A biped single-arm climbing work robot

Abstract

The present application relates to the technical field of climbing robot, especially to a kind of two-foot single-arm climbing work robot.It includes: control box, for the structure support;Climbing mechanism, for driving control box to move;Climbing mechanism includes: first adjusting part, for the position positioning of control box;Second adjusting part, is installed in one end of first adjusting part;Third adjusting part, is installed at the bottom of second adjusting part, for cooperating with first adjusting part and second adjusting part, adjusting self-adapting curved surface suction disc assembly;Self-adapting curved surface suction disc assembly, for the position adsorption positioning of climbing mechanism;Collaborative robot arm, for driving work piece to adjust.The two-foot single-arm climbing work robot provided in the present application drives the work of self-adapting curved surface suction disc assembly by climbing mechanism, realizes the two-foot movement of robot, and is positioned by the adsorption of self-adapting curved surface suction disc assembly and curved surface, and then realizes the movement of work piece by collaborative robot arm control work piece to work.

Description

Technical Field

[0001] This invention relates to the field of climbing robot technology, and more particularly to a bipedal, single-arm climbing robot. Background Technology

[0002] Research on climbing robots began in the 1990s, and after more than 30 years of development, a diverse range of configurations has emerged. Based on different movement mechanisms and attachment methods, climbing robots can be broadly classified into two categories: adsorption-based (magnetic adsorption, vacuum adsorption) and gripper-based. According to their configuration characteristics, they can be further categorized into multi-legged, dual-arm / dual-gripper, and multi-segment tandem structures, among others. However, existing climbing robots primarily focus on achieving mobility, and still have significant shortcomings in areas such as integrated operational functions, adaptability to complex and confined spaces, and deep integration of movement and manipulation. These shortcomings make it difficult to meet the urgent needs of high-end equipment manufacturing and maintenance sectors for integrated robot systems that can both flexibly climb complex structures and perform precise operations.

[0003] As a core load-bearing component of wind power equipment, the manufacturing quality and service life of wind turbine blades directly determine the power generation efficiency and operational reliability of wind turbine units. During the blade manufacturing stage, the interior of the blade is a unique working environment characterized by a typical long, narrow curved surface, confined space, and non-flat contact surfaces. The processes of bonding, grinding, drilling, and surface inspection of internal components such as the blade skin, web, and beam cap place extremely high demands on the accessibility, adhesion stability, and operational precision of robots. However, existing fixed robotic arms, limited by their base position and arm span, struggle to penetrate deep into the blade's interior to complete long-distance, deep-cavity operations. Conventional mobile robots (such as wheeled and tracked chassis) are prone to slipping, overturning, or getting stuck in the non-flat curved surfaces and narrow passages inside the blade, exhibiting severely insufficient adaptability. Furthermore, existing climbing robots mostly employ dual-arm or multi-leg configurations, which, while enabling stable movement, are structurally complex and heavy, resulting in poor maneuverability within the confined spaces of the blade's interior. They also lack integrated and refined operational capabilities, making it difficult to simultaneously meet the dual requirements of "climbing entry" and "precise operation."

[0004] To address this issue, a bipedal, single-arm climbing robot was designed to provide an alternative technical solution. Summary of the Invention

[0005] Therefore, it is necessary to provide a bipedal, single-arm climbing robot to address the aforementioned technical problems.

[0006] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0007] A bipedal, single-arm climbing robot includes:

[0008] The control box is used to support the structure;

[0009] The climbing mechanism, installed at both ends of the bottom of the control box, is used to move the control box.

[0010] The climbing mechanism includes:

[0011] The first adjusting component is used to connect the climbing mechanism and the control box;

[0012] The second adjusting member is installed at one end of the first adjusting member;

[0013] The third adjustment component, installed at the bottom of the second adjustment component, is used to cooperate with the first and second adjustment components to adjust the adaptive curved surface suction cup assembly;

[0014] An adaptive curved suction cup assembly is installed at the bottom of the climbing mechanism to adhere to and position the climbing mechanism.

[0015] The collaborative robotic arm, fixed to the bottom of the control box, is used to adjust the workpiece.

