Valve sealing ring belt grinding flexible device and method

Abstract

The invention belongs to the technical field of mechanical automatic machining, and discloses a valve sealing ring belt grinding flexible device and method.The device comprises a grinding mechanism assembly, a clip spindle, a remodeling clamping jaw, a cleaning machine, a remodeling charging tray and an industrial personal computer, and the clip spindle, the remodeling clamping jaw, the cleaning machine and the remodeling charging tray are arranged on the same table top; the industrial personal computer is connected with and controls the cartridge holder main shaft to rotate, the cartridge holder main shaft is provided with an interface for installing a grinding rod, the grinding mechanism assembly is arranged right above the cartridge holder main shaft, the grinding mechanism assembly is provided with a clamping jaw for clamping a part shell, and the working end of the clamping jaw is provided with an elastic piece; when the grinding rod drives the shell core body to rotate, the part shell slightly swings in the elastic piece of the clamping jaw, and self-adaptive alignment grinding is achieved. The non-standard grinding device is designed and manufactured, automatic grinding and parameterization and digital control of the grinding process are adopted for product grinding, workers only need to replace the product, smear grinding paste and clean, key machining of parts adopts machine automatic grinding and labeling operation, the influence of the skill level of the workers on the product percent of pass is reduced, and the production efficiency is improved. And the quality stability is ensured while the labor intensity of workers is reduced.

Description

Technical Field

[0001] The invention belongs to the technical field of mechanical automated processing, and relates to a grinding device for an inner hole conical surface structure, and in particular to a flexible grinding device and method for a valve sealing ring belt. Background Art

[0002] With the severe development of the current international situation, the call for intelligent manufacturing is getting louder and louder. It has become a development need for every company to promote automation and digitalization to replace manual labor to achieve cost reduction, efficiency increase and quality improvement.

[0003] In aviation airborne systems, most valve products require sealing ring grinding, such as Figure 1 As shown, each product needs to undergo a sealing test, and unqualified products need to be repeatedly disassembled and repaired. The first-time pass rate of the product becomes the bottleneck of the product.

[0004] In order to improve this type of product, the applicant communicated with most automation manufacturers or equipment manufacturers in the market and tried the product. The commonly used conical surface grinding mechanism is fixed separately. Maintain a fixed concentricity, and then the two contact each other for mutual grinding. However, this situation can only be applied to products with good concentricity. However, due to factors such as manufacturing errors and assembly errors between products and automation devices, the grinding pass rate of this method is not as stable as manual grinding, and the sealing performance is uneven, so it cannot be put into field use.

[0005] At present, the traditional manual solution of manually supporting the valve shell and driving the valve core to rotate by the motor spindle still occupies a large amount of labor, and the qualified rate of the product fluctuates with the different skill levels of the personnel. At present, there is an urgent need for an automated grinding solution for such products. Summary of the invention

[0006] In order to solve the above problems, the present invention provides a flexible device and method for grinding valve sealing rings. The method adopts a floating and self-aligning manner to control the grinding of valve sealing ring parts, which not only ensures the qualified rate of the products, but also saves grinding time, improves processing efficiency, and reduces the influence of employee skill level on the qualified rate of products. While reducing the labor intensity of employees, the stability of quality is guaranteed.

[0007] The technical solution of the present invention is as follows:

[0008] A flexible device for grinding a valve sealing ring comprises a grinding mechanism assembly, a clip spindle, a mold-changing clamping jaw, a cleaning machine, a mold-changing material tray and an industrial computer, wherein the clip spindle, the mold-changing clamping jaw, the cleaning machine and the mold-changing material tray are arranged on the same table, the industrial computer is connected to and controls the rotation of the clip spindle, an interface for installing a grinding rod is provided on the clip spindle, the grinding mechanism assembly is arranged directly above the clip spindle, the grinding mechanism assembly is provided with a clamping jaw for clamping a part housing, and an elastic member is provided at the working end of the clamping jaw; when the grinding rod drives the housing core to rotate, the part housing swings slightly in the elastic member of the clamping jaw, thereby realizing adaptive alignment grinding.

[0009] Furthermore, the elastic member is a soft silicone plate.

[0010] Furthermore, the grinding mechanism assembly includes a module fixing plate, a module adapter plate, a cylinder connecting plate, a servo module and a cylinder assembly. The servo module is fixed in the main frame, the main frame is fixed on the table, the module fixing plate is installed on the upper and lower moving ends of the servo module, the cylinder connecting plate is installed below the module fixing plate through the module adapter plate, and the cylinder assembly is installed at the bottom of the cylinder connecting plate.

