A large-size motorized spindle floating mechanism for automated polishing and an adaptive floating control method thereof

Abstract

A large electric spindle floating mechanism for automated polishing and its adaptive floating control method relate to the field of industrial automation and robot polishing technology. The mechanism includes a robot connecting flange, a fixed plate, a slide rail slider assembly, a transition plate, a floating joint, a laser detection device, a double-head cylinder assembly, an automatic tool changing electric spindle, and a sheet metal protection box. The tail end of the double-head cylinder is coaxially fixed, and the piston rod is arranged backward, providing constant force support in cooperation with the pressure regulating valve. The control method compensates for the polishing track through the front laser scanning, and when the grinding force exceeds the threshold, the movable plate drives the electric spindle to adaptively retreat along the slide rail. Through the integrated design of front detection, precise guidance, and constant force floating, active compensation of workpiece deviation and adaptive control of polishing force are realized, which improves the consistency of polishing quality, reduces equipment impact loss, and meets the application requirements of large-scale casting automated constant force polishing.

Description

Technical Field

[0001] This invention relates to the field of industrial automation and robotic grinding technology, specifically a large electric spindle floating mechanism for automated grinding and its adaptive floating control method. Background Technology

[0002] Large castings (such as aircraft parts, rocket sections, engine blocks, etc.) commonly have defects such as gating gates, parting lines, and flash after casting, which must be removed by grinding. Traditional grinding methods rely on manual hand-held angle grinders, which are labor-intensive, produce harsh dust and noise environments, and the grinding quality depends entirely on the worker's experience, resulting in poor processing consistency and low production efficiency.

[0003] With the popularization of industrial robot technology, automated robotic grinding has become the mainstream solution to replace manual labor. Electric spindles, as the core actuators in grinding operations, have the advantages of high speed and high output power, but they are also costly and structurally rigid. However, incoming castings generally have problems such as dimensional deviations, inconsistent gating gate positions, and uneven parting line thickness. If traditional "hard contact" rigid grinding is used, the following problems are likely to occur: First, the electric spindle is continuously subjected to impact overload, which easily damages the bearings and windings, significantly shortening their service life; second, the workpiece is prone to localized over- or under-grinding, resulting in low product yield; third, the grinding tools (such as diamond grinding heads and grinding wheels) are subjected to hard compression with the workpiece, leading to rapid wear and high processing costs.

[0004] Furthermore, existing floating mechanisms mostly employ purely mechanical spring or rubber-based floating structures, providing only passive buffering. They lack pre-deviation detection and closed-loop force control capabilities, failing to eliminate workpiece deviations at the source and struggling to balance grinding flexibility and machining accuracy in mass production. Therefore, there is an urgent need for a large-scale electric spindle floating mechanism that integrates pre-detection, precision guidance, constant force floating, and automatic tool changing to solve the technical challenges of poor casting consistency, unstable grinding quality, and short equipment and consumable lifespan. Summary of the Invention

[0005] To address the shortcomings of the prior art, this invention provides a large electric spindle floating mechanism for automated grinding and its adaptive floating control method. Through the integrated design of pre-detection, precision guidance and constant force floating, it achieves active compensation for workpiece deviation and adaptive adjustment of grinding force, improves grinding quality consistency, reduces equipment impact loss, and meets the application requirements of automated constant force grinding of large castings.

[0006] To overcome the shortcomings of existing technologies, a large electric spindle floating mechanism for automated grinding and its adaptive floating control method are provided, focusing on solving the following technical problems:

[0007] 1. The large deviation between the position and contour of the incoming casting causes a mismatch between the robot's teaching trajectory and the actual workpiece, resulting in poor grinding consistency;

[0008] 2. Rigid grinding generates impact overload, which can easily damage high-value electric spindles and grinding tools, resulting in a short lifespan for equipment and consumables;

[0009] 3. Existing floating mechanisms have poor guiding accuracy and uncontrollable floating force, making it impossible to achieve stable constant force grinding;

[0010] 4. The tool changing efficiency is low and the degree of automation is insufficient when grinding castings with multiple varieties and multiple processes.

