CN114952536A - Two-dimensional constant force platform with replaceable grinding machine - Google Patents

Abstract

The invention discloses a two-dimensional constant force platform for a replaceable grinding machine, comprising a bottom plate, a vertical moving mechanism, a lateral moving mechanism and a constant force control system; the vertical moving mechanism has a vertical plate, and the lateral moving mechanism is provided with On the vertical plate, the lateral movement mechanism has a lateral plate, the lateral plate is provided with an installation position for external components, and the lateral plate is perpendicular to the vertical plate; the constant force control system includes a vertical constant force control system. Force cylinder, horizontal constant force cylinder, air source manifold, 5/3-way valve A, 5/3-way valve B, electrical proportional valve A, electrical proportional valve B; the vertical plate is connected to the vertical constant force cylinder, and the horizontal plate Connected to the horizontal constant force cylinder. Provide constant force for the movement in the Z-axis and X/Y-axis directions, so that the workpiece can be polished, ground, etc. with constant torque in the Z-axis and X/Y-axis directions; and can be replaced on the installation position of the transverse plate. Type of grinding tools or workpieces to be processed, with good versatility.

Description

A two-dimensional constant force platform for a replaceable grinding machine

technical field

The invention relates to the technology in the field of constant force grinding, in particular to a two-dimensional constant force platform of a replaceable grinding machine.

Background technique

In the high-precision polishing and grinding process, the grinding and polishing pressure applied to the workpiece is an important factor affecting the surface processing quality and material removal rate. Therefore, ensuring the constant grinding and polishing pressure is the key to ensuring the processing quality.

First, at this stage, an integrated constant force abrasive belt grinder is used, and the constant force device is built into the belt grinder. The grinder with this function must be used during use, and different grinding tools cannot be replaced. Ordinary grinders Unable to adapt to the constant force of grinding, resulting in the need to replace the corresponding grinding equipment with a constant force device every time a tool is replaced, resulting in a waste of materials and resources;

Second, the existing constant-force abrasive belt grinder uses a constant-force cylinder to hold the abrasive belt, so it can only perform constant-force retraction and retraction in one dimension. Since the polished product is related to the robot's posture, a single Due to the constant force of the dimension, the robot pose is difficult to debug during teaching, and the debugging efficiency is low. At the same time, it is difficult to debug more complex products.

Third, the current grinding method may be installed at the end of the robot flange. The end of the robot flange has corresponding load requirements. Generally, it is only suitable for the grinding of single-sheet sandpaper. The grinding speed of the consumables is relatively fast. In this case, the effect of installing the constant force device and the abrasive belt on the robot is relatively poor, and the ordinary abrasive belt is generally larger, so it is difficult to teach the robot pose.

Fourth, when the constant force is grinding products at this stage, the constant force device generally cannot be used in the two working conditions of clamping the product and grinding tools, so the equipment with the constant force device should be constantly replaced during grinding, resulting in redundancy of resources and equipment. higher cost.

For example, the self-protecting two-degree-of-freedom constant force platform disclosed in Chinese patent ZL202010634668.7 discloses a constant force grinding platform with constant force in the X axis and constant force in the Y axis. When used with the robot, the robot and the constant force The failure to form a good fit between the force grinding platforms leads to precision errors during processing.

Therefore, it is necessary to design a new technical solution to solve the above problems.

SUMMARY OF THE INVENTION

In view of this, the present invention aims at the shortcomings of the prior art, and its main purpose is to provide a two-dimensional constant force platform for a replaceable grinding machine, which is provided with a transverse plate perpendicular to the vertical plate, so that the two-dimensional constant force platform can be used. Move in the Z axis and X/Y axis directions, and cooperate with the vertical constant force cylinder and the horizontal constant force cylinder to provide constant force for the movement in the Z axis and X/Y axis directions, so that the workpiece can pass through the Z axis. Polishing, grinding, etc. with a constant moment in the X/Y axis direction.

