A workpiece surface grinding processing device based on robot vision

Abstract

The present invention discloses a workpiece surface grinding processing device based on robot vision, comprising a base plate, the upper side wall of the base plate is fixedly connected to a manipulator and a conveyor, and the head of the manipulator is provided with a rotating shaft. When it is necessary to grind the corners of the grinding area, the workpiece surface grinding processing device based on robot vision can adjust the size of the grinding head according to the grinding requirements, and there is no need to replace the grinding head, thereby making the grinding processing more efficient. At the same time, during the grinding process, the generated debris can be absorbed and collected, thereby preventing the debris generated during the grinding process from floating into the air, which is more environmentally friendly, and can also prevent the debris from adhering to the lens of the visual sensor to ensure its recognition effect, and the debris collected in the collection box can be reciprocally squeezed to improve the collection capacity of the collection box, reduce the frequency of cleaning the collection box, and is more convenient to use.

Description

Technical Field

[0001] The invention relates to the technical field of workpiece grinding, and in particular to a workpiece surface grinding processing device based on robot vision. Background Art

[0002] Machine vision is a rapidly developing branch of artificial intelligence, using machines instead of human eyes to make measurements and judgments. The machine vision system converts the captured target into an image signal through machine vision products, transmits it to a dedicated image processing system, and obtains the morphological information of the captured target. The image system performs various operations on these signals to extract the characteristics of the target, and then controls the equipment action on site according to the judgment results. With the development of science and technology, machine vision systems are used in various types of grinding devices. Compared with traditional grinding devices, grinding devices with machine vision systems can perform instant inspection on the workpiece after grinding, replacing traditional manual inspection. It is not only efficient, but also can improve the qualified rate of workpieces.

[0003] However, when the workpiece surface grinding processing device based on robot vision in the prior art is used, in order to ensure the grinding speed, a larger grinding head is usually used at the beginning of grinding. However, when grinding the corners of the area to be polished, it is necessary to replace it with a smaller grinding head. This back and forth replacement of the grinding head is very inconvenient to use and affects the grinding efficiency. At the same time, during grinding, the debris generated is easy to float into the air, which is not environmentally friendly. In addition, the debris will also adhere to the lens surface of the visual sensor, affecting its recognition effect.

[0004] To this end, we propose a workpiece surface grinding processing device based on robot vision. Summary of the invention

[0005] The purpose of the present invention is to provide a workpiece surface grinding processing device based on robot vision to solve the problems raised in the above background technology.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a workpiece surface grinding processing device based on robot vision, comprising a base plate, the upper side wall of the base plate is fixedly connected to a manipulator and a conveyor, and the head of the manipulator is provided with a rotating shaft, the upper side wall of the base plate is fixedly connected to a U-shaped bracket, and the lower side wall of the bracket is inserted with a visual sensor, the lower end of the rotating shaft is fixedly connected to a grinding head, and the side wall of the rotating shaft is fixedly connected to an outer cover, the outer cover is sleeved on the side wall of the grinding head, and the grinding head comprises an inner rod, a middle ring and an outer ring, the upper end of the inner rod is fixed to the lower end of the rotating shaft, and the middle ring is sleeved on the inner rod The outer wall, the outer ring is sleeved on the outer wall of the middle ring, the middle ring, the outer ring and the outer cover are all provided with a telescopic mechanism, and the inner wall of the outer cover is provided with a driving mechanism for driving the middle ring and the outer ring to move, the lower end of the grinding head is fixedly connected with a plurality of arc-shaped grinding sheets arranged in an array, and each arc-shaped grinding sheet includes an inner grinding sheet, a middle grinding sheet and an outer grinding sheet, the inner grinding sheet is fixedly connected to the lower end of the inner rod, the middle grinding sheet is fixedly connected to the lower end of the middle ring, and the outer grinding sheet is fixedly connected to the lower side wall of the outer ring, and the side wall of the outer cover is provided with a collecting mechanism for collecting debris generated by grinding.

[0007] Preferably, the telescopic mechanism includes a plurality of symmetrically arranged sleeve rods fixedly connected to the middle ring and the upper side wall of the outer ring, and the side wall of each sleeve rod is sleeved with a sleeve, the upper end of the sleeve is fixed to the top of the outer cover, and the side wall of each sleeve rod is sleeved with a first spring.