[0011] To achieve the above objectives, the present invention adopts the following technical solution:

[0012] A large electric spindle floating mechanism for automated grinding includes a robot connecting flange, a fixed plate, a slide rail slider assembly, a transition plate, a first floating joint, a laser detection device, a sheet metal protective box, an automatic tool changing electric spindle, a spindle base, a tool holder, a diamond grinding head, a movable plate, a second floating joint, a double-headed cylinder assembly, and floating connectors.

[0013] The robot connecting flange is rigidly connected to the robot end effector, and the fixing plate is fixed to the front end of the robot connecting flange;

[0014] The slide rail of the slide rail slider assembly is fixed to the surface of the fixed plate along a preset floating direction. The slider of the slide rail slider assembly is fastened to the back of the transition plate, and the front of the transition plate is fastened to the movable plate, so that it can only make linear reciprocating motion along the slide rail. The bottom of the movable plate is provided with two floating connectors, which respectively support and fix the first floating joint and the second floating joint. The double-headed cylinder assembly consists of two cylinders with their tail ends coaxially fixed and their piston rod ends arranged back to back. The cylinder body of the double-headed cylinder assembly is fixed to the fixed plate or the extension bracket of the robot connecting flange. The two piston rod ends are respectively connected to the first floating joint and the second floating joint. The double-headed cylinder assembly is equipped with a regulating air circuit, which is equipped with a pressure regulating valve. The pressure regulating valve is used to regulate and stabilize the output air pressure, so that the double-headed cylinder assembly provides a constant support force along the guide direction of the slide rail.

[0015] The laser detection device is integrated and installed at the top of the mechanism. It is used to scan the actual position and contour of the workpiece before grinding and output deviation data to compensate for the robot's grinding trajectory.

[0016] The automatic tool changer is mounted on a movable plate via a spindle base. The tool holder is automatically tightened or released by the pull-out mechanism built into the automatic tool changer. The diamond grinding head is fixed to the bottom end of the tool holder.

[0017] The sheet metal protective box covers the fixed plate and the movable plate, enclosing and protecting the internal moving parts and electrical circuits.

[0018] Furthermore, the slide rail slider assembly adopts two slide rails arranged in parallel, with each slide rail carrying two sliders; the slide rail pair of the slide rail slider assembly adopts a ball or roller circulation structure to constrain the offset and deflection of the movable plate perpendicular to the floating direction.

[0019] Furthermore, the first and second floating joints employ ball joints or elastic buffer structures to compensate for the coaxiality error between the piston rod and the moving plate of the double-headed cylinder assembly, and to absorb the impact vibration during the retraction process.

[0020] Furthermore, the laser detection device is fixed to the robot connecting flange via a bracket, with its laser emission and reception windows facing the workpiece side to acquire the workpiece's three-dimensional point cloud or cross-sectional data.

[0021] Furthermore, the sheet metal protective box is assembled and fixed from multiple sheet metal parts, and is positioned by screws to the robot connecting flange. Only the corresponding openings for the robot connecting flange, laser detection device and automatic tool changer electric spindle are reserved to achieve dustproof and wear-shaving seal.

[0022] An adaptive floating control method for a large electric spindle floating mechanism used in automated grinding includes the following steps:

[0023] Step 1, workpiece loading and positioning: The workpiece is positioned by the conveyor line or tooling to the loading station, and the robot drives the floating mechanism to move to the preset scanning position;

[0024] Step 2, Laser Scanning Inspection: Start the laser inspection device to collect the actual installation position of the workpiece, the coordinates of the gating gate and riser, and the outline of the mold parting line. Upload the position deviation and casting deviation data to the robot controller.

[0025] Step 3, Trajectory Correction and Compensation: After receiving the deviation data, the robot controller compensates it to the preset original grinding trajectory, generating a corrected optimal grinding path that matches the actual workpiece contour.