To achieve the above object, the present invention adopts the following technical scheme:

A two-dimensional constant force platform for a replaceable grinding machine, comprising a bottom plate, a vertical movement mechanism, a lateral movement mechanism, and a constant force control system; wherein:

The vertical moving mechanism is installed on the bottom plate, the vertical moving mechanism has a vertical plate, the lateral moving mechanism is arranged on the vertical plate, the lateral moving mechanism has a horizontal plate, the horizontal plate is There is an installation position for external components, and the horizontal plate is perpendicular to the vertical plate;

The constant force control system includes a vertical constant force cylinder, a horizontal constant force cylinder, an air source manifold, and a three-position five-way valve A and a three-position five-way valve B connected to the air source manifold. The first ports of the valve A and the three-position five-way valve B are respectively connected to the first air pipe ports of the vertical constant force cylinder and the horizontal constant force cylinder through the electrical proportional valve A and the electrical proportional valve B. The three-position five-way valve A, The second ports of the three-position five-way valve B are respectively connected to the second air pipe ports of the vertical constant force cylinder and the horizontal constant force cylinder;

The vertical plate is connected to the vertical constant-force cylinder, and the horizontal plate is connected to the horizontal constant-force cylinder; so that the vertical constant-force cylinder provides a constant force for the vertical movement of the vertical plate, and the horizontal constant-force cylinder provides a constant force for the vertical movement of the vertical plate. The force cylinder provides a constant force for the lateral movement of the lateral plate.

As a preferred solution, the vertical movement mechanism includes an installation vertical plate and a vertical sliding rail, the installation vertical plate is vertically installed on the bottom plate, and the vertical sliding rail is arranged on one side of the installation vertical plate. The vertical plate is arranged on the vertical slide rail, and the vertical constant force cylinder drives the vertical plate to move vertically on the vertical slide rail.

As a preferred solution, the lateral movement mechanism includes an installation transverse plate and a horizontal slide rail, the installation transverse plate is vertically installed on the vertical plate, the horizontal slide rail is arranged on one side of the installation transverse plate, and the lateral The plate is arranged on the horizontal slide rail, and the horizontal constant force cylinder drives the transverse plate to move laterally on the horizontal slide rail.

As a preferred solution, the vertical sliding rail is arranged on the front side of the installation vertical plate, the vertical constant force cylinder is arranged on the rear side of the installation vertical plate; the horizontal sliding rail is arranged on the upper side of the installation horizontal plate , the horizontal constant force cylinder is arranged on the lower side of the installation transverse plate.

As a preferred solution, the vertical constant force cylinder and the horizontal constant force cylinder are respectively connected to the vertical plate and the transverse plate through a connecting plate.

As a preferred solution, the installation vertical plate and the installation horizontal plate are provided with limit grooves, and the vertical plate and the horizontal plate are respectively limited in the corresponding limit grooves.

As a preferred solution, the electric proportional valve A and the electric proportional valve B are respectively erected on the bottom plate through a mounting bracket, and the mounting bracket is located at the side of the vertical moving mechanism.

As a preferred solution, a hand-held handle is provided on the base plate.

As a preferred solution, the installation position includes a plurality of T-shaped slots and installation slots arranged at intervals, and the installation slots pass through the upper and lower surfaces of the transverse plate and are perpendicular to the T-shaped slots.

As a preferred solution, at least one of a pneumatic grinding head, an electric spindle grinder, a small grinding belt machine, and a workpiece to be processed is installed on the lateral plate through the installation position.

Compared with the prior art, the present invention has obvious advantages and beneficial effects. Specifically, it can be known from the above technical solutions:

Mainly, by setting the horizontal plate perpendicular to the vertical plate, the two-dimensional constant force platform can move in the Z axis and X/Y axis directions, and with the vertical constant force cylinder and the horizontal constant force cylinder, it is The movement in the Z-axis and X/Y-axis directions provides constant force, so that the machined workpiece can be polished, ground, etc. with constant torque in the Z-axis and X/Y-axis directions.

Secondly, there is an installation position for external components on the lateral plate. Different types of grinding tools can be replaced on the installation position of the lateral plate, and the robot can be used to hold the workpiece for grinding; the workpiece can also be installed on the installation position of the lateral plate. , Use the robot to hold the grinding tool to grind the processed workpiece, and the versatility is good.

Furthermore, there are electrical proportional valve A and electrical proportional valve B. When used with the robot, the control cabinet of the robot is used to control the analog signals of the electrical proportional valve A and the electrical proportional valve B to adjust the vertical constant force cylinder and the horizontal The air pressure value of the constant force cylinder, and then give the formula P=F/S according to the pressure to balance its own gravity and friction; the control cabinet of the robot is used to control the analog signals of the electric proportional valve A and the electric proportional valve B according to the PID algorithm , so that the vertical constant force cylinder and the horizontal constant force cylinder can output the corresponding grinding force in a timely and stable manner; form a good cooperation and reduce the processing error.