[0008] Preferably, the driving mechanism comprises two symmetrically arranged electromagnets fixedly connected to the top of the outer cover, and the upper side walls of the middle ring and the outer ring are fixedly connected with iron blocks.

[0009] Preferably, the collecting mechanism includes a plurality of inclined impeller blades fixedly connected to the inner wall of the outer cover, and the inner wall of the outer cover is fixedly connected to an annular cover, the annular cover is sleeved on the side wall of the grinding head, and the top of the outer cover is fixedly connected to a collecting box, the side wall of the collecting box is fixedly connected to a collecting pipe, and the other end of the collecting pipe is fixedly inserted in the top of the annular cover, the side wall of the collecting box is fixedly connected to an exhaust pipe, and one end of the exhaust pipe close to the collecting box is fixedly connected to a filter, the side wall of the collecting box is rotatably connected to a cover plate by a hinge, and the top of the collecting box is provided with an extrusion mechanism for extruding the collected debris.

[0010] Preferably, the extrusion mechanism includes a through slot opened on the top of the collection box, and an extrusion block is slidably connected in the through slot, a first reset mechanism is arranged between the extrusion block and the collection box, and a first pushing mechanism for pushing the extrusion block to move is arranged on the top of the outer cover.

[0011] Preferably, the first reset mechanism includes a first support plate fixedly connected to the side wall of the collection box, and two symmetrically arranged first T-shaped guide rods are inserted into the upper side wall of the first support plate, the upper end of the first T-shaped guide rod is fixedly connected to a connecting block, and the connecting block is fixed to the side wall of the extrusion block, and the side wall of each of the first T-shaped guide rods is sleeved with a second spring.

[0012] Preferably, the first pushing mechanism includes two symmetrically arranged first movable plates, and a second reset mechanism is arranged between each first movable plate and the outer cover, the upper side wall of the first movable plate is fixedly connected to the second movable plate, and the upper side wall of the second movable plate is arranged with a third reset mechanism, the third reset mechanism is connected to a pushing block, and the pushing block includes an inclined sliding surface, the sliding surface slides on the side wall of the extrusion block, and a second pushing mechanism for pushing the first movable plate to move is arranged on the top of the outer cover.

[0013] Preferably, the second reset mechanism includes a second support plate fixedly connected to the top of the outer cover, and two symmetrically arranged second T-shaped guide rods are inserted into the side wall of the second support plate, one end of the second T-shaped guide rod is fixed to the side wall of the first movable plate, and the side wall of each second T-shaped guide rod is sleeved with a fourth spring.

[0014] Preferably, the third reset mechanism includes a third support plate fixedly connected to the upper side wall of the second movable plate, and two symmetrically arranged third T-shaped guide rods are inserted into the side wall of the third support plate, one end of the third T-shaped guide rod is fixed to the side wall of the pushing block, and the side wall of each third T-shaped guide rod is sleeved with a third spring.

[0015] Preferably, the second pushing mechanism includes two symmetrically arranged moving rods inserted in the top of the outer cover, and the lower end of the moving rod is fixed to the upper end of the sleeve rod, the side wall of each of the first moving plates is fixedly connected with a plurality of triangular blocks arranged in an array, and the side wall of each moving rod is fixedly connected with a fixed plate, the side wall of the fixed plate is fixedly connected with a pushing plate, and the pushing plate slides on the inclined surface of the triangular block.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] The present invention sets a driving mechanism, etc., so that when grinding, the workpiece is placed on a conveyor for transportation, and the area to be ground on the workpiece is identified by a visual sensor. Then, the rotating shaft is rotated by a manipulator, and the grinding head is driven to rotate synchronously, so that the area to be ground on the workpiece is ground. Moreover, when it is necessary to grind the corners of the area to be ground, the size of the grinding head can be adjusted according to the size of the corners. When adjustment is required, the electromagnet is energized, and the electromagnet attracts the iron block after being energized, so that the middle ring or the outer ring can be moved upward. When the outer ring moves upward, grinding is performed by the inner grinding sheet and the middle grinding sheet. When the middle ring and the outer ring both move upward, grinding is performed only by the inner grinding sheet. Therefore, the size of the grinding head can be adjusted according to the needs of the grinding process, and there is no need to replace the grinding head, thereby making the grinding process more efficient.