[0026] Step 4, constant force parameter setting: The control air circuit outputs stable air pressure through the pressure regulating valve according to the process setting, so that the double-headed cylinder assembly outputs a constant floating force, and the movable plate is stably in the floating zero point position.

[0027] Step 5, Constant Force Grinding Execution: The robot drives the automatic tool changer to perform grinding operations according to the corrected grinding path. When the grinding resistance exceeds the set threshold, the movable plate drives the automatic tool changer to flexibly retract along the slide rail slider assembly to maintain constant force processing.

[0028] Step 6, Tool Changing Cycle Operation: After a single grinding process is completed, the robot moves to the tool changing position, and the automatic tool changing electric spindle changes the tool holder for the next process, and the next grinding process is executed in a cycle.

[0029] Furthermore, in step 2, the laser detection device emits a line laser or structured light to scan the key features of the workpiece, and the detection data is transmitted to the robot controller via Ethernet or IO module. The robot controller compares the actual coordinates with the standard digital model and calculates the position deviation and contour deviation.

[0030] Compared with the prior art, the beneficial effects of the present invention are:

[0031] 1. Significantly improved grinding quality: Deviation compensation is achieved through front-mounted laser detection, ensuring that the robot trajectory closely matches the actual contour of the workpiece. Combined with constant force floating control, this effectively avoids over-grinding and under-grinding, improving grinding consistency and yield.

[0032] 2. Effectively extended equipment life: The adaptive yielding performance can effectively absorb grinding impact, reduce the impact load on the electric spindle bearings and windings, reduce equipment damage, and extend the overall service life.

[0033] 3. Consumable costs are significantly reduced: Constant force grinding maintains the optimal contact pressure between the diamond grinding head and the workpiece, reducing abnormal wear of the grinding wheel and extending its service life.

[0034] 4. High degree of automation: The automatic tool changing function supports continuous operation of multiple processes. Combined with a fully enclosed sheet metal protective box, it can adapt to harsh environments with high dust, ensure operational reliability, and is suitable for large-scale automated grinding production lines. Attached Figure Description

[0035] Figure 1 This is an exploded view of the floating mechanism of the present invention;

[0036] Figure 2 This is a schematic diagram of the overall structure of the floating mechanism of the present invention after assembly.

[0037] In the diagram: 1. Robot connecting flange; 2. Fixing plate; 3. Slide rail slider assembly; 4. Transition plate; 5. First floating joint; 6. Laser detection device; 7. Sheet metal protective box; 8. Automatic tool changer electric spindle; 9. Spindle base; 10. Tool holder; 11. Diamond grinding head; 12. Movable plate; 13. Second floating joint; 14. Double-headed cylinder assembly; 15. Floating connector. Detailed Implementation

[0038] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the invention, not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0039] To address the problems existing in the prior art, this invention provides a large electric spindle floating mechanism for automated grinding, such as... Figures 1-2 As shown, the module is functionally divided into a basic support module, a precision guide floating module, a pre-detection module, a constant force drive module, an automatic tool change execution module, and a sealing and protection module. Specifically:

[0040] The basic support module uses a robot connecting flange 1 and a fixing plate 2. The rear end face of the robot connecting flange 1 is rigidly connected to the end flange of the six-axis industrial robot through a positioning stop and bolts. The front end face of the robot connecting flange 1 is connected and fixed to the fixing plate 2, forming the connection interface between the entire floating mechanism and the robot wrist, so that the entire floating mechanism can achieve six-axis linkage with the robot.