[0016] In a preferred embodiment of the bipedal single-arm climbing robot provided by the present invention, an environmental scanning camera is fixed on the front of the control box for detecting the environment in front.

[0017] In a preferred embodiment of the bipedal single-arm climbing robot provided by the present invention, the first adjusting member includes:

[0018] The first mounting bracket is fixed to the top of the control box, and the first hip joint motor is fixed to the inner side of the first mounting bracket.

[0019] In a preferred embodiment of the bipedal single-arm climbing robot provided by the present invention, the second adjusting member includes:

[0020] The second fixing frame is rotatably connected to one end of the first fixing frame, and the second hip joint motor is fixed on the inner side of the second fixing frame.

[0021] In a preferred embodiment of the bipedal single-arm climbing robot provided by the present invention, the third adjusting member includes:

[0022] The third fixing frame is rotatably connected to the outside of the second fixing frame, and the third hip joint motor is fixed to the inside of the third fixing frame;

[0023] The fourth fixing frame is rotatably connected to the bottom of the third fixing frame, and the knee joint motor is fixed on the inner side of the fourth fixing frame.

[0024] In a preferred embodiment of the bipedal single-arm climbing robot provided by the present invention, the adaptive curved surface suction cup assembly includes:

[0025] A support frame is rotatably connected to the outside of the bottom end of the fourth fixed frame for radial rotation on the outside of the fourth fixed frame. A first ankle joint motor is fixed to the top of the inner side of the support frame, and a second ankle joint motor is fixed to the bottom of the first ankle joint motor on the inner side of the support frame. Adjustment wheels are connected to the output ends of both the first and second ankle joint motors.

[0026] A support plate is located at the bottom of the support frame, and one end of the top of the support plate is connected to the support frame via a universal joint;

[0027] The adsorption sleeves are evenly distributed and fixed on the inner side of the bottom end of the support plate;

[0028] A fixed base is fixed to the top of the support plate at the end away from the universal joint. Both sides of the fixed base are ball-jointed with movable rods, and the top of the movable rods are rotatably connected to the corresponding adjusting wheels.

[0029] As a preferred embodiment of the bipedal single-arm climbing robot provided by the present invention, it also includes a working part for grinding the workpiece or equipment.

[0030] In a preferred embodiment of the bipedal single-arm climbing robot provided by the present invention, the working component includes:

[0031] A fixed housing is attached to the adjustment end of the collaborative robotic arm;

[0032] A grinding motor is mounted inside the fixed housing, and a grinding disc is connected to the output end of the grinding motor.

[0033] A protective cover is fixed to the bottom of the fixed shell, and a vacuum hose is provided at one end of the protective cover;

[0034] A structured light camera, fixed to one side of the housing, is used to photograph the area being polished and the area to be polished.

[0035] Meanwhile, through the above technical solutions, the present invention has at least the following beneficial effects:

[0036] The present invention provides a bipedal single-arm climbing robot. Through the cooperation of a control box, a climbing mechanism, an adaptive curved surface suction cup assembly and a workpiece, the climbing mechanism drives the adaptive curved surface suction cup assembly to work, enabling the robot to move on both legs. The robot is positioned by adhering to the curved surface through the adaptive curved surface suction cup assembly. In turn, the robot can work by controlling the movement of the workpiece through a collaborative robotic arm. The robot can adapt to different types of work depending on the workpiece.

[0037] By coordinating the first hip joint motor, the second hip joint motor, the third hip joint motor, and the knee joint motor, the adaptive curved suction cup assembly can be adjusted to different angles through the operation of the four motors. The first hip joint motor, the second hip joint motor, and the third hip joint motor can move the adaptive curved suction cup assembly in a human-like hip joint manner, and the knee joint motor can move the adaptive curved suction cup assembly in a human-like knee joint manner.

[0038] By combining the support plate and the suction sleeve, the movement of the human-like ankle joint can be achieved through the cooperation of the first ankle joint motor and the second ankle joint motor. At the same time, the support plate can be adjusted in multiple angles by the adjustment of the fixed seat driven by the movable rod and the cooperation of the cross universal joint. Meanwhile, the suction sleeve can achieve negative pressure adsorption on the curved surface.