[0018] The present invention provides a collecting mechanism, etc., so that when the grinding process is carried out, the rotation of the rotating shaft drives the synchronous rotation of the grinding head and the outer cover. When the outer cover rotates, the impeller blades are driven to rotate synchronously, thereby performing an exhaust operation, which can absorb the debris generated during the grinding, and enter the collection box after passing through the annular cover and the collection pipe, and then fall into the collection box for collection after being filtered by the filter net, thereby preventing the debris generated during the grinding process from floating into the air, which is more environmentally friendly, and can prevent it from adhering to the lens of the visual sensor, thereby ensuring its recognition effect.

[0019] The present invention provides an extrusion mechanism, etc., so that when the middle ring or the outer ring moves upward during grinding, the sleeve rod moves upward, and at the same time, the first spring is compressed. At the same time, when the sleeve rod moves upward, the movable rod is pushed to move upward synchronously. When the movable rod moves upward, the fixed plate drives the push plate to move synchronously, so that the push plate slides on the inclined surface of the triangular block, thereby pushing the first movable plate to reciprocate. When the first movable plate reciprocates, it drives the second movable plate to reciprocate, and the third reset mechanism drives the push block to reciprocate, so that the sliding surface slides on the side wall of the extrusion block, and under the action of the first reset mechanism, the extrusion block moves reciprocatingly up and down along the through groove, so that the debris collected in the collection box can be reciprocated and squeezed, thereby improving the collection capacity of the collection box, reducing the frequency of cleaning the collection box, and being more convenient to use. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0021] Figure 2 It is a schematic diagram of the three-dimensional structure of the outer cover in the present invention;

[0022] Figure 3 It is a schematic diagram of the three-dimensional structure of the outer cover in another viewing angle of the present invention;

[0023] Figure 4 It is a schematic cross-sectional structural diagram of the outer cover in the present invention;

[0024] Figure 5 It is a structural schematic diagram of the telescopic mechanism and the driving mechanism in the present invention;

[0025] Figure 6 for Figure 1 A schematic diagram of the enlarged structure at A in the middle;

[0026] Figure 7 for Figure 2 A schematic diagram of the enlarged structure at B in the middle;

[0027] Figure 8 for Figure 4 Schematic diagram of the enlarged structure at point C in the middle.

[0028] In the figure: 1-bottom plate; 201-rod; 202-tube; 203-first spring; 301-electromagnet; 302-iron block; 401-impeller blade; 402-annular cover; 403-collection pipe; 404-collection box; 405-cover plate; 406-exhaust pipe; 407-filter screen; 501-through groove; 502-extrusion block; 601-first support plate; 602-first T-shaped guide rod; 603-connecting block; 604-second spring; 701-first moving plate; 702-second moving plate; 703-pushing block; 704-sliding surface; 801-third support plate; 802-third T-shaped guide rod; 803-third spring; 901-second support plate; 902-second T-shaped guide rod; 903-fourth spring; 1001-triangle block; 1002-fixed plate; 1003-push plate; 1004-moving rod; 11-manipulator; 12-rotating shaft; 1301-inner rod; 1302-middle ring; 1303-outer ring; 1401-inner grinding sheet; 1402-middle grinding sheet; 1403-outer grinding sheet; 15-outer cover; 16-conveyor; 17-bracket; 18-visual sensor. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] See also Figure 1-8The present invention provides a technical solution: a workpiece surface grinding processing device based on robot vision, comprising a base plate 1, the upper side wall of the base plate 1 is fixedly connected with a manipulator 11 and a conveyor 16, and the head of the manipulator 11 is provided with a rotating shaft 12, the upper side wall of the base plate 1 is fixedly connected with a U-shaped bracket 17, and the lower side wall of the bracket 17 is inserted with a visual sensor 18, the lower end of the rotating shaft 12 is fixedly connected with a grinding head, and the side wall of the rotating shaft 12 is fixedly connected with an outer cover 15, the outer cover 15 is sleeved on the side wall of the grinding head, and the grinding The head includes an inner rod 1301, a middle ring 1302 and an outer ring 1303. The upper end of the inner rod 1301 is fixed to the lower end of the rotating shaft 12, and the middle ring 1302 is sleeved on the outer wall of the inner rod 1301, and the outer ring 1303 is sleeved on the outer wall of the middle ring 1302. A telescopic mechanism is arranged between the middle ring 1302 and the outer ring 1303 and the outer cover 15, and the inner wall of the outer cover 15 is provided with a driving mechanism for driving the middle ring 1302 and the outer ring 1303 to move. The lower end of the grinding head is fixedly connected with a plurality of arc-shaped The inner grinding sheet 1401 is fixedly connected to the lower end of the inner rod 1301, the middle grinding sheet 1402 is fixedly connected to the lower end of the middle ring 1302, and the outer grinding sheet 1403 is fixedly connected to the lower side wall of the outer ring 1303. The side wall of the outer cover 15 is provided with a collecting mechanism for collecting the debris generated by grinding. When it is necessary to grind the corners of the grinding area, the grinding head can be adjusted according to the grinding requirements. The size of the grinding head does not need to be replaced, which makes the grinding process more efficient. At the same time, the debris generated during the grinding process can be absorbed and collected, so as to prevent the debris generated during the grinding process from floating into the air, which is more environmentally friendly. It can also prevent it from adhering to the lens of the visual sensor 18 to ensure its recognition effect, and the debris collected in the collection box 404 can be reciprocally squeezed to improve the collection capacity of the collection box 404, reduce the frequency of cleaning the collection box 404, and be more convenient to use.