[0041] The precision guide floating module employs a slide rail slider assembly 3, a transition plate 4, a first floating joint 5, a movable plate 12, a second floating joint 13, and floating connectors 15. The slide rail portion of the slide rail slider assembly 3 is screwed to the surface of the fixed plate 2 along a preset floating direction, which is typically perpendicular to the workpiece surface to be polished. The slider portion of the slide rail slider assembly 3 is fastened to the back of the transition plate 4 with screws. The front of the transition plate 4 is fastened to the movable plate 12 with screws. Thus, the slide rail slider assembly 3, the transition plate 4, and the movable plate 12 form a hierarchical series structure of "slide rail-slider-transition plate-moving plate," ensuring that the movable plate 12 and all its mounted components can only perform high-precision linear reciprocating motion along the slide rail, while other degrees of freedom are rigidly constrained by the slide rail, guaranteeing the accuracy of the retraction direction. The bottom of the movable plate 12 extends downwards, and two floating connectors 15 are provided on both sides of its back. Figure 1 Only one floating connector 15 is shown in the diagram; the other floating connector 15 is reserved on the back of the movable plate 12 (not shown). The pre-defined positioning grooves of the two floating connectors 15 respectively support and fix the first floating joint 5 and the second floating joint 13. The opposite ends of the first floating joint 5 and the second floating joint 13 are subsequently connected to the two piston rod ends of the double-headed cylinder assembly 14. Preferably, to improve the stability of the preset floating direction constraint, two parallel slide rail slider assemblies 3 are used, each slide rail slider assembly 3 consisting of one slide rail carrying two sliders.

[0042] Among them, the slide rail pair of the slide rail assembly 3 adopts a ball or roller circulation structure to convert sliding friction into rolling friction, ensuring that the retraction action of the automatic tool changer spindle 8 is sensitive and without jamming; at the same time, the high rigidity lateral constraint of the slide rail pair can prevent the movable plate 12 from shifting or deflecting in the direction perpendicular to the floating direction, ensuring that the retraction trajectory of the automatic tool changer spindle 8 is always perpendicular to the workpiece surface.

[0043] In addition, the first floating joint 5 and the second floating joint 13 adopt ball joints or elastic buffer structures, which allow for a small angular deviation and parallelism error between the piston rod axis of the double-headed cylinder assembly 14 and the actual movement direction of the movable plate 12. The machining and assembly errors can be compensated by self-aligning swing, preventing the piston rod from bearing lateral bending moment. At the same time, it can absorb instantaneous impact vibration when the movable plate 12 retreats quickly, ensuring that the thrust of the double-headed cylinder assembly 14 is transmitted smoothly.

[0044] The pre-detection module uses a laser detection device 6, which is integrated and installed on the top of the mechanism via a bracket. It can be connected and fixed to the robot connection flange 1. Its laser emission and reception windows face the workpiece side, and are used to scan the actual installation position and contour of the workpiece before grinding, obtain three-dimensional point cloud or cross-sectional data, and output the position deviation and casting deviation to the robot controller.

[0045] The constant force drive module adopts a double-headed cylinder assembly 14 and its matching regulating air circuit. The double-headed cylinder assembly 14 consists of two cylinders with their tail ends coaxially fixed and their piston rod ends arranged back to back. The cylinder body of the double-headed cylinder assembly 14 is fixed on the bracket extending from the fixed plate 2 or the robot connecting flange 1. The two piston rod ends of the double-headed cylinder assembly 14 are respectively connected and fixed to the corresponding first floating joint 5 and second floating joint 13. The regulating air circuit is equipped with a pressure regulating valve that can adjust and stabilize the output air pressure in real time, so that the double-headed cylinder assembly 14 provides a constant supporting force along the guide direction of the slide rail slider assembly 3.

[0046] The automatic tool changer module comprises an automatic tool changer electric spindle 8, a spindle base 9, a tool holder 10, and a diamond grinding head 11. The automatic tool changer electric spindle 8 is mounted on the spindle base 9, which is screwed onto the surface of the movable plate 12. The tool holder 10 is automatically tightened or released by a pull-out mechanism built into the bottom of the automatic tool changer electric spindle 8. The diamond grinding head 11 is locked to the bottom of the tool holder 10 and completes the grinding operation by rotating at high speed with the automatic tool changer electric spindle 8.

[0047] The sealing and protection module adopts a sheet metal protective box 7, which is composed of multiple 2mm thick sheet metal parts assembled and fixed together. It is connected and positioned to the robot connecting flange 1 by screws, and covers the perimeter of the fixed plate 2 and the movable plate 12. It encloses the slide rail slider assembly 3, the double-headed cylinder assembly 14 and related electrical circuits inside the mechanism, leaving only the robot connecting flange 1, the laser detection device 6 and the automatic tool changing electric spindle 8 exposed, thus achieving dustproof and wear-resistant sealing protection.

[0048] On the other hand, the present invention provides an adaptive floating control method based on the above-mentioned floating mechanism, comprising the following steps:

[0049] Step 1, workpiece loading and positioning: The workpiece is positioned by the conveyor line or tooling to the loading station, and the robot drives the floating mechanism to move to the preset scanning position to prepare for workpiece inspection;

[0050] Step 2, Laser Scanning Inspection: Start the laser inspection device 6 to collect the actual installation position of the workpiece, the coordinates of the gating gate and riser, and the outline of the mold parting line. Upload the position deviation and casting deviation data to the robot controller.

[0051] Step 3, Trajectory Correction and Compensation: After receiving the deviation data, the robot controller compensates it to the preset original grinding trajectory, generating a corrected optimal grinding path that matches the actual workpiece contour.

[0052] Step 4, constant force parameter setting: The air circuit is controlled to output a stable air pressure through the pressure regulating valve according to the process setting, so that the double-headed cylinder assembly 14 outputs a constant floating force, and the movable plate 12 is stably at the floating zero point position, ready to enter the grinding process.

[0053] Step 5, Constant Force Grinding Execution: The robot drives the automatic tool changer spindle 8 of the floating mechanism to drive the tool holder 10 and diamond grinding head 11 to perform grinding operations according to the corrected grinding path. During the grinding process, when the grinding resistance exceeds the set threshold, the movable plate 12 drives the automatic tool changer spindle 8 to flexibly retract along the slide rail slider assembly 3 to maintain constant force processing state and avoid rigid impact.

[0054] Step 6, Tool Changing Cycle Operation: After a single grinding process is completed, the robot moves to the tool changing position, and the automatic tool changing electric spindle 8 changes the tool holder for the next process, and the next grinding process is executed in a cycle until all processes are completed.

[0055] The working principle of this large electric spindle floating mechanism is as follows:

[0056] Before the grinding operation, the robot moves the floating mechanism to the scanning station above the workpiece. The laser detection device 6 emits line laser or structured light to scan the key features of the workpiece (such as the root of the gating system and the edge of the mold parting line) to obtain actual three-dimensional coordinate data. The detection data is sent to the robot controller via Ethernet or I / O module. The robot controller compares the actual coordinates with the standard digital model, calculates the positional and contour deviations in the X, Y, and Z directions, and compensates for the deviations in the original grinding trajectory to generate a corrected motion path, thus eliminating grinding errors caused by workpiece positioning and casting deviations at the source.

[0057] During grinding operations, the air circuit is regulated by a pressure regulating valve to set the output air pressure according to process requirements (e.g., 0.3~0.6MPa). The piston rod of the double-headed cylinder assembly 14 extends and provides a constant supporting force to the movable plate 12 through the first floating joint 5, the second floating joint 13, and the corresponding floating connecting piece 15. This constant supporting force, after balancing with the self-weight of the automatic tool changer spindle 8, the movable plate 12, and the tool system, forms a stable initial floating zero point.

[0058] When the robot feeds along the corrected trajectory and the diamond grinding head 11 is in normal contact with the workpiece for grinding, if the grinding resistance is less than the set floating force, the movable plate 12 remains stationary, and the automatic tool-changing electric spindle 8 precisely removes the workpiece material in a rigid manner. When encountering a local protrusion, hard spot, or sprue in the casting, causing a sudden increase in grinding resistance that exceeds the set threshold, the grinding reaction force pushes the movable plate 12 backward along the slide rail slider assembly 3, and the piston rod of the double-headed cylinder assembly 14 is passively retracted. Due to the real-time pressure stabilization of the pressure regulating valve, the output force of the double-headed cylinder assembly 14 remains constant, and the automatic tool-changing electric spindle 8 continues grinding under constant force until the high point is ground flat and the grinding resistance decreases. The movable plate 12 then automatically resets under the thrust of the double-headed cylinder assembly 14.

[0059] During this process, the slide rail slider assembly 3 ensures that the retraction direction is strictly along a straight line without lateral swaying, avoiding uneven grinding caused by lateral tool retraction; the first floating joint 5 and the second floating joint 13 compensate for the coaxiality error between the double-headed cylinder assembly 14 and the movable plate 12, preventing the piston rod of the double-headed cylinder assembly 14 from being jammed or worn unevenly due to lateral force, while absorbing the impact vibration during rapid retraction, ensuring the smoothness of constant force transmission.

[0060] After the current process (such as rough grinding of the riser) is completed, the robot moves the floating mechanism to the tool changing station. The built-in pull-out mechanism of the automatic tool changing electric spindle 8 is activated, the tool holder 10 is released, and after air cleaning, the tool holder of the fine grinding wheel required for the next process is automatically tightened. No manual intervention is required, and the robot directly enters the grinding cycle of the next process.

[0061] Unlike traditional mechanisms that rely solely on passive floating, the floating mechanism of this invention has the following core improvements in terms of structural and functional synergy:

[0062] 1. Integrated pre-detection and trajectory compensation: Laser detection is integrated at the top of the mechanism to complete workpiece scanning and deviation compensation before grinding, eliminating positioning errors and casting deviations from the source, changing passive adaptation to active correction, and significantly improving grinding consistency and yield.

[0063] 2. Synergistic design of precision guidance and constant force floating: The slide rail slider provides high-precision linear guidance, combined with symmetrical cylinder drive and precision pressure regulating valve to achieve active floating with controllable direction and constant force value, rather than the nonlinear floating of traditional spring mechanism, thus solving the problem of the floating force attenuating with displacement.

[0064] 3. Floating joint error self-adaptation: The floating joint eliminates cylinder installation errors and lateral forces, which not only protects the cylinder seal life but also ensures the accuracy of constant force transmission, making the mechanical structure and pneumatic control form a reliable closed loop.

[0065] 4. High integration of detection, floating, tool changing and protection: It integrates laser detection, constant force floating, automatic tool changing and fully enclosed dustproof structure in a compact space. It can be directly installed on the end of the robot and is suitable for automated grinding production lines of multiple varieties and large batches of castings. It has a simple structure and low maintenance cost.

[0066] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of the equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0067] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A large electric spindle floating mechanism for automated grinding, characterized in that: Includes robot connecting flange (1), fixing plate (2), slide rail slider assembly (3), transition plate (4), first floating joint (5), laser detection device (6), sheet metal protective box (7), automatic tool change electric spindle (8), spindle base (9), tool holder (10), diamond grinding head (11), movable plate (12), second floating joint (13), double-head cylinder assembly (14), and floating connector (15); The robot connecting flange (1) is rigidly connected to the robot end, and the fixing plate (2) is fixed to the front end of the robot connecting flange (1); The slide rail of the slide rail slider assembly (3) is fixed to the surface of the fixed plate (2) along a preset floating direction. The slider of the slide rail slider assembly (3) is fastened to the back of the transition plate (4). The front of the transition plate (4) is fastened to the movable plate (12), so that it can only make linear reciprocating motion along the slide rail. Two floating connectors (15) are provided at the bottom of the movable plate (12). The two floating connectors (15) respectively support and fix the first floating joint (5) and the second floating joint (13). The double-headed cylinder assembly (14) The double-headed cylinder assembly (14) consists of two cylinders with their tail ends coaxially fixed and their piston rod ends arranged opposite each other. The cylinder body of the double-headed cylinder assembly (14) is fixed on the extension bracket of the fixed plate (2) or the robot connection flange (1). The two piston rod ends are respectively connected to the first floating joint (5) and the second floating joint (13). The double-headed cylinder assembly (14) is equipped with a regulating air passage. The regulating air passage is equipped with a pressure regulating valve. The pressure regulating valve is used to regulate and stabilize the output air pressure so that the double-headed cylinder assembly (14) provides a constant supporting force along the guide direction of the slide rail. The laser detection device (6) is integrated and installed on the top of the mechanism. It is used to scan the actual position and contour of the workpiece before grinding and output deviation data to compensate for the robot grinding trajectory. The automatic tool changer spindle (8) is mounted on the movable plate (12) via the spindle base (9). The tool holder (10) is automatically tightened or released by the pull-out mechanism built into the automatic tool changer spindle (8). The diamond grinding head (11) is fixed to the bottom end of the tool holder (10). The sheet metal protective box (7) covers the fixed plate (2) and the movable plate (12) around the perimeter, enclosing and protecting the internal moving parts and electrical circuits.