[0039] By combining the grinding motor, grinding disc, protective cover, and suction hose, the collaborative robotic arm can move the workpiece, and the grinding motor on the workpiece drives the grinding disc to rotate, thus grinding the object. At the same time, the protective cover helps to collect the grinding dust, and the suction hose connects to an external vacuum cleaner to suck up the dust, preventing it from adhering to the surface of the workpiece or causing harm to the operator. Attached Figure Description

[0040] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0041] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0042] Figure 2 This is a side view of the present invention;

[0043] Figure 3 This is a schematic diagram showing the connection between the climbing mechanism and the adsorption mechanism of the present invention;

[0044] Figure 4 This is a schematic diagram of the climbing mechanism of the present invention;

[0045] Figure 5 This is a schematic diagram of the adsorption mechanism of the present invention;

[0046] Figure 6 This is a schematic diagram of the structure of the working part of the present invention.

[0047] In the diagram: 1. Control box; 2. Environmental scanning camera; 3. Climbing mechanism; 4. Adaptive curved suction cup assembly; 5. Collaborative robotic arm; 6. Working piece; 7. First fixed frame; 8. First hip joint motor; 9. Second fixed frame; 10. Second hip joint motor; 11. Third fixed frame; 12. Third hip joint motor; 13. Fourth fixed frame; 14. Knee joint motor; 15. Support frame; 16. Universal joint; 17. Support plate; 18. Adsorption sleeve; 19. Fixed base; 20. Movable rod; 21. First ankle joint motor; 22. Second ankle joint motor; 23. Adjustable wheel; 24. Fixed shell; 25. Grinding motor; 26. Grinding disc; 27. Protective cover; 28. Vacuum suction hose; 29. ​​Structured light camera; 30. Torque controller. Detailed Implementation

[0048] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0049] To enable those skilled in the art to better understand the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings.

[0050] It should be noted that, unless otherwise specified, the embodiments and features and technical solutions in the present invention can be combined with each other.

[0051] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0052] Reference Figures 1-6 A bipedal, single-arm climbing robot, comprising:

[0053] Control box 1 is used to support the structure;

[0054] The environmental scanning camera 2 is fixed on the front of the control box 1 and is used to detect the environment in front of it. Specifically, it can be detected by taking pictures or recording in real time, and then the program in the built-in microcontroller or the program of the external device is used to make judgments.

[0055] Climbing mechanism 3 is installed at both ends of the bottom of control box 1 and is used to move control box 1.

[0056] Climbing mechanism 3 includes:

[0057] The first adjusting component is used to connect the climbing mechanism 3 and the control box 1;

[0058] The first adjusting component includes:

[0059] The first fixed frame 7 is fixed to the top of the control box 1. The first hip joint motor 8 is fixed to the inner side of the first fixed frame 7, so that the operation of the first hip joint motor 8 drives the second fixed frame 9 to rotate.

[0060] The second adjusting member is installed at one end of the first adjusting member;

[0061] The second adjusting component includes:

[0062] The second fixed frame 9 is rotatably connected to one end of the first fixed frame 7, so that the second fixed frame 9 can rotate around the axis as the center at one end of the first fixed frame 7. The second hip joint motor 10 is fixed on the inner side of the second fixed frame 9, so that the operation of the first hip joint motor 8 can drive the second fixed frame 9 to rotate.

[0063] The third adjustment component is installed at the bottom of the second adjustment component and is used to cooperate with the first and second adjustment components to adjust the adaptive curved surface suction cup assembly 4.

[0064] The third adjustment component includes:

[0065] The third fixing frame 11 is rotatably connected to the outside of the second fixing frame 9, thereby enabling the third fixing frame 11 to rotate around the axis of the second fixing frame 9. The third hip joint motor 12 is fixed on the inner side of the third fixing frame 11, so that the operation of the third hip joint motor 12 drives the fourth fixing frame 13 to rotate.

[0066] The fourth fixing frame 13 is rotatably connected to the bottom of the third fixing frame 11, thereby enabling the fourth fixing frame 13 to rotate around the axis of the third fixing frame 11. A knee joint motor 14 is fixed on the inner side of the fourth fixing frame 13.