[0031] The telescopic mechanism includes a plurality of symmetrically arranged sleeve rods 201 fixedly connected to the middle ring 1302 and the upper side walls of the outer ring 1303, and the side wall of each sleeve rod 201 is sleeved with a sleeve 202, the upper end of the sleeve 202 is fixed to the top of the outer cover 15, and the side wall of each sleeve rod 201 is sleeved with a first spring 203, which guides and resets the movement of the middle ring 1302 and the outer ring 1303.

[0032] The driving mechanism includes two symmetrically arranged electromagnets 301 fixedly connected to the top of the outer cover 15, and the upper side walls of the middle ring 1302 and the outer ring 1303 are fixedly connected with iron blocks 302. When the size of the grinding head needs to be adjusted, the electromagnet 301 is energized. After the electromagnet 301 is energized, it attracts the iron block 302, thereby enabling the middle ring 1302 or the outer ring 1303 to move upward.

[0033] The collecting mechanism includes a plurality of inclined impeller blades 401 fixedly connected to the inner side wall of the outer cover 15, and the inner side wall of the outer cover 15 is fixedly connected to an annular cover 402, the annular cover 402 is sleeved on the side wall of the grinding head, and the top of the outer cover 15 is fixedly connected to a collecting box 404, the side wall of the collecting box 404 is fixedly connected to a collecting pipe 403, and the other end of the collecting pipe 403 is fixedly inserted in the top of the annular cover 402, the side wall of the collecting box 404 is fixedly connected to an exhaust pipe 406, and one end of the exhaust pipe 406 close to the collecting box 404 is fixedly connected to a filter screen 407, and the collecting box 404 is fixedly connected to the filter screen 407. The side wall of 04 is connected to the cover plate 405 by a hinge, and the top of the collection box 404 is provided with an extrusion mechanism for squeezing the collected debris. When grinding, the rotation of the shaft 12 drives the synchronous rotation of the grinding head and the outer cover 15. When the outer cover 15 rotates, it drives the impeller 401 to rotate synchronously, thereby performing an exhaust operation, which can absorb the debris generated during grinding, and enter the collection box 404 after passing through the annular cover 402 and the collection pipe 403, and after being filtered under the action of the filter net 407, it falls into the collection box 404 for collection.

[0034] The extrusion mechanism includes a through groove 501 opened at the top of the collection box 404, and an extrusion block 502 is slidably connected in the through groove 501, a first reset mechanism is arranged between the extrusion block 502 and the collection box 404, and a first pushing mechanism for pushing the extrusion block 502 to move is arranged on the top of the outer cover 15. When grinding, the extrusion block 502 is moved back and forth up and down along the through groove 501 through the first pushing mechanism, so that the debris collected in the collection box 404 can be reciprocated and squeezed, thereby improving the collection capacity of the collection box 404, reducing the frequency of cleaning the collection box 404, and making it more convenient to use.

