Automatic high-shear low-pressure force-controlled grinding device for complicated curved surface and machining method thereof

An automatic high-shear low-pressure force-controlled grinding device for a curved surface, comprising:

• an industrial robot base (1-1), a safeguard hood (1-2), columns (1-3), an industrial robot (1-4), an electrical spindle (1-5), a force-controlled floating work holder (1-6), a workpiece chuck (1-7), a grinder plate (1-9), a six-dimensional force sensor (1-10), a rotary table (1-11), a triaxial precision displacement table (1-12), a safety door (1-13), and a pedestal (1-14);
• wherein the structure of the grinder plate (1-9) comprises inner hexagon bolts (2-1), a press plate (2-2), an abrasive layer (2-3), a lining layer (2-4), and a grinder plate substrate (2-5);
• the abrasive layer (2-3) comprises longitude and latitude woven fiber fabric (6-1), abrasives (6-2), additives (6-3), dispersed phases (6-4), and dispersion mediums (6-5);
• the workpiece chuck (1-7) is mounted on the force-controlled floating work holder (1-6);
• a to-be-machined workpiece (1-8) is mounted on the workpiece chuck (1-7);
• one end of the electrical spindle (1-5) is connected with a tail end of the industrial robot (1-4), and the other end of the electric spindle (1-5) is connected with the force-controlled floating work holder (1-6);
• the industrial robot (1-4) is fixed to the industrial robot base (1-1);
• the grinder plate (1-9) is connected with the six-dimensional force sensor (1-10);
• one end of the rotary table (1-11) is connected with the triaxial precision displacement table (1-12), and the other end of the rotary table (1-11) is connected with the six-dimensional force sensor (1-10);
• the triaxial precision displacement table (1-12) is fixed to the pedestal (1-14);
• the lining layer (2-4) of the grinder plate (1-9) matches with the upper surface of the grinder plate substrate (2-5);
• the abrasive layer (2-3) covers the lining layer (2-4);
• the inner hexagon bolts (2-1) and the press plate (2-2) tension and press the abrasive layer (2-3) on the grinder plate substrate (2-5);
• and the automatic high-shear low-pressure force-controlled grinding device for a curved surface is protected by the safeguard hood (1-2).