2. The large electric spindle floating mechanism for automated grinding according to claim 1, characterized in that: The slide rail slider assembly (3) adopts two slide rails arranged in parallel, and each slide rail carries two sliders; the slide rail pair of the slide rail assembly (3) adopts a ball or roller circulation structure to constrain the offset and deflection of the movable plate (12) perpendicular to the floating direction.

3. The large electric spindle floating mechanism for automated grinding according to claim 1, characterized in that: The first floating joint (5) and the second floating joint (13) are equipped with ball joints or elastic buffer structures to compensate for the coaxiality error of the piston rod of the double-headed cylinder assembly (14) and the moving plate (12) in the direction of movement, and to absorb the impact vibration during the retraction process.

4. A large electric spindle floating mechanism for automated grinding according to claim 1, characterized in that: The laser detection device (6) is fixed to the robot connecting flange (1) by a bracket, and its laser emission and reception window faces the workpiece side to obtain the workpiece's three-dimensional point cloud or cross-sectional data.

5. A large electric spindle floating mechanism for automated grinding according to claim 1, characterized in that: The sheet metal protective box (7) is assembled and fixed by multiple sheet metal parts. It is positioned by screws and robot connecting flange (1). Only the corresponding openings of robot connecting flange (1), laser detection device (6) and automatic tool changing electric spindle (8) are reserved to achieve dustproof and anti-wear sealing.

6. An adaptive floating control method for a large electric spindle floating mechanism used in automated grinding, characterized in that: The adaptive floating control method of the large electric spindle floating mechanism according to any one of claims 1-5 includes the following steps: Step 1, workpiece loading and positioning: The workpiece is positioned by the conveyor line or tooling to the loading station, and the robot drives the floating mechanism to move to the preset scanning position; Step 2, Laser scanning inspection: Start the laser inspection device (6), collect the actual installation position of the workpiece, the coordinates of the gating gate and riser and the outline of the mold parting line, and upload the position deviation and casting deviation data to the robot controller; Step 3, Trajectory Correction and Compensation: After receiving the deviation data, the robot controller compensates it to the preset original grinding trajectory, generating a corrected optimal grinding path that matches the actual workpiece contour. Step 4, constant force parameter setting: the control air circuit outputs stable air pressure through the pressure regulating valve according to the process setting, so that the double-headed cylinder assembly (14) outputs constant floating force, and the movable plate (12) is stably at the floating zero point position; Step 5, constant force grinding execution: The robot drives the automatic tool changer (8) to perform grinding operations according to the corrected grinding path. When the grinding resistance exceeds the set threshold, the movable plate (12) drives the automatic tool changer (8) to flexibly retract along the slide rail slider assembly (3) to maintain constant force processing state. Step 6, Tool changing cycle operation: After a single grinding process is completed, the robot moves to the tool changing position, and the automatic tool changing electric spindle (8) changes the tool holder for the next process and cycles through the next grinding process.

7. The adaptive floating control method for a large electric spindle floating mechanism for automated grinding according to claim 6, characterized in that: In step 2, the laser detection device (6) emits a line laser or structured light to scan the key features of the workpiece. The detection data is transmitted to the robot controller via Ethernet or IO module. The robot controller compares the actual coordinates with the standard digital model and calculates the position deviation and contour deviation.

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