[0035] The first reset mechanism includes a first support plate 601 fixedly connected to the side wall of the collection box 404, and two symmetrically arranged first T-shaped guide rods 602 are inserted into the upper side wall of the first support plate 601, and the upper end of the first T-shaped guide rod 602 is fixedly connected to a connecting block 603, and the connecting block 603 is fixed to the side wall of the extrusion block 502, and the side wall of each first T-shaped guide rod 602 is sleeved with a second spring 604, which guides and resets the movement of the extrusion block 502.

[0036] The first pushing mechanism includes two symmetrically arranged first moving plates 701, and a second reset mechanism is arranged between each first moving plate 701 and the outer cover 15, the upper side wall of the first moving plate 701 is fixedly connected with the second moving plate 702, and the upper side wall of the second moving plate 702 is arranged with a third reset mechanism, the third reset mechanism is connected with a pushing block 703, and the pushing block 703 includes an inclined sliding surface 704, the sliding surface 704 slides on the side wall of the extrusion block 502, and the top of the outer cover 15 is provided with a second pushing mechanism for pushing the first moving plate 701 to move, when grinding, the first moving plate 701 is pushed to reciprocate by the second pushing mechanism, when the first moving plate 701 is reciprocating, it drives the second moving plate 702 to reciprocate, and the pushing block 703 is driven to reciprocate by the third reset mechanism.

[0037] The second reset mechanism includes a second support plate 901 fixedly connected to the top of the outer cover 15, and two symmetrically arranged second T-shaped guide rods 902 are inserted into the side wall of the second support plate 901, one end of the second T-shaped guide rod 902 is fixed to the side wall of the first movable plate 701, and the side wall of each second T-shaped guide rod 902 is sleeved with a fourth spring 903, which plays a guiding and reset role for the movement of the first movable plate 701.

[0038] The third reset mechanism includes a third support plate 801 fixedly connected to the upper side wall of the second movable plate 702, and two symmetrically arranged third T-shaped guide rods 802 are inserted into the side wall of the third support plate 801, one end of the third T-shaped guide rod 802 is fixed to the side wall of the pushing block 703, and the side wall of each third T-shaped guide rod 802 is sleeved with a third spring 803 to ensure that the second movable plate 702 and the pushing block 703 are softly connected, so that when the debris in the collection box 404 cannot be squeezed, that is, the squeezing block 502 cannot continue to move downward, at this time, the moving rod 1004 can continue to move up and down, so that the third spring 803 is compressed.

[0039] The second pushing mechanism includes two symmetrically arranged moving rods 1004 inserted on the top of the outer cover 15, and the lower ends of the moving rods 1004 are fixed to the upper ends of the sleeve rods 201, and the side walls of each first moving plate 701 are fixedly connected with a plurality of triangular blocks 1001 arranged in an array, and the side walls of each moving rod 1004 are fixedly connected with a fixed plate 1002, and the side walls of the fixed plates 1002 are fixedly connected with a pushing plate 1003, and the pushing plate 1003 slides on the inclined surface of the triangular block 1001. When the middle ring 1302 or the outer ring 1303 moves upward, the sleeve rod 201 moves upward, and at the same time, the first spring 203 is compressed. At the same time, when the sleeve rod 201 moves upward, the moving rod 1004 is pushed to move upward synchronously. When the moving rod 1004 moves upward, the pushing plate 1003 is driven to move synchronously through the fixed plate 1002, so that the pushing plate 1003 slides on the inclined surface of the triangular block 1001 in turn, thereby pushing the first moving plate 701 to reciprocate.

[0040] Working principle: When grinding, the workpiece is placed on the conveyor 16 for transportation, and the area to be ground of the workpiece is identified by the visual sensor 18. Then, the rotating shaft 12 is rotated by the manipulator 11, and the grinding head is driven to rotate synchronously, so as to grind the area to be ground of the workpiece. Moreover, when it is necessary to grind the corners of the area to be ground, the size of the grinding head can be adjusted according to the size of the corners. When adjustment is required, the electromagnet 301 is energized, and the electromagnet 301 attracts the iron block 302 after being energized, so that the middle ring 1302 or the outer ring 1303 can move upward. When the outer ring 1303 moves upward, grinding is performed by the inner grinding sheet 1401 and the middle grinding sheet 1402. When both the middle ring 1302 and the outer ring 1303 move upward, grinding is performed only by the inner grinding sheet 1401. Therefore, the size of the grinding head can be adjusted according to the needs of the grinding process, and there is no need to replace the grinding head, so that the grinding process is more efficient.