In order to illustrate the structural features and effects of the present invention more clearly, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

Description of drawings

1 is a schematic perspective view of a preferred embodiment of the present invention;

FIG. 2 is a schematic three-dimensional view from another perspective of the preferred embodiment of the present invention;

FIG. 3 is a schematic perspective view of another perspective of the preferred embodiment of the present invention;

Fig. 4 is the processing schematic diagram of setting the pneumatic grinding head on the transverse plate of the preferred embodiment of the present invention;

Fig. 5 is the processing schematic diagram of setting the electric spindle grinder on the horizontal plate of the preferred embodiment of the present invention;

Fig. 6 is the processing schematic diagram that the small-sized sanding belt machine is arranged on the transverse plate of the preferred embodiment of the present invention;

FIG. 7 is a schematic view of processing a workpiece to be processed on a transverse plate according to a preferred embodiment of the present invention.

Description of drawings:

1. Bottom plate 2. Vertical plate

3. Horizontal plate 4. Installation position

5. Vertical constant force cylinder 6. Horizontal constant force cylinder

7. Air source manifold 8. Three-position five-way valve A

9. Three-position five-way valve B 10. Electric proportional valve A

11. Electric proportional valve B 12. Install vertical plate

13. Vertical slide rail 14. Install horizontal plate

15. Horizontal slide rail 16. Connecting plate

17. Limit slot 18. Side rib

19. Electric proportional valve mounting plate 20. Hand-held handle

21. T-slot 22. Mounting slot

23. Pneumatic grinding head 24. Electric spindle grinder

25. Small grinding belt machine 26. Workpieces to be processed

27. Robot grinding tools 28. Protective shell.

Detailed ways

First of all, it should be noted that in the description of the present invention, the orientations or positional relationships indicated by the terms "upper", "lower", "left", "right", etc. are based on the orientations or positional relationships shown in the drawings, only It is to facilitate the description of the present invention and to simplify the description, rather than indicating or implying that the device or element referred to must have a particular orientation, be constructed and operate in a particular orientation, and therefore should not be construed as limiting the invention.

Please refer to FIG. 1 to FIG. 7, which show the specific structure of the preferred embodiment of the present invention, including a base plate 1, a vertical movement mechanism, a lateral movement mechanism, and a constant force control system; wherein:

The vertical moving mechanism is installed on the bottom plate 1, the vertical moving mechanism has a vertical plate 2, the lateral moving mechanism is arranged on the vertical plate 2, and the lateral moving mechanism has a horizontal plate 3, so The lateral plate 3 is provided with a mounting position 4 for external components, and the lateral plate 3 is perpendicular to the vertical plate 2;

The constant force control system includes a vertical constant force cylinder 5, a horizontal constant force cylinder 6, an air source manifold 7 and a three-position five-way valve A8 and a three-position five-way valve B9 connected to the air source manifold 7. The first ports of the three-position five-way valve A8 and the three-position five-way valve B9 are respectively connected to the first air pipe ports of the vertical constant force cylinder 5 and the horizontal constant force cylinder 6 through the electric proportional valve A10 and the electric proportional valve B11. The second ports of the five-position five-way valve A8 and the three-position five-way valve B9 are respectively connected to the second air pipe ports of the vertical constant force cylinder 5 and the horizontal constant force cylinder 6;

The vertical plate 2 is connected to the vertical constant force cylinder 5, and the transverse plate 3 is connected to the horizontal constant force cylinder 6; so that the vertical constant force cylinder 5 provides constant force for the vertical movement of the vertical plate 2. The horizontal constant force cylinder 6 provides a constant force for the lateral movement of the lateral plate 3 .

Specifically, the vertical movement mechanism includes an installation vertical plate 12 and a vertical slide rail 13 , the installation vertical plate 12 is vertically installed on the bottom plate 1 , and the vertical slide rail 13 is arranged on a side of the installation vertical plate 12 . side, the vertical plate 2 is arranged on the vertical slide rail 13, and the vertical constant force cylinder 5 drives the vertical plate 2 to move vertically on the vertical slide rail 13;

The lateral movement mechanism includes an installation transverse plate 14 and a horizontal slide rail 15. The installation transverse plate 14 is vertically installed on the vertical plate 2, and the horizontal slide rail 15 is arranged on one side of the installation transverse plate 14. The plate 3 is arranged on the horizontal slide rail 15, and the horizontal constant force cylinder 6 drives the transverse plate 3 to move laterally on the horizontal slide rail 15;

In this embodiment, the vertical slide rails 13 and the horizontal slide rails 15 are two spaced apart, and two sliding blocks are respectively arranged on them, and the vertical plate 2 and the horizontal plate 3 pass through respectively. The four sliders are mounted on the corresponding vertical slide rails 13 and horizontal slide rails 15 .

