A reciprocating automated lapping and polishing apparatus and method

Abstract

A reciprocating type automatic polishing and grinding device and a polishing method, the device comprising an industrial robot, a terminal polishing execution unit, a grinding head storage bin and a consumable loss control system. The terminal polishing execution unit comprises a driving output rod, a polishing rod and a grinding head, the lower end of the polishing rod is provided with a ball head, the upper end of the support of the grinding head is provided with a groove structure, the ball head and the groove structure form a plug-in spherical surface articulation pair, the top end of the groove structure is provided with a guide groove, the polishing rod is in sliding fit with the guide groove along the pitching swing direction, and the grinding head is adapted to the surface of a workpiece. The grinding head storage bin is internally provided with a blocking structure for limiting the movement of the grinding head. The consumable loss control system calls an internally pre-stored consumable loss speed database, combines real-time operation data to complete consumable loss operation and controls the industrial robot to automatically replace the grinding head. The application realizes adaptive high-quality polishing of the workpiece and fully automatic intelligent replacement of the grinding head, and greatly improves the polishing processing efficiency and product consistency.

Description

Technical Field

[0001] This invention relates to the field of precision machining technology for workpiece surfaces, and in particular to a reciprocating automated grinding and polishing equipment and polishing method. Background Technology

[0002] Surface grinding and polishing is a core process in the precision machining of mechanical parts, and is mainly used for surface burr removal, roughness optimization, and mirror finishing of metal and composite materials. Currently, the mainstream polishing operation modes in the industry are divided into two categories: manual polishing and automated equipment polishing.

[0003] Manual polishing relies on operators holding hand-held grinding tools to process workpiece surfaces, resulting in low efficiency, high labor costs, and poor workpiece polishing consistency. Furthermore, the dust generated during grinding can easily cause occupational health injuries to operators and is unsuitable for large-scale standardized production operations. Existing automated polishing equipment mostly uses rigidly connected grinding execution structures, with the grinding rods and polishing drive units fixedly connected. This prevents adaptive angle oscillation during the grinding process, leading to poor adaptability for polishing irregular curved surfaces and contours, and easily resulting in processing defects such as incomplete polishing and localized over-polishing.

[0004] In addition, existing automated polishing equipment generally lacks a consumables usage cycle management system. Grinding consumables are consumable parts, and the amount of wear during polishing directly affects the polishing accuracy of the workpiece. Traditional equipment relies on manual inspection to observe the wear status of consumables and periodically stops the machine to manually replace the grinding heads. This operation method not only interrupts the continuous processing flow of the equipment and reduces the efficiency of the production line, but also easily leads to the production of batches of poorly polished workpieces due to excessive wear of consumables not being replaced in time. The industry lacks a complete set of polishing equipment and processes that can accurately calculate the wear amount based on the workpiece material and consumable type and automatically complete the replacement of grinding heads.

[0005] Therefore, in view of the shortcomings of the existing technology, it is necessary to design a reciprocating automated grinding and polishing equipment and polishing method to solve the above problems.

[0006] It should be noted that the above introduction to the technical background is only for the purpose of providing a clear and complete explanation of the technical solution of the present invention and for the convenience of those skilled in the art to understand it. It should not be assumed that the above content is known to those skilled in the art simply because it has been described in the background of the present invention. Summary of the Invention

[0007] To overcome the shortcomings of the prior art, the present invention aims to disclose a reciprocating automated grinding and polishing equipment and polishing method, which solves the technical problems of poor grinding adaptability of existing polishing equipment, inability to automatically monitor the wear of grinding consumables, inability to automatically perform grinding head replacement, and weak continuity of batch processing.

[0008] This invention discloses a reciprocating automated grinding and polishing equipment, including an industrial robot, an end-effector grinding unit, a grinding head storage bin, and a consumable wear control system;

[0009] Industrial robots are used to drive end-effectors to complete grinding and polishing actions;

[0010] The end-effector grinding unit includes a drive output rod, a grinding rod, and a grinding head. The drive output rod is located at the execution end of the industrial robot and is used to output grinding power. The upper end of the grinding rod is fixedly connected to the drive output rod, and the lower end is provided with a ball head. The grinding head includes a grinding seat and a support protruding from the upper surface of the grinding seat. The top of the support has a groove structure, and the ball head and the groove structure form a pluggable spherical hinge pair. At least one guide groove is provided at the top of the groove structure. The guide groove extends along the pitch and swing direction of the grinding rod, and the grinding rod slides in cooperation with it along the extension direction of the guide groove. The lower end of the grinding seat is provided with an installation station for assembling grinding consumables.