[0041] At the same time, during the grinding process, the rotation of the rotating shaft 12 drives the synchronous rotation of the grinding head and the outer cover 15. When the outer cover 15 rotates, it drives the impeller blade 401 to rotate synchronously, thereby performing an exhaust operation, which can absorb the debris generated during the grinding, and enter the collection box 404 after passing through the annular cover 402 and the collection pipe 403, and then fall into the collection box 404 for collection after being filtered under the action of the filter net 407, thereby preventing the debris generated during the grinding process from floating into the air, which is more environmentally friendly, and can prevent it from adhering to the lens of the visual sensor 18, thereby ensuring its recognition effect;

[0042] Furthermore, during grinding, when the middle ring 1302 or the outer ring 1303 moves upward, the sleeve rod 201 moves upward, and at the same time, the first spring 203 is compressed. At the same time, when the sleeve rod 201 moves upward, the moving rod 1004 is pushed to move upward synchronously. When the moving rod 1004 moves upward, the push plate 1003 is driven to move synchronously through the fixed plate 1002, so that the push plate 1003 slides on the inclined surface of the triangular block 1001, thereby pushing the first moving plate 701 to reciprocate. When the movable plate 701 moves back and forth, it drives the second movable plate 702 to move back and forth, and drives the push block 703 to move back and forth through the third reset mechanism, so that the sliding surface 704 slides on the side wall of the extrusion block 502, and under the action of the first reset mechanism, the extrusion block 502 moves back and forth up and down along the through groove 501, so that the debris collected in the collection box 404 can be reciprocated and squeezed, thereby improving the collection capacity of the collection box 404, reducing the frequency of cleaning the collection box 404, and making it more convenient to use;

[0043] When the middle ring 1302 or the outer ring 1303 moves downward to reset, the push plate 1003 will slide on the other inclined surface of the triangular block 1001, thereby pushing the extrusion block 502 to move back and forth along the through groove 501, and reciprocatingly squeeze the debris collected in the collection box 404 again, so that the extrusion effect is better.