Further, the vertical slide rail 13 is arranged on the front side of the installation vertical plate 12 , the vertical constant force cylinder 5 is arranged on the rear side of the installation vertical plate 12 ; the horizontal slide rail 15 is arranged on the installation horizontal plate 14 . The upper side of the horizontal constant force cylinder 6 is arranged on the lower side of the installation transverse plate 14; ; The installation vertical plate 12 and the installation horizontal plate 14 are provided with a limit slot 17, and the vertical plate 2 and the horizontal plate 3 are respectively limited in the corresponding limit slot 17;

The electrical proportional valve A10 and the electrical proportional valve B11 are respectively mounted on the base plate 1 through a mounting bracket, the mounting bracket is located at the side of the vertical moving mechanism, and the mounting bracket includes a side rib 18 and a side rib 18 . The electrical proportional valve mounting plate 19 on the top, the side rib 18 and the front side of the electrical proportional valve mounting plate 19 abut against the rear side of the mounting vertical plate 12; the electrical proportional valve A10 and the electrical proportional valve B11 are arranged vertically. The left and right sides of the constant force cylinder 5; the gas source manifold 7 is arranged on the mounting frame of the electric proportional valve B11.

Preferably, the bottom plate 1 is provided with a hand-held handle 20, and the hand-held handle 20 is in the shape of a "ji", which is convenient for taking and placing the two-dimensional constant force platform; the installation position 4 includes a plurality of T-shaped sockets arranged at intervals Slot 21, installation slot 22, the installation slot 22 penetrates the upper and lower surfaces of the transverse plate 3 and is perpendicular to the T-shaped slot 21; the transverse plate 3 is at least equipped with a pneumatic grinding head 23 and an electric spindle for grinding through the installation position 4 One of the grinding machine 24, the small sanding belt machine 25, and the workpiece to be processed 26; thereby realizing that the grinding machine (same type or different types) can be replaced on the horizontal plate 3, and it can also be installed on the horizontal plate 3 to be processed. The workpiece 26 is suitable for various grinding scenarios. The workpiece 26 to be processed is usually installed at the installation position 4 through the workpiece mounting frame; and, the constant force control system housing is provided with a protective shell 28 .

The working principle of this embodiment is described in detail as follows:

The three-position five-way valve A8 and the three-position five-way valve B9 are controlled by the control cabinet of the robot to drive the vertical constant force cylinder 5 and the horizontal constant force cylinder 6 in the ejecting state. Driven by the connecting plate 16 of 6, the vertical plate 2 moves to the top, and the horizontal plate 3 moves to the front to complete the reset.

Using the guiding function of the vertical slide rails 13 and the horizontal slide rails 15 , the tools or workpieces carried on the transverse plate 3 are maintained to move in the horizontal and vertical directions.

Use the control cabinet of the robot to control the analog signals of the electric proportional valve A10 and the electric proportional valve B11, adjust the air pressure value of the vertical constant force cylinder 5 and the horizontal constant force cylinder 6, and then give the formula P=F/S according to the pressure, so that Balance out your own gravity and friction.

The control cabinet of the robot is used to control the analog signals of the electric proportional valve A10 and the electric proportional valve B11 according to the PID algorithm, so that the vertical constant force cylinder 5 and the horizontal constant force cylinder 6 can output the corresponding grinding force in a timely and stable manner.

Using the mounting position 4 for external components on the lateral plate 3, different types of grinding tools can be replaced on the mounting position 4 of the lateral plate 3, and the robot can be used to hold the workpiece for grinding; the workpiece 26 to be processed can also be installed in the lateral direction. On the installation position 4 of the board 3 , the workpiece 26 to be processed is ground by a robot holding a robot grinding tool 27 .

