding and polishing disc to exert pressure on the workpiece. During implementation, two pressure control modes are provided: Mode 1 (Constant Pressure Control): The pressure regulating valve outputs a constant air pressure. Telescopic cylinders 2-5 generate a constant axial thrust, which is transmitted to the polishing disc via the rotating shaft, applying stable normal pressure to the workpiece surface. This mode is suitable for polishing flat or regularly curved surfaces where high pressure stability is required.

[0031] Mode 2 (Constant Distance / Constant Deformation Control): The output air pressure of the pressure regulating valve is set to a value much higher than the required processing pressure, keeping the cylinder in a "locked-down" state. In this mode, the contact pressure between the polishing disc and the workpiece is determined by the compression deformation of the polishing disc pad (such as a polyurethane pad). Through the aforementioned laser ranging feedback closed loop, the distance between the polishing disc and the workpiece surface is strictly controlled to remain constant, thereby indirectly achieving constant deformation of the polishing disc pad and obtaining stable contact pressure. This mode offers better tracking performance on complex curved surfaces.

[0032] The eccentricity adjustment mechanism includes a dovetail slide 2-7 and an adjusting screw. The bearing housing of the revolution shaft 2-8 is mounted on the slider of the dovetail slide 2-7. By rotating the adjusting screw, the slider can be driven to slide laterally along the dovetail guide rail, thereby changing the horizontal offset of the rotation center of the revolution shaft 2-8 relative to the fixed center of the spin shaft 2-10, i.e., the eccentricity. After adjustment, the slider is locked with a fastening screw to ensure that the eccentricity remains constant during processing. This allows adjustment of the trajectory radius of the revolution motion to adapt to different material removal function requirements.

[0033] The working principle of this tool head is as follows: The rotating shaft and the central rotating shaft are driven by separate rotating motors. The rotational motion is driven by a rotating servo motor via a synchronous pulley 2-2, which drives the hollow rotating shaft 2-10 and the polishing disc 2-15 mounted at its end to rotate at high speed. The revolution motion is driven by a revolution servo motor via another set of synchronous pulleys, which drives the revolution shaft 2-8 to rotate. This, in turn, drives the entire rotating mechanism (including the hollow rotating shaft and polishing disc) to revolution via the revolution sliding bracket 2-9. The revolution is a translational process without rotation, facilitating the connection of the tracking cable. The revolution mechanism adjusts the eccentricity by adjusting the dovetail guide rail, thereby changing the rotation radius of the revolution shaft. Compressed air is introduced, causing the cylinder to exert pressure on the rotating shaft. By adjusting the air valve, the pressure is changed, allowing the polishing disc to exert different pressures on the component surface, achieving different removal functions. The tool head connecting flange 2-1 is designed with multiple connection stations, allowing the installation position to be selected according to the processing space requirements to optimize the robot's working stroke.

[0034] The laser rangefinder and the robot's central control system form a closed-loop feedback loop. The core feedback process includes three steps: signal acquisition, deviation calculation, and active compensation, as detailed below: First, during the signal acquisition phase, the laser rangefinder 3 continuously measures the actual distance value (Dactual) on the workpiece surface in front of the grinding and polishing disc 2-15 and transmits this distance data to the robot's central control system in real time. Then, the deviation calculation phase begins. The control system employs a dynamic reference strategy: at the initial moment when the robot moves the tool head to begin machining a certain area, the system collects the reading from the laser rangefinder and sets it as the reference distance (Dreference) for that machining cycle. During subsequent continuous movement, the control system compares the collected actual distance (Dactual) with the current reference distance (Dreference) in real time to calculate the instantaneous distance deviation ΔD, i.e.: ΔD = Actual - Dreference The deviation value ΔD quantitatively reflects the difference in the normal direction between the actual and desired tool head pose due to factors such as absolute positioning error, joint backlash, thermal deformation, and arm flexibility deformation. Finally, active compensation is performed based on the error value. The control system immediately generates corresponding compensation commands through a control algorithm (such as a PID controller) based on the magnitude and sign of the calculated deviation value ΔD. The main execution method of this command is robot pose correction: directly driving the corresponding joint of robot 1 to fine-tune the height and orientation of its end flange 1-1 in the tool axis (Z direction), thereby offsetting the calculated deviation ΔD. Through the continuous cycle of the above "measurement-comparison-compensation" process, a dynamic closed-loop control is formed. The control objective of this system is to make the distance deviation ΔD approach zero, thereby effectively compensating for the machining error caused by robot motion error.

[0035] During processing, the revolution servo motor 2-4 and the rotation servo motor start simultaneously, driving the polishing disk 2-15 to perform revolution and high-speed rotation, respectively. Compressed air drives the telescopic cylinder 2-5 to provide the pressure required for processing. Robot 1 moves the entire tool head across the workpiece surface according to the programmed path. Simultaneously, the laser ranging feedback closed-loop system operates throughout the process, compensating for robot motion errors in real time to ensure constant distance and pressure. By adjusting the eccentricity, the polishing spot trajectory can be changed, optimizing the surface shape correction capability.