[0011] Furthermore, a pressure sensor and a torque sensor are provided in the module fixing plate to measure the pressure and torque at the bottom of the cylinder assembly.

[0012] Furthermore, the cylinder assembly includes a large-opening two-jaw cylinder and a product shell clamp, and the large-opening two-jaw cylinder drives two product shell clamps to clamp the part shell.

[0013] Furthermore, the product shell clamp is a V-shaped chamfered step clamp, and a first soft silicone plate is provided on the clamp of the product shell clamp.

[0014] Furthermore, the cylinder assembly includes a three-jaw self-centering cylinder and a product spring clamp, and the three-jaw self-centering cylinder drives three product spring clamps to clamp the part housing.

[0015] Furthermore, three Beark quick-change mechanisms are connected to the bottom of the three-jaw self-centering cylinder, and three product shrapnel clamps are respectively installed under the three Beark quick-change mechanisms. Each product shrapnel clamp is connected to a torque fine-tuning nut and a miniature torque sensor.

[0016] Furthermore, the product shrapnel clamp is a joint-type clamp, a micro torque sensor is arranged at the joint position, and a second soft silicone plate is arranged on the clamp of the product shrapnel clamp.

[0017] A method for using a flexible device for grinding a sealing ring belt of a valve type comprises the following steps: after a product core body is put on a grinding rod, grinding paste is applied to the grinding conical surface of the core body, and then a part shell is put on the product core body, and the whole is placed on a mold changing tray; a whole set of parts on the mold changing tray is installed on a clip spindle, the clip locks the grinding rod, the grinding mechanism assembly moves to a fixed height, and then the part shell is grasped and moved to a fixed height position by a servo module, so that the part shell and the product core body exert a mutual grinding force, and the pressure sensor is stabilized at 20N by fine-tuning the servo module; the clip spindle is started to drive the grinding rod and the core body to rotate, and the sealing ring belt is ground, and when the torque sensor is stabilized at the corresponding torque value, the grinding is completed, the large-opening shell clamp is released and rises, the product is changed, and then the processed product is cleaned.

[0018] Technical effects of the present invention:

[0019] 1. The present invention is combined with on-site practical work to design and manufacture non-standard grinding devices. Automated grinding is used for product grinding, and the grinding process is parameterized and digitally controlled. Employees only need to replace products, apply grinding paste, and clean. The key processing of parts adopts machine automated grinding and labeled operations, which reduces the impact of employee skill levels on product qualification rates. While reducing employee labor intensity, quality stability is guaranteed.

[0020] 2. This device can adapt to the flexible automation of multiple varieties and small batches, improve the processing efficiency and quality stability of products, reduce the labor intensity of employees, and can meet the needs of sealing ring grinding of valve products in batch processing to ensure the delivery cycle of products.

[0021] 3. With the automatic grinding device, employees only need to change products, apply grinding paste and clean. The key processing of parts adopts machine automated grinding and standardized operations, which reduces the impact of employee skill level on product qualification rate. While reducing employee labor intensity, it ensures quality stability.

[0022] 4. Standardized operation mode, one person operates multiple machines on site, which solves the bottleneck difficulties of products and further plans the production line mode of such products to further improve the degree of product automation and promote the pace of intelligent manufacturing. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for describing the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0024] Figure 1 A schematic diagram of parts processed by the present invention;

[0025] Figure 2 is the device structure diagram;

[0026] Figure 3 A grinding mechanism component;

[0027] Figure 4 It is a schematic diagram of the articulated gripper;

[0028] Among them, 1 grinding mechanism assembly, 2 clip spindle, 3 change jaws, 4 ultrasonic cleaning machine, 5 change tray, 6 industrial computer;

[0029] 1-1 module adapter plate, 1-2 pressure sensor, 1-3 torque sensor, 1-4 cylinder connection plate, 1-5 large opening two-jaw cylinder, 1-6 product housing clamp, 1-7 soft silicone plate, 1-8 module fixing plate, 1-9 sensor connection plate, 1-10 servo module, 1-11 main frame, 1-12 clip;

[0030] I-three-jaw self-centering cylinder, II-Xiongke quick-change mechanism, II-torque fine-tuning nut, IV-micro torque sensor, V-product shrapnel clamp, VI-soft silicone plate. DETAILED DESCRIPTION

[0031] This section is an embodiment of the present invention, which is used to explain and illustrate the technical solution of the present invention. In the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other.