[0011] The grinding head storage compartment is used to locate and store spare grinding heads, and it is equipped with a locking structure to restrict the up and down movement of the grinding heads.

[0012] The consumable wear control system is connected to the drive output rod and the industrial robot to receive externally input workpiece and grinding consumable parameters, call the internally stored database of wear rates of various grinding consumables for grinding products of different materials, and complete the consumable wear calculation in conjunction with the real-time collected grinding operation data, and control the industrial robot to complete the replacement of the grinding head accordingly.

[0013] Preferred technical solution: also includes a cross servo slide, which is located within the working range of the industrial robot; the cross servo slide is equipped with a clamping fixture for clamping and fixing the workpiece.

[0014] Preferred technical solution: A torque sensor is installed at the actuator end of the industrial robot.

[0015] Preferred technical solution: The lower end of the grinding base is provided with an avoidance groove at the corresponding position of the support.

[0016] Preferred technical solution: The edge of the avoidance groove is chamfered.

[0017] Preferred technical solution: The locking structure in the grinding head storage compartment is a limiting block, and the limiting block is provided with a clearance notch for the grinding rod and the ball head to pass through.

[0018] Preferred technical solution: The grinding rod is a flat, cylindrical, micro-elastic component.

[0019] A reciprocating automated grinding and polishing method, implemented using any one of the above-mentioned reciprocating automated grinding and polishing equipment, includes the following steps:

[0020] S1. Loading and positioning: Positioning and fixing the workpiece to be processed;

[0021] S2, Adaptive Reciprocating Grinding: The industrial robot drives the end-effector grinding unit to perform reciprocating grinding and polishing operations on the workpiece along a preset processing trajectory; the grinding rod slides in the guide groove along its own pitch swing direction; the drive output rod outputs grinding power.

[0022] S3. Consumables Loss Calculation: The consumables loss control system receives externally input workpiece and grinding consumable parameters, retrieves the internally stored database of the wear rate of various grinding consumables for grinding products of different materials, and combines it with the real-time collected grinding operation parameters to calculate the real-time wear of grinding consumables.

[0023] S4. Automatic Grinding Head Replacement: The industrial robot receives a grinding head replacement command from the consumable wear control system and moves to the grinding head storage bin. The locking structure of the grinding head storage bin limits and fixes the used grinding head. The industrial robot drives the grinding rod to perform an axial pulling motion to complete the disassembly of the used grinding head. The industrial robot inserts the ball end of the grinding rod into the groove structure of the new grinding head, and drives the new grinding head to return to the processing station after it is freed from the constraint of the locking structure.

[0024] S5. Cyclic operation: Repeat steps S2-S4 until the grinding and polishing operation is completed.

[0025] Preferred technical solution: A material replacement threshold determination step is set between step S3 and step S4: The consumable loss control system compares the real-time consumable loss amount calculated in step S3 with the preset loss threshold inside the system; when the real-time consumable loss amount is greater than the preset loss threshold, a grinding head replacement command is issued to the industrial robot, and then step S4 is executed; when the real-time consumable loss amount is less than or equal to the preset loss threshold, step S5 is executed.

[0026] Preferred technical solution: The parameters of the workpiece and grinding consumables include at least the workpiece material and the type of grinding consumables; the wear rate database called in step S3 is collected and established through the following steps: collect the wear rate data of different materials of workpieces and different types of grinding consumables under standard grinding conditions, summarize and calibrate them to construct the wear rate database of various grinding consumables for grinding products of different materials, and pre-store it in the consumable wear control system.

[0027] Due to the application of the above technical solution, the beneficial effects of this invention compared with the prior art are as follows:

[0028] The end-effector of this invention employs a pluggable spherical hinge joint with a sliding guide groove structure. The grinding rod can adaptively slide and swing along the pitch direction, overcoming the motion limitations of traditional rigid grinding structures. This allows the grinding consumables to adhere tightly to the workpiece surface, enabling reciprocating polishing of irregularly shaped curved surfaces and contoured workpieces, significantly reducing defects such as under-polishing and over-polishing. Simultaneously, the cooperation between the guide groove and the grinding rod prevents the grinding head's edges from rotating around itself, achieving stable grinding of the workpiece's edges. Furthermore, this invention features a flat, columnar, micro-elastic grinding rod to buffer impact loads during polishing, improving the uniformity of workpiece surface polishing. An avoidance groove at the lower end of the grinding seat prevents localized compression deformation of the consumables at the lower end of the grinding seat due to force at the hinge joint, ensuring grinding quality. Moreover, this invention is equipped with an independent grinding head storage compartment and a limiting stop structure, which stably limits the grinding head. Grinding head assembly and disassembly can be completed with a simple axial removal action by an industrial robot. The grinding heads are categorized and positioned, and the material changing logic is simple, making equipment control easy. Finally, this invention establishes a closed-loop intelligent consumables management and control system. The consumables loss control system can match a dedicated loss database according to the workpiece material and grinding consumable type, and accurately calculate the real-time loss of consumables by combining real-time on-site operation parameters. The system automatically triggers the grinding head replacement command through threshold judgment logic, without the need for manual intervention throughout the entire process, realizing fully automated operation of polishing, loss monitoring, and automatic material replacement. Attached Figure Description

[0029] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0030] Figure 1 This is a schematic diagram of the structure of a reciprocating automated grinding and polishing device according to the present invention;

[0031] Figure 2 for Figure 1 A magnified view of a portion of point I;

[0032] Figure 3 This is a schematic diagram of the structure of the grinding head from the upper side.

[0033] Figure 4 This is a schematic diagram of the structure from the lower side of the grinding head.

[0034] In the attached diagrams above, 100 is the workpiece to be processed; 1 is the industrial robot; 2 is the end effector grinding unit; 21 is the drive output rod; 22 is the grinding rod; 221 is the ball head; 23 is the grinding head; 231 is the grinding seat; 232 is the support; 233 is the groove structure; 234 is the guide groove; 235 is the clearance groove; 3 is the grinding head storage compartment; 31 is the locking structure; 4 is the consumable wear control system; and 5 is the cross servo slide. Detailed Implementation

[0035] The following specific embodiments illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification.

[0036] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be used interchangeably where appropriate for describing embodiments of this application herein. Furthermore, the terms "comprising" and "having," and their synonyms, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0037] In this application, the terms "upper," "lower," "left," "right," "front," "rear," "top," "bottom," "inner," "outer," "middle," "vertical," "horizontal," "lateral," and "longitudinal" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are primarily for the purpose of better describing the invention and its embodiments, and are not intended to limit the indicated device, element, or component to having a specific orientation, or to be constructed and operated in a specific orientation.

[0038] Furthermore, in addition to indicating direction or positional relationship, some of the aforementioned terms may also have other meanings. For example, the term "above" may also be used in certain situations to indicate a dependency or connection. Those skilled in the art can understand the specific meaning of these terms in this invention based on the specific circumstances.

[0039] Furthermore, the terms "installation," "setting," "equipped with," "connection," "linking," "fitting," and "fitting" should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be an internal connection between two devices, components, or parts. Similarly, "fitting" can mean completely or partially fitted. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0040] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0041] Example 1:

[0042] like Figure 1 As shown, this invention discloses a reciprocating automated grinding and polishing device, including an industrial robot 1, an end-effector grinding unit 2, a grinding head storage bin 3, and a consumable wear control system 4. The main components of the above-mentioned invention will be described in detail below:

[0043] like Figure 1 As shown, the industrial robot 1 is used to drive the end-effector grinding unit 2 to complete the grinding and polishing action. In this embodiment, the industrial robot 1 is preferably a six-axis industrial robot with six degrees of freedom, which can move flexibly in three-dimensional space to meet the grinding and polishing trajectory requirements of complex curved workpieces.