[0067] The adaptive curved suction cup assembly 4 is installed at the bottom of the climbing mechanism 3 and is used to adhere to and position the climbing mechanism 3. Through the cooperation of the climbing mechanism 3 and the adaptive curved suction cup assembly 4, each climbing mechanism 3 is driven by a series and parallel connection of a hip joint motor, a knee joint motor, and an ankle joint motor, forming a 6-DOF leg mechanism, which can realize flexible adjustment of the foot posture; the foot end is an adaptive curved parallel suction mechanism with an integrated suction cup at the end, which can adaptively conform to different working surfaces such as flat surfaces and curved surfaces, and achieve stable attachment through negative pressure suction;

[0068] During walking, the single-leg adaptive curved surface suction cup assembly 4 and the end suction cup of the collaborative robotic arm 5 maintain stable adhesion to the working surface, forming a stable triangular support. Under the command of the control system, the other leg completes the lifting, forward movement, lowering, and adhesion actions through the linkage of hip / knee / ankle joint motors, and then switches to support the leg to achieve alternating stepping movement. The alternating walking of the two legs combined with the robotic arm-assisted adhesion ensures the stability of the posture during movement, can adapt to complex curved surface environments such as vertical and inclined surfaces, and avoids the risk of tipping over.

[0069] The adaptive curved surface suction cup assembly 4 includes:

[0070] The support frame 15 is rotatably connected to the outer side of the bottom end of the fourth fixed frame 13, and is used to rotate radially on the outer side of the fourth fixed frame 13. This allows the support frame 15 to be rotated and adjusted on the outer side of the bottom end of the fourth fixed frame 13 by the operation control of the knee joint motor 14. The top of the inner side of the support frame 15 is fixed with a first ankle joint motor 21, and the bottom of the first ankle joint motor 21 is fixed with a second ankle joint motor 22. The first ankle joint motor 21 and the second ankle joint motor 22 are fixed in opposite directions, so that the output ends of the first ankle joint motor 21 and the second ankle joint motor 22 are in opposite directions. The output ends of the first ankle joint motor 21 and the second ankle joint motor 22 are both connected to adjustment wheels, so that the operation of the first ankle joint motor 21 or the second ankle joint motor 22 controls the corresponding adjustment wheel 23 to rotate.

[0071] The support plate 17 is located at the bottom of the support frame 15. One end of the top of the support plate 17 is connected to the support frame 15 through a cross universal joint 16, so that when the support plate 17 is adjusted, it can be adaptively adjusted at the bottom of the support frame 15 through the cross universal joint 16.

[0072] Adsorption sleeves 18 are evenly distributed and fixed on the inner side of the bottom end of the support plate 17, and are used to adsorb onto the curved surface by means of negative pressure after extrusion.

[0073] The fixed base 19 is fixed to the top of the support plate 17 at the end away from the universal joint 16. Both sides of the fixed base 19 are ball-connected with movable rods 20, so that the lifting and lowering of the movable rods 20 drives the fixed base 19 to adjust the height at different angles through ball connection. The top of the movable rod 20 is rotatably connected to the corresponding adjusting wheel 23, so that the adjusting wheel 23 rotates around the center, driving the movable rod 20 to perform intermittent lifting and lowering adjustment.

[0074] The collaborative robotic arm 5 is fixed to the bottom of the control box 1 and is used to drive the workpiece 6 for adjustment;

[0075] Workpiece 6 is used for grinding workpieces or equipment;

[0076] Work item 6 includes:

[0077] The fixed housing 24 is fixed to the adjustment end of the collaborative robotic arm 5, which allows the working part 6 to be adjusted at any angle through the fixed housing 24.

[0078] The grinding motor 25 is assembled inside the fixed housing 24. The output end of the grinding motor 25 is connected to the grinding disc 26, and the grinding disc 26 is driven by the operation of the grinding motor 25 to achieve grinding.

[0079] The protective cover 27 is fixed to the bottom of the fixed shell 24, and a vacuum suction hose 28 is provided at one end of the protective cover 27. The vacuum suction hose 28 is positioned by the connection between the fixed frame and the fixed shell 24, and the vacuum suction hose 28 is connected to an external vacuum cleaner, so that the dust inside the protective cover 27 can be extracted through the vacuum suction hose 28.

