The welding seams on the tray base plate are ground. Laser displacement detection technology is employed to measure the distance of the weld protruding from the product in real time. Combined with the force control grinding head, grinding is carried out. The combination of displacement measurement and force control effectively ensures that the product body is not damaged. Customized integration is carried out according to the process and production capacity requirements. Mainly consisting of robots, force control system, gantry system, tool magazine, grinding station, and AGV communication, it realizes fully automated unstacking, stacking, grinding, transfer, and material discharging, achieving fully automated and unmanned production.