Mechanical polishing of workpiece surface plays an irreplaceable role in surface treatment processes such as electroplating, coating and anodizing. The early polishing work was completed manually by the polishing workers. The polishing workers held the workpieces on the grinder and polishing machine, or held the polishing tools to polish the workpieces. This operation mode not only damages workers' health, has potential safety hazards, is easy to cause safety accidents, but also causes environmental pollution. With the development of society and the progress of science and technology, there are many automatic polishing equipment that can replace manual polishing. Traditional polishing equipment includes rolling equipment, vibration polishing equipment, special polishing equipment, etc. All kinds of equipment have their own advantages and disadvantages, and can not completely replace manual work. Rolling equipment and vibration polishing equipment can process large quantities of workpieces at one time, and add polishing liquid during the working process, which is highly efficient and reduces environmental pollution. However, this kind of equipment is only suitable for processing small workpieces with low requirements for polishing quality, and can not be used for local polishing. Special equipment is a special polishing equipment designed for specific workpiece and specific process. Because it is a special design, the production efficiency of this equipment is very high, and it can process workpieces with high requirements for polishing quality. However, this kind of equipment lacks compatibility and cannot process different forms of workpieces. Therefore, the traditional polishing equipment can not meet the requirements of small batch, complex workpiece profile and complex process requirements. With the development of robot technology, the application of robot technology in polishing equipment can make up for the shortcomings of traditional polishing equipment.

The robot system integration uses the differential motion of multiple joints of servo motor, which can simulate the action of human arm and perform curvilinear motion according to the work needs. The robot wrist is used to install the corresponding fixture to clamp the workpiece, and the robot can clamp the workpiece in different forms for polishing. Different tools can also be installed at the robot wrist to polish and grind large workpieces. The workpiece can be ground either integrally or locally. Thus, manual operation can be completely replaced. At present, robot polishing equipment has certain applications in mirror polishing of decorative parts, removing oxide skin on the surface of die-casting and casting parts, polishing and molding lines, and wood surface polishing. The robot can communicate with the PLC through the industrial bus to form a complete independent workstation, and the DCS system can communicate, so that it can be well integrated into the ERP management system. Realize remote monitoring. It can record equipment operation status and production process. It is convenient for production management. Compared with manual grinding and polishing equipment, robot grinding and polishing equipment can provide more stable product quality, improve product qualification rate, and overcome the instability of product quality caused by emotional, physical and other factors of operators. In the process of polishing and polishing, the robot can provide consistent and constant polishing pressure and run consistent motion curve. These two points are difficult to achieve by manual operation. Therefore, compared with manual operation, robot polishing and polishing have more stable product quality. The production efficiency can be 4-6 times higher than manual work for simple workpieces from the aspect of daily output. Complex workpieces can also reach 1-2 times. Compared with traditional polishing equipment, robot polishing can provide better compatibility and facilitate flexible control. It overcomes the disadvantage of single product production with traditional equipment.