[0044] like Figure 1 and Figure 2 As shown, the end-effector grinding unit 2 includes a drive output rod 21, a grinding rod 22, and a grinding head 23. The drive output rod 21 is located at the execution end of the industrial robot and is used to output grinding power. It is connected to the execution end of the industrial robot 1 and can output reciprocating linear power or forward, backward, left, and right scattered power. In this embodiment, the drive output rod 21 is preferably the output end of a pneumatic or electric reciprocating drive mechanism, which can output high-frequency reciprocating linear motion to achieve reciprocating grinding and polishing. The upper end of the grinding rod 22 is fixedly connected to the drive output rod 21, and the lower end is provided with a ball head 221. The grinding rod 22 is a flat cylindrical micro-elastic component, which can buffer impact loads and improve the uniformity of workpiece surface polishing during the polishing operation.

[0045] like Figure 2 , Figure 3 and Figure 4As shown, the grinding head 23 includes a grinding base 231 and a support 232 protruding from the upper surface of the grinding base 231. A groove structure 233 is formed on the top of the support 232, and the ball head 221 and the groove structure 233 form a pluggable spherical hinge pair. At least one guide groove 234 is formed at the top of the groove structure 233, and the grinding rod 22 slides in conjunction with the guide groove 234 along its pitch swing direction. Specifically, when the industrial robot 1 drives the end-effector grinding unit 2 to move along the workpiece surface, the grinding rod 22 can swing freely around the ball head 221 in the pitch direction. Simultaneously, the guide groove 234 constrains the swing direction of the grinding rod 22, causing it to swing only in a preset direction, preventing the grinding head 23 from rotating around its own axis, thereby achieving stable grinding of the workpiece edges and corners. The lower end of the grinding base 231 is provided with an installation station for assembling grinding consumables. The grinding consumables can be fixed to the installation station by means of adhesive bonding, snap-fitting, or threaded connection. During the grinding process, the ball head 221 and the groove structure 233 are slidably connected, which can ensure that the grinding rod 22 will not affect the adhesion between the grinding consumable and the grinding surface of the product when it rotates axially and swings.

[0046] like Figure 2 , Figure 3 and Figure 4 As shown, a clearance groove 235 is provided at the lower end of the grinding base 231 corresponding to the support 232, and the edge of the clearance groove 235 is chamfered. The clearance groove 235 can prevent the consumable at the lower end of the grinding base 231 from being locally squeezed and deformed by the force at the spherical hinge joint, thus ensuring the grinding quality.

[0047] like Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, the grinding head storage compartment 3 is used to locate and store spare grinding heads 23. It contains a locking structure 31 to restrict the vertical movement of the grinding heads 23. In this embodiment, the locking structure 31 is a limiting block, which is located inside the grinding head storage compartment 3. When the grinding head 23 is placed in the compartment, the limiting block locks onto the upper surface of the grinding base 231, restricting the grinding head 23 from moving upwards. Simultaneously, the locking structure 31 has a notch for the grinding rod 22 and the ball head to pass through. Thus, when the industrial robot 1 drives the grinding rod 22 to perform an axial removal motion, the used grinding head 23 is blocked by the limiting block and detaches from the ball head 221, completing the disassembly.

[0048] like Figure 1 , Figure 2 , Figure 3 and Figure 4As shown, the consumable wear control system 4 is communicatively connected to the drive output rod 21 and the industrial robot 1. The consumable wear control system 4 is used to receive externally input workpiece and grinding consumable parameters (including at least workpiece material and grinding consumable type), call the internally stored database of wear rates for grinding products of different materials with various grinding consumables, and, in conjunction with real-time collected grinding operation data (such as grinding time, grinding pressure, reciprocating frequency, etc.), complete the consumable wear calculation, and control the industrial robot 1 to complete the replacement of the grinding head 23 accordingly.

[0049] The wear rate database is established by collecting data through the following steps: collecting wear rate data of workpieces of different materials and different types of grinding consumables under standard grinding conditions, summarizing and calibrating the data to construct a wear rate database for grinding products of different materials with various grinding consumables, and pre-storing it in the consumable wear control system 4.

