为解决卫生陶瓷行业中的干胚打磨粉尘浓度高，噪声大，工作环境比较恶劣，影响工人的身体健康的问题，设计并开发了一套基于6轴工业机器人的自动打磨系统。通过设计机器人末端的力控法兰打磨机构，基于Labview开发了打磨机器人末端力控法兰的上位机软件，与工业机器人通讯，运用PID控制系统，进行恒力打磨实验，结果表明：打磨机器人可以控制输出相对平稳的接触力，验证了力控法兰设计的可行性，满足了卫生陶瓷打磨对接触力控制的需求。

In order to solve the problem of high dry dust concentration, high noise, poor working environment and affecting the health of workers in the sanitary ceramics industry, an automatic grinding system based on six-axis industrial robots was designed and developed. By designing the force-controlled flange grinding mechanism at the end of the robot, based on Labview, the upper computer software for grinding the end force control flange of the robot was developed. The communication with the industrial robot was carried out, and the PID control system was used to carry out the constant force grinding experiment. The results show that the grinding robot can Controlling the relatively smooth contact force of the output, verifying the feasibility of the force-controlled flange design, and meeting the demand for contact force control of sanitary ceramic grinding.