[0044] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0045] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A workpiece surface grinding processing device based on robot vision, comprising a base plate (1), an upper side wall of the base plate (1) being fixedly connected to a manipulator (11) and a conveyor (16), and a head of the manipulator (11) being provided with a rotating shaft (12), characterized in that: The upper side wall of the bottom plate (1) is fixedly connected to a U-shaped bracket (17), and the lower side wall of the bracket (17) is inserted with a visual sensor (18); the lower end of the rotating shaft (12) is fixedly connected to a grinding head, and the side wall of the rotating shaft (12) is fixedly connected to an outer cover (15), the outer cover (15) is sleeved on the side wall of the grinding head, and the grinding head comprises an inner rod (1301), a middle ring (1302) and an outer ring (1303); the upper end of the inner rod (1301) is fixed to the lower end of the rotating shaft (12), and the middle ring (1302) is sleeved on the outer side wall of the inner rod (1301), and the outer ring (1303) is sleeved on the outer side wall of the middle ring (1302); the middle ring (1302), the outer ring (1303) and the outer cover (15) are connected to the outer wall of the inner rod (1301). ), and a telescopic mechanism is provided between the inner and outer rings (1302 and 1303), and the inner side wall of the outer cover (15) is provided with a driving mechanism for driving the middle ring (1302) and the outer ring (1303) to move; the lower end of the grinding head is fixedly connected to a plurality of arc-shaped grinding sheets arranged in an array, and each arc-shaped grinding sheet comprises an inner grinding sheet (1401), a middle grinding sheet (1402) and an outer grinding sheet (1403); the inner grinding sheet (1401) is fixedly connected to the lower end of the inner rod (1301), the middle grinding sheet (1402) is fixedly connected to the lower end of the middle ring (1302), and the outer grinding sheet (1403) is fixedly connected to the lower side wall of the outer ring (1303); and the side wall of the outer cover (15) is provided with a collecting mechanism for collecting debris generated by grinding; The telescopic mechanism comprises a plurality of symmetrically arranged sleeve rods (201) fixedly connected to the middle ring (1302) and the upper side wall of the outer ring (1303), and the side wall of each sleeve rod (201) is sleeved with a sleeve (202), the upper end of the sleeve (202) is fixed to the top of the outer cover (15), and the side wall of each sleeve rod (201) is sleeved with a first spring (203); The driving mechanism comprises two symmetrically arranged electromagnets (301) fixedly connected to the top of the outer cover (15), and the upper side walls of the middle ring (1302) and the outer ring (1303) are both fixedly connected with iron blocks (302); The collecting mechanism comprises a plurality of inclined impeller blades (401) fixedly connected to the inner side wall of the outer cover (15), and the inner side wall of the outer cover (15) is fixedly connected to an annular cover (402), the annular cover (402) is sleeved on the side wall of the grinding head, and the top of the outer cover (15) is fixedly connected to a collecting box (404), the side wall of the collecting box (404) is fixedly connected to a collecting pipe (403), and the other end of the collecting pipe (403) is fixedly inserted in the top of the annular cover (402), the side wall of the collecting box (404) is fixedly connected to an exhaust pipe (406), and one end of the exhaust pipe (406) close to the collecting box (404) is fixedly connected to a filter screen (407), the side wall of the collecting box (404) is rotatably connected to a cover plate (405) via a hinge, and the top of the collecting box (404) is provided with an extrusion mechanism for extruding collected debris; The squeezing mechanism comprises a through slot (501) formed on the top of the collection box (404), and a squeezing block (502) is slidably connected in the through slot (501), a first reset mechanism is provided between the squeezing block (502) and the collection box (404), and a first pushing mechanism for pushing the squeezing block (502) to move is provided on the top of the outer cover (15); The first reset mechanism comprises a first support plate (601) fixedly connected to the side wall of the collection box (404), and two symmetrically arranged first T-shaped guide rods (602) are inserted into the upper side wall of the first support plate (601), a connecting block (603) is fixedly connected to the upper end of the first T-shaped guide rod (602), and the connecting block (603) is fixed to the side wall of the extrusion block (502), and the side wall of each of the first T-shaped guide rods (602) is sleeved with a second spring (604); The first pushing mechanism comprises two symmetrically arranged first moving plates (701), and a second reset mechanism is arranged between each first moving plate (701) and the outer cover (15); the upper side wall of the first moving plate (701) is fixedly connected to the second moving plate (702), and the upper side wall of the second moving plate (702) is provided with a third reset mechanism, the third reset mechanism is connected to a pushing block (703), and the pushing block (703) comprises an inclined sliding surface (704), and the sliding surface (704) slides on the side wall of the extrusion block (502); and the top of the outer cover (15) is provided with a second pushing mechanism for pushing the first moving plate (701) to move; The second reset mechanism comprises a second support plate (901) fixedly connected to the top of the outer cover (15), and two symmetrically arranged second T-shaped guide rods (902) are inserted into the side wall of the second support plate (901), one end of the second T-shaped guide rod (902) is fixed to the side wall of the first movable plate (701), and a fourth spring (903) is sleeved on the side wall of each second T-shaped guide rod (902); The third reset mechanism comprises a third support plate (801) fixedly connected to the upper side wall of the second movable plate (702), and two symmetrically arranged third T-shaped guide rods (802) are inserted into the side wall of the third support plate (801), one end of the third T-shaped guide rod (802) is fixed to the side wall of the push block (703), and the side wall of each third T-shaped guide rod (802) is sleeved with a third spring (803); The second pushing mechanism comprises two symmetrically arranged moving rods (1004) inserted on the top of the outer cover (15), and the lower ends of the moving rods (1004) are fixed to the upper ends of the sleeve rods (201), the side walls of each of the first moving plates (701) are fixedly connected to a plurality of triangular blocks (1001) arranged in an array, and the side walls of each of the moving rods (1004) are fixedly connected to a fixed plate (1002), the side walls of the fixed plates (1002) are fixedly connected to a pushing plate (1003), and the pushing plate (1003) slides on the inclined surfaces of the triangular blocks (1001).

Images