[0050] like Figure 1 As shown, this embodiment also includes a cross servo slide 5, which is located within the working range of the industrial robot 1. The cross servo slide 5 is equipped with a clamping fixture for clamping and fixing the workpiece. The cross servo slide 5 can move precisely in the X and Y axis directions, working in conjunction with the industrial robot 1 to complete the positioning and attitude adjustment of the workpiece.

[0051] Example 2:

[0052] like Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, this embodiment provides a reciprocating automated grinding and polishing method, implemented using the reciprocating automated grinding and polishing equipment described in Embodiment 1. The method includes the following steps:

[0053] S1. Loading and positioning;

[0054] The workpiece 100 to be processed is positioned and fixed. In this embodiment, the workpiece is placed on the cross servo slide 5 and clamped and positioned by the clamping fixture, which facilitates loading and unloading while ensuring the stability of the workpiece position during processing.

[0055] S2, Adaptive reciprocating grinding;

[0056] Industrial robot 1 drives end-effector grinding unit 2 to perform reciprocating grinding and polishing operations on the workpiece along a preset processing trajectory. During this process, grinding rod 22 slides in the guide groove 234 along its own pitch swing direction, so that grinding head 23 can adaptively conform to the surface contour of the workpiece; drive output rod 21 outputs grinding power, driving grinding head 23 to reciprocate grinding and polishing the workpiece surface.

[0057] S3, Consumable Loss Calculation;

[0058] The consumable wear control system 4 receives externally input workpiece and grinding consumable parameters (including workpiece material and grinding consumable type), retrieves the internally stored database of wear rates for grinding products of different materials using various grinding consumables, and calculates the real-time wear of grinding consumables by combining the real-time collected grinding operation parameters (such as grinding time, reciprocating frequency, etc.).

[0059] S4. Automatic grinding head replacement;

[0060] Industrial robot 1 receives a grinding head replacement command from consumable wear control system 4 and moves to grinding head storage bin 3. The locking structure 31 of grinding head storage bin 3 limits and fixes the used grinding head 23. Industrial robot 1 drives grinding rod 22 to perform an axial pulling motion, causing ball head 221 to disengage from groove structure 233, completing the disassembly of used grinding head 23. Subsequently, industrial robot 1 inserts the ball head 221 of grinding rod 22 into the groove structure 233 of new grinding head 23, causing the new grinding head 23 to disengage from the locking structure 31 and return to the processing station.

[0061] S5, Cyclic operation;

[0062] Repeat steps S2-S4 until the grinding and polishing operation is completed.

[0063] In this embodiment, the consumable wear control system 4 compares the real-time consumable wear amount calculated in step S3 with the preset wear threshold inside the system. When the real-time consumable wear amount is greater than the preset wear threshold, it indicates that the current grinding consumable has been worn to the point of needing replacement. A grinding head replacement command is issued to the industrial robot 1, and then step S4 is executed. When the real-time consumable wear amount is less than or equal to the preset wear threshold, it indicates that the current grinding consumable can still be used, and the process jumps to step S5.

[0064] In this embodiment, the wear rate database called in step S3 is established by collecting the following steps: collecting wear rate data of workpieces of different materials and different types of grinding consumables under standard grinding conditions, summarizing and calibrating the data to construct a wear rate database of various grinding consumables for grinding products of different materials, and pre-storing it in the consumable wear control system.