This two-dimensional constant force platform is a processing method in which the two-dimensional constant force platform is fixed on the worktable, and different types of grinding tools can be replaced. The robot clamps the workpiece to be processed for grinding. The two-dimensional constant force platform is initially ejected. state, and then calibrate the balance force. During calibration, the parameters of the electric proportional valves A and B are adjusted electronically, and the air pressure is adjusted to control the magnitude of the torque. After the balance is completed, the corresponding force is given. This force is the grinding force, and the robot clamps The workpiece to be processed is pressed downward or laterally on the grinding belt of the grinding machine of the two-dimensional constant force platform, and constant force grinding can be carried out in the horizontal and vertical directions; in this embodiment, the Z-axis and X-axis directions are carried out. Upper constant force grinding treatment.

The action flow of this embodiment is described in detail as follows:

Install the workpiece 26 to be processed or the pneumatic grinding head 23 or the electric spindle grinder 24 or the small grinding belt machine 25 or other grinding tools on the installation position 4 on the horizontal plate 3, locate through the T-shaped slot 21, and pass through the installation slot 22. fixed;

The electric proportional valve A10 and the electric proportional valve B11 are installed on the electric proportional valve mounting plate 19, the air source is connected to the air source manifold 7 from the outside, and is connected by the first interface of the three-position five-way valve A8 on the air source manifold 7 The electric proportional valve A10 is connected to the second air pipe interface of the lower end of the vertical constant force cylinder 5 after the electric proportional valve A10 comes out, and the first air pipe interface of the upper end is connected to the second interface of the three-position five-way valve A8; The first port of the three-position, five-way valve B9 on the air source manifold 7 is connected to the electric proportional valve B11. After the electric proportional valve B11 comes out, it goes to the second air pipe interface at the lower end of the horizontal constant force cylinder 6 and the first air pipe at the upper end. The interface is connected to the second interface of the three-position five-way valve B9;

Reset state: The three-position five-way valve A8 is controlled by the control cabinet of the robot to drive the vertical constant-force cylinder 5 to be in the ejecting state. Driven by the connecting plate 16, the vertical plate 2 moves to the top on the vertical slide rail; the same Reasonable, the three-position five-way valve B9 is controlled by the control cabinet of the robot to drive the horizontal constant force cylinder 6 to be in the ejecting state, and driven by the connecting plate 16, the horizontal plate 3 moves to the front on the horizontal slide rail;

Calibration status: After completion, reset the 5/3-way valve A8 and the 5/3-way valve B9, and control the parameters of the electric proportional valve A10 and the electric proportional valve B11 by the control signal of the control cabinet of the robot, so that the vertical constant force cylinder 5 and the horizontal The constant force cylinder 6 balances its self-reform, and gives the corresponding grinding force after the balance.

Grinding state: The robot clamps the workpiece 26 to be processed and presses the grinding tool downward for grinding. The grinding tool is forced to move downward. The grinding force is adjusted by the control cabinet of the robot to adjust the pressure value of the electric proportional valve A10 to control the vertical constant force cylinder 5. The first dimension of strength; the robot clamps the workpiece to be processed 26 and presses the grinding tool laterally for grinding, the grinding tool is forced to move backward, and the grinding force is adjusted by the robot's control cabinet. The pressure value of the electric proportional valve B11 controls the horizontal constant force cylinder 6 the second dimension of strength;

The workpiece 26 to be processed can also be installed on the horizontal plate 3, the robot grinding tool 27 can be installed on the robot, and the robot grinding tool 27 on the robot can press the workpiece 26 to be processed downward or laterally for grinding.

The design focus of the present invention is:

Mainly, by setting the horizontal plate perpendicular to the vertical plate, the two-dimensional constant force platform can move in the Z axis and X/Y axis directions, and with the vertical constant force cylinder and the horizontal constant force cylinder, it is The movement in the Z-axis and X/Y-axis directions provides constant force, so that the machined workpiece can be polished, ground, etc. with constant torque in the Z-axis and X/Y-axis directions.

Secondly, there is an installation position for external components on the lateral plate. Different types of grinding tools can be replaced on the installation position of the lateral plate, and the robot can be used to hold the workpiece for grinding; the workpiece can also be installed on the installation position of the lateral plate. , Use the robot to hold the grinding tool to grind the processed workpiece, and the versatility is good.