[0080] The structured light camera 29 is fixed on one side of the fixed housing 24 and is used to take pictures of the grinding and the area to be ground. The images are processed by external devices or the built-in microcontroller program to detect the grinding thickness.

[0081] The torque controller 30 is fixed to the top of the inner side of the fixed housing 24 and is used to adjust the torque of the grinding position of the grinding motor 25.

[0082] In this embodiment, the workpiece 6 installed on the collaborative robotic arm 5 can be used to achieve application in the grinding field. In other embodiments, when this robot is applied in other fields, the workpiece 6 installed on the collaborative robotic arm 5 can be removed and replaced with equipment for the corresponding field.

[0083] In use, it can achieve "two-point adsorption support" between the two feet and the central robotic arm in the walking mode, with a single leg suction cup and a robotic arm suction cup. By alternating adsorption gait, it can achieve stable movement over large spans and on non-flat curved surfaces. In the grinding mode, the two feet simultaneously adsorb to form "two-point rigid support", and the robotic arm disengages from the adsorption function and switches to the working posture.

[0084] The bipedal system employs a symmetrically arranged multi-degree-of-freedom parallel joint mechanism, with each foot equipped with an adaptive curved surface suction cup assembly 4. Combined with sponge suction cups, it can adapt to relatively complex curved surfaces. A single arm is integrated at the center of symmetry of the bipedal system, enabling large-angle adjustment through the flexible movement of a six-degree-of-freedom collaborative robotic arm 5.

[0085] Single-arm multi-functional reuse technology: In walking mode, the suction cup at the end of the collaborative robotic arm 5 acts as a "third adsorption point" to provide support, and works in conjunction with the adaptive curved surface suction cup assembly 4 of the two feet to achieve alternating adsorption gait, improving the stability of the movement process; In polishing mode, the end of the collaborative robotic arm 5 switches to the operation mode, and completes the continuous operation of "scanning-polishing-dust collection" through the integrated module, without the need to change the execution end or additional equipment. The end of the collaborative robotic arm 5 integrates a structured light scanning module, a constant force polishing module, and an adsorption and dust collection module.

[0086] In this embodiment, each structure has its own service life. In actual manufacturing and application, the corresponding structure made of different materials can be replaced according to the needs of use.

[0087] In this embodiment, the motor is a self-locking motor, which can drive the connected structure to rotate normally when it is powered on and working. When the motor stops working, it can prevent the connected structure from rotating through its self-locking function.

[0088] The usage process of the bipedal single-arm climbing robot provided by this invention is as follows: During use, the climbing mechanism 3 drives the adaptive curved suction cup assembly 4 to move and adjust, thereby enabling the device to move its two legs and perform work at different positions. During adjustment, depending on the position, the climbing mechanism 3 uses one or more of the first hip joint motor 8, the second hip joint motor 10, and the third hip joint motor 12 to drive the fourth fixed frame 13 to adjust its position, thereby moving the adaptive curved suction cup assembly 4. The knee joint motor 14 then moves the adaptive curved suction cup assembly 4 in the knee joint direction. When the device moves, the environment scanning camera 2 scans the situation in front of it and can process the data through external devices or a built-in microcontroller. Then, through the operation of the first ankle joint motor 21 and the second ankle joint motor 22 on the adaptive curved surface suction cup assembly 4, the corresponding adjustment wheel 23 is driven to rotate. The rotation of the adjustment wheel 23 drives the adjustment of the fixed seat 19 through the movable rod 20. With the bottom of the support frame 15 and the support plate 17 adaptively adjusted through the cross universal joint 16, the support plate 17 can be adjusted to different angles. The negative pressure adsorption is achieved by the squeezing between the adsorption sleeve 18 and the curved surface, thereby positioning the control box 1.