[0065] Finally, it should be noted that the above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A reciprocating automated grinding and polishing equipment, characterized in that, This includes industrial robots, end-effector grinding units, grinding head storage bins, and consumable wear control systems; The industrial robot is used to drive the end-effector to complete the grinding and polishing action; The end-effector grinding unit includes a drive output rod, a grinding rod, and a grinding head. The drive output rod is located at the execution end of the industrial robot and is used to output grinding power. The upper end of the grinding rod is fixedly connected to the drive output rod, and the lower end is provided with a ball head. The grinding head includes a grinding seat and a support protruding from the upper surface of the grinding seat. The top of the support has a groove structure, and the ball head and the groove structure form a pluggable spherical hinge pair. At least one guide groove is provided at the top of the groove structure. The guide groove extends along the pitch and swing direction of the grinding rod, and the grinding rod slides in cooperation with it along the extension direction of the guide groove. The lower end of the grinding seat is provided with an installation station for assembling grinding consumables. The grinding head storage compartment is used to locate and store spare grinding heads, and its interior is equipped with a locking structure to restrict the up and down movement of the grinding heads. The consumable wear control system is communicatively connected to the drive output rod and the industrial robot. It is used to receive externally input workpiece and grinding consumable parameters, call the internally stored database of wear rates of various grinding consumables for grinding products of different materials, and complete the consumable wear calculation in conjunction with the real-time collected grinding operation data. Based on this, it controls the industrial robot to complete the replacement of the grinding head.

2. The reciprocating automated grinding and polishing equipment according to claim 1, characterized in that: It also includes a cross servo slide, which is located within the working range of the industrial robot; the cross servo slide is equipped with a clamping fixture for clamping and fixing the workpiece.

3. The reciprocating automated grinding and polishing equipment according to claim 1, characterized in that: The industrial robot's actuator is equipped with a torque sensor.

4. The reciprocating automated grinding and polishing equipment according to claim 1, characterized in that: The lower end of the grinding base is provided with a clearance groove at the position corresponding to the support.

5. The reciprocating automated grinding and polishing equipment according to claim 4, characterized in that: The edge of the clearance groove is chamfered.

6. The reciprocating automated grinding and polishing equipment according to claim 1, characterized in that: The locking structure inside the grinding head storage compartment is a limiting block, and the limiting block is provided with a clearance notch for the grinding rod and the ball head to pass through.

7. The reciprocating automated grinding and polishing equipment according to claim 1, characterized in that: The grinding rod is a flat, columnar, micro-elastic component.

8. A reciprocating automated grinding and polishing method, characterized in that, The reciprocating automated grinding and polishing equipment according to any one of claims 1 to 7 is used, comprising the following steps: S1. Loading and positioning: Positioning and fixing the workpiece to be processed; S2, Adaptive reciprocating grinding: The industrial robot drives the end-effector grinding unit to perform reciprocating grinding and polishing operations on the workpiece along a preset processing trajectory; the grinding rod slides in conjunction with the guide groove along its own pitch swing direction; the drive output rod outputs grinding power; S3. Consumables Loss Calculation: The consumables loss control system receives externally input workpiece and grinding consumable parameters, retrieves the internally stored database of the wear rate of various grinding consumables for grinding products of different materials, and calculates the real-time wear of grinding consumables by combining the real-time collected grinding operation parameters. S4. Automatic Grinding Head Replacement: The industrial robot receives a grinding head replacement command from the consumable wear control system and moves to the grinding head storage bin; the locking structure of the grinding head storage bin limits and fixes the used grinding head; the industrial robot drives the grinding rod to perform an axial pulling motion to complete the disassembly of the used grinding head; the industrial robot inserts the ball end of the grinding rod into the groove structure of the new grinding head, and drives the new grinding head to return to the processing station after it is freed from the constraint of the locking structure; S5. Cyclic operation: Repeat steps S2-S4 until the grinding and polishing operation is completed.

9. The reciprocating automated grinding and polishing method according to claim 8, characterized in that: A material replacement threshold determination step is set between step S3 and step S4: The consumable loss control system compares the real-time consumable loss amount calculated in step S3 with the preset loss threshold inside the system; when the real-time consumable loss amount is greater than the preset loss threshold, a grinding head replacement command is issued to the industrial robot, and then step S4 is executed; when the real-time consumable loss amount is less than or equal to the preset loss threshold, the system jumps to step S5.

10. The reciprocating automated grinding and polishing method according to claim 8, characterized in that: The parameters of the workpiece and grinding consumables include at least the workpiece material and the grinding consumable type; the wear rate database called in step S3 is established by collecting data through the following steps: collecting data on the wear rate of consumables of different materials and different types of grinding consumables under standard grinding conditions, summarizing and calibrating the data to construct a wear rate database for grinding products of different materials with various grinding consumables, and pre-storing it in the consumable wear control system.

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