Furthermore, there are electrical proportional valve A and electrical proportional valve B. When used with the robot, the control cabinet of the robot is used to control the analog signals of the electrical proportional valve A and the electrical proportional valve B to adjust the vertical constant force cylinder and the horizontal The air pressure value of the constant force cylinder, and then give the formula P=F/S according to the pressure to balance its own gravity and friction; the control cabinet of the robot is used to control the analog signals of the electric proportional valve A and the electric proportional valve B according to the PID algorithm , so that the vertical constant force cylinder and the horizontal constant force cylinder can output the corresponding grinding force in a timely and stable manner; form a good cooperation and reduce the processing error.

The above are only preferred embodiments of the present invention, and do not limit the technical scope of the present invention. Therefore, any minor modifications, equivalent changes and modifications made to the above embodiments according to the technical essence of the present invention are still It belongs to the scope of the technical solution of the present invention.

Claims (10)

1. The utility model provides a removable polisher two-dimensional constant force platform which characterized in that: the device comprises a bottom plate, a vertical moving mechanism, a transverse moving mechanism and a constant force control system; wherein:

the vertical moving mechanism is arranged on the bottom plate and provided with a vertical plate, the transverse moving mechanism is arranged on the vertical plate and provided with a transverse plate, the transverse plate is provided with an installation position for an externally-connected component, and the transverse plate is perpendicular to the vertical plate;

the constant force control system comprises a vertical constant force cylinder, a horizontal constant force cylinder, an air source collecting plate, a three-position five-way valve A and a three-position five-way valve B, wherein the three-position five-way valve A and the three-position five-way valve B are connected with the air source collecting plate;

the vertical plate is connected to the vertical constant force cylinder, and the transverse plate is connected to the horizontal constant force cylinder; therefore, the vertical constant force cylinder provides constant force for vertical movement of the vertical plate, and the horizontal constant force cylinder provides constant force for transverse movement of the transverse plate.

2. The two-dimensional constant force platform for an interchangeable sander of claim 1, wherein: the vertical moving mechanism comprises an installation vertical plate and a vertical sliding rail, the installation vertical plate is vertically installed on the bottom plate, the vertical sliding rail is arranged on one side of the installation vertical plate, the vertical plate is arranged on the vertical sliding rail, and the vertical constant force air cylinder drives the vertical plate to vertically move on the vertical sliding rail.

3. The two-dimensional constant force platform for an interchangeable sander of claim 2, wherein: the transverse moving mechanism comprises an installation transverse plate and a horizontal sliding rail, the installation transverse plate is vertically installed on the vertical plate, the horizontal sliding rail is arranged on one side of the installation transverse plate, the transverse plate is arranged on the horizontal sliding rail, and the horizontal constant force cylinder drives the transverse plate to transversely move on the horizontal sliding rail.

4. A two-dimensional constant force platform for an interchangeable sanding machine according to claim 3, wherein: the vertical sliding rail is arranged on the front side of the mounting vertical plate, and the vertical constant-force cylinder is arranged on the rear side of the mounting vertical plate; the horizontal slide rail is arranged on the upper side of the installation transverse plate, and the horizontal constant-force cylinder is arranged on the lower side of the installation transverse plate.

5. The two-dimensional constant force platform for an interchangeable sander of claim 4, wherein: the vertical constant force cylinder and the horizontal constant force cylinder are respectively connected with the vertical plate and the transverse plate through a connecting plate.

6. The two-dimensional constant force platform for an interchangeable sander of claim 5, wherein: all be equipped with the spacing groove on installation riser and the installation diaphragm, vertical board and horizontal board are spacing respectively in corresponding spacing groove.

7. The two-dimensional constant force platform for an interchangeable sander of claim 1, wherein: the electric proportional valve A and the electric proportional valve B are respectively arranged on the bottom plate through a mounting frame, and the mounting frame is positioned beside the vertical moving mechanism.

8. The two-dimensional constant force platform for an interchangeable sander of claim 1, wherein: and a hand-held handle is arranged on the bottom plate.

9. The two-dimensional constant force platform for an interchangeable sander of claim 1, wherein: the mounting position comprises a plurality of T-shaped slots and mounting grooves which are arranged at intervals, and the mounting grooves penetrate through the upper surface and the lower surface of the transverse plate and are perpendicular to the T-shaped slots.

10. A two-dimensional constant force platform for an interchangeable sanding machine according to claim 1 or 9, characterized in that: the transverse plate is at least provided with one of a pneumatic polishing head, an electric spindle polisher, a small-sized polishing belt sander and a workpiece to be processed through a mounting position.

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