[0089] Then, the position of the workpiece 6 is adjusted by the operation of the collaborative robotic arm 5. The operation of the grinding motor 25 on the workpiece 6 drives the grinding disc 26 to rotate, so that the grinding disc 26 can grind the object. At the same time, the dust from the grinding is gathered by the protective cover 27, and the external vacuum cleaner works and the dust gathered inside the protective cover 27 is extracted by the vacuum hose 28 to prevent dust from adhering to the surface of the workpiece and affecting subsequent operations, and to prevent excessive dust from being absorbed into the operator's body and causing harm. At the same time, the grinding workpiece is photographed by the structured light camera 29 to achieve real-time viewing, or the grinding thickness can be determined by external equipment or built-in microcontroller.

[0090] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. A bipedal single-arm climbing work robot characterized by comprising: include: Control box (1) is used to support the structure; Climbing mechanism (3) is installed at both ends of the bottom of control box (1) to drive control box (1) to move; The climbing mechanism (3) includes: The first adjusting component is used to connect the climbing mechanism (3) and the control box (1). The second adjusting member is installed at one end of the first adjusting member; The third adjustment component is installed at the bottom of the second adjustment component and is used to cooperate with the first and second adjustment components to adjust the adaptive curved surface suction cup assembly (4); An adaptive curved suction cup assembly (4) is installed at the bottom of the climbing mechanism (3) for adsorption and positioning of the climbing mechanism (3); The collaborative robotic arm (5) is fixed to the bottom of the control box (1) and is used to drive the workpiece (6) for adjustment.

2. The bipedal, single-arm climbing robot according to claim 1, characterized in that, An environmental scanning camera (2) is fixed to the front of the control box (1) for detecting the environment in front.

3. The bipedal, single-arm climbing robot according to claim 1, characterized in that, The first adjusting member includes: The first fixing frame (7) is fixed to the top of the control box (1), and the first hip joint motor (8) is fixed to the inner side of the first fixing frame (7).

4. The biped single-arm climbing work robot according to claim 3, characterized by The second adjusting member includes: The second fixing frame (9) is rotatably connected to one end of the first fixing frame (7), and the second hip joint motor (10) is fixed on the inner side of the second fixing frame (9).

5. The bipedal single-arm climbing work robot according to claim 4, characterized by The third adjusting element includes: The third fixing frame (11) is rotatably connected to the outside of the second fixing frame (9), and the third hip joint motor (12) is fixed on the inside of the third fixing frame (11). The fourth fixing frame (13) is rotatably connected to the bottom of the third fixing frame (11), and the knee joint motor (14) is fixed on the inner side of the fourth fixing frame (13).

6. The bipedal single-arm climbing work robot according to claim 5, characterized by The adaptive curved surface suction cup assembly (4) includes: A support frame (15) is rotatably connected to the outer side of the bottom end of the fourth fixed frame (13) for radial rotation on the outer side of the fourth fixed frame (13). A first ankle joint motor (21) is fixed at the top of the inner side of the support frame (15). A second ankle joint motor (22) is fixed at the bottom end of the first ankle joint motor (21) on the inner side of the support frame (15). An adjusting wheel (23) is connected to the output end of both the first ankle joint motor (21) and the second ankle joint motor (22). A support plate (17) is provided at the bottom of the support frame (15), and one end of the top of the support plate (17) is connected to the support frame (15) through a cross universal joint (16); The adsorption sleeve (18) is evenly distributed and fixed on the inner side of the bottom end of the support plate (17); A fixed seat (19) is fixed to the top of the support plate (17) at one end away from the universal joint (16). Both sides of the fixed seat (19) are ball-connected with movable rods (20), and the top of the movable rods (20) is rotatably connected to the corresponding adjusting wheel (23).

7. The biped single-arm climbing work robot according to claim 1, characterized by It also includes a workpiece (6) for grinding workpieces or equipment.

8. The biped single-arm climbing work robot according to claim 7, characterized by The workpiece (6) includes: The fixed shell (24) is fixed to the adjustment end of the collaborative robotic arm (5); A grinding motor (25) is mounted on the inside of a fixed housing (24), and the output end of the grinding motor (25) is connected to a grinding disc (26). A protective cover (27) is fixed to the bottom of the fixed shell (24), and a vacuum hose (28) is provided at one end of the protective cover (27). A structured light camera (29) is fixed to one side of the fixed housing (24) and is used to photograph the polishing and polishing areas.

Images