[0036] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A dual-rotor grinding and polishing tool suitable for robots, connected to the end effector of a robot (1), the tool comprising a tool head connecting and fixing flange (2-1), a revolution drive mechanism, a rotation drive mechanism, and a grinding and polishing disc (2-15), characterized in that: The revolution drive mechanism is used to drive the revolution shaft (2-8) to rotate, the rotation drive mechanism is used to drive the rotation shaft (2-10) to rotate, and the grinding and polishing disk (2-15) is fixedly installed at the bottom end of the rotation shaft (2-10); The self-rotating shaft (2-10) is a hollow shaft with a through hole along its axial center; A laser rangefinder (3) is fixedly installed above the spin shaft (2-10), and its laser emission direction is coaxially aligned with the axis of the spin shaft (2-10), so that the laser beam passes through the through hole of the spin shaft (2-10) and irradiates and measures the real-time distance to the workpiece surface below the grinding and polishing disk (2-15). The control system is connected in communication with the laser rangefinder (3) and the controller that drives the robot; and is configured to: receive the measured distance value fed back by the laser rangefinder (3) in real time, compare it with the preset target distance value to calculate the distance deviation, generate control instructions based on the distance deviation, drive the robot (1) to adjust the pose of its end effector, so as to dynamically compensate for the position and posture error caused by the robot's own movement, so that the grinding and polishing disc (2-15) and the workpiece surface maintain a constant relative distance.

2. The dual-rotor grinding and polishing tool according to claim 1, characterized in that, The revolution drive mechanism includes a revolution servo motor (2-4) and a revolution stepping belt pulley (2-2). The revolution servo motor (2-4) drives the revolution shaft (2-8) to rotate through the revolution synchronous belt pulley assembly. The rotation drive mechanism includes a rotation servo motor and a rotation synchronous belt pulley. The rotation servo motor drives the rotation shaft (2-10) to rotate through the rotation synchronous belt pulley assembly.

3. The dual-rotor grinding and polishing tool according to claim 1 or 2, characterized in that, It also includes a pressure control mechanism, which includes a telescopic cylinder (2-5) and a pressure regulating unit; The cylinder body of the telescopic cylinder (2-5) is fixedly installed on the tool head frame, and the end of its piston rod contacts or connects to the top flange or bearing seat of the rotating shaft (2-10) to provide axially adjustable pressure to the rotating shaft (2-10) and the grinding and polishing disc (2-15).

4. The dual-rotor grinding and polishing tool according to claim 3, characterized in that, The pressure control mechanism is configured to operate in two modes: First constant pressure mode: The gas pressure input to the telescopic cylinder (2-5) is controlled by the pressure regulating unit to maintain a constant normal pressure of the grinding and polishing disc (2-15) on the workpiece surface; Second constant distance mode: The gas pressure input to the telescopic cylinder (2-5) is set to a high value sufficient to overcome the mechanical resistance of the system, and the distance between the grinding and polishing disk (2-15) and the workpiece surface is kept constant by adjusting the robot pose in real time, thereby achieving constant deformation of the polishing disk pad and indirect stable contact pressure.

5. The dual-rotor grinding and polishing tool according to claim 3, characterized in that, The pressure regulating unit is communicatively connected to the control system; the control system is also configured to: coordinately control the output of the pressure regulating unit and / or the motion posture of the robot (1) based on the distance information fed back by the laser rangefinder (3) and the preset pressure target, so as to stabilize the distance and pressure simultaneously during the processing of complex curved surfaces.

6. The dual-rotor grinding and polishing tool according to claim 1, characterized in that, It also includes an eccentricity adjustment mechanism; the eccentricity adjustment mechanism includes a dovetail slide (2-7) and an adjusting screw, the bearing seat of the revolution shaft (2-8) is fixedly installed on the slider of the dovetail slide (2-7); by rotating the adjusting screw, the slider together with the bearing seat of the revolution shaft (2-8) can be driven to move laterally along the guide rail of the dovetail slide (2-7), thereby continuously changing the horizontal eccentricity of the rotation center of the revolution shaft (2-8) relative to the axis of the rotation shaft (2-10); the slider is provided with a locking component for fixing its position after adjustment.

7. The dual-rotor grinding and polishing tool according to claim 1, characterized in that, The tool head connecting and fixing flange (2-1) has at least two mounting positions for connecting the robot end flange (1-1) in the vertical direction; by selecting different mounting positions, the overall height of the grinding and polishing tool relative to the robot end can be changed to adapt to different processing tables and optimize the robot's reachable workspace and movement posture.

8. The dual-rotor grinding and polishing tool according to claim 1, characterized in that, The revolution drive mechanism also includes a linear guide rail (2-6) and a revolution sliding bracket (2-9); the revolution shaft (2-8) is slidably connected to the linear guide rail (2-6) through the revolution sliding bracket (2-9), so that the rotational motion of the revolution shaft (2-8) can be converted into a translational motion that drives the entire rotation drive mechanism and the grinding and polishing disc (2-15) to revolve in a plane through the revolution sliding bracket (2-9).

9. The dual-rotor grinding and polishing tool according to claim 1, characterized in that, The spin shaft (2-10) is supported in the spin bearing seat (2-13) by at least one set of angular contact ball bearings (2-3); the mounting bracket of the laser rangefinder (3) is fixed above the tool head frame or the spin bearing seat (2-13).

10. A robotic grinding and polishing system, characterized in that, include: Industrial robot (1), dual-rotor grinding and polishing tool as described in any one of claims 1 to 9, and the control system; The dual-rotor grinding and polishing tool is rigidly mounted on the end effector of the industrial robot (1) via its tool head connecting and fixing flange (2-1); The control system is integrated into or communicated with the controller of the industrial robot (1) to receive the signal from the laser rangefinder (3) and output compensation instructions to the robot controller, thereby forming an active closed-loop processing system with the real-time relative distance between the tool and the workpiece as the feedback quantity, which is used to compensate for the positioning error of the robot body and realize the grinding and polishing of high-precision optical components.

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