[0032] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate directions or positional relationships based on the orientations or positional relationships in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or case referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", etc. are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance or implying the number of technical features indicated. Thus, features defined as "first", "second", etc. may explicitly or implicitly include more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0033] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" should be interpreted in a broad sense, for example, it can be a fixed connection, a detachable connection or an integrated connection; it can be a mechanical connection or a point connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood by specific circumstances.

[0034] Embodiment 1:

[0035] A flexible device for grinding a valve sealing ring comprises a grinding mechanism assembly 1, a clip spindle 2, a mold-changing clamping claw 3, a cleaning machine 4, a mold-changing material tray 5 and an industrial computer 6, wherein the clip spindle 2, the mold-changing clamping claw 3, the cleaning machine 4 and the mold-changing material tray 5 are arranged on the same table, the industrial computer 6 is connected to and controls the rotation of the clip spindle 2, the clip spindle 2 is provided with an interface for installing a grinding rod, the grinding mechanism assembly 1 is arranged directly above the clip spindle 2, the grinding mechanism assembly 1 is provided with a clamping claw for clamping a part housing, and an elastic member is provided at the working end of the clamping claw; when the grinding rod drives the housing core to rotate, the part housing swings slightly in the elastic member of the clamping claw, thereby realizing adaptive alignment grinding.

[0036] The elastic member is a soft silicone sheet.

[0037] The grinding mechanism assembly 1 includes a module fixing plate 1-8, a module adapter plate 1-1, a cylinder connecting plate 1-4, a servo module 1-10 and a cylinder assembly. The servo module 1-10 is fixed in a main frame 1-11, and the main frame 1-11 is fixed on a table. The module fixing plate 1-8 is installed on the upper and lower moving ends of the servo module 1-10. The cylinder connecting plate 1-4 is installed below the module fixing plate 1-8 through the module adapter plate 1-1, and the cylinder assembly is installed at the bottom of the cylinder connecting plate 1-4.

[0038] A pressure sensor 1-2 and a torque sensor 1-3 are provided in the module fixing plate 1-8 to measure the pressure and torque at the bottom of the cylinder assembly.

[0039] The cylinder assembly comprises a large-opening two-jaw cylinder 1-5 and a product shell clamping jaw 1-6. The large-opening two-jaw cylinder 1-5 drives two product shell clamping jaws 1-6 to clamp the part shell.

[0040] The product shell clamping jaw 1-6 is a V-shaped chamfered step clamping jaw, and a first soft silicone plate 1-7 is provided on the clamping jaw of the product shell clamping jaw 1-6.

[0041] The cylinder assembly comprises a three-jaw self-centering cylinder I and a product shrapnel clamping jaw V. The three-jaw self-centering cylinder I drives three product shrapnel clamping jaws V to clamp the part housing.

[0042] The bottom of the three-jaw self-centering cylinder I is connected to three Xiongke quick-change mechanisms II, and three product shrapnel clamps V are respectively installed under the three Xiongke quick-change mechanisms II. Each product shrapnel clamp V is connected to a torque fine-tuning nut III and a micro torque sensor IV.

[0043] The product shrapnel clamping jaw V is a joint-type clamping jaw, and the micro torque sensor IV is arranged at the joint position. The clamping jaw of the product shrapnel clamping jaw V is provided with a second soft silicone plate VI.

[0044] A method for using a flexible device for grinding a sealing ring belt of a valve type comprises the following steps: after a product core body is put on a grinding rod, grinding paste is applied to the grinding conical surface of the core body, and then a part shell is put on the product core body, and the whole is placed on a mold changing tray; a whole set of parts on the mold changing tray is installed on a clip spindle, the clip locks the grinding rod, the grinding mechanism assembly moves to a fixed height, and then the part shell is grasped and moved to a fixed height position by a servo module, so that the part shell and the product core body exert a mutual grinding force, and the pressure sensor is stabilized at 20N by fine-tuning the servo module; the clip spindle is started to drive the grinding rod and the core body to rotate, and the sealing ring belt is ground, and when the torque sensor is stabilized at the corresponding torque value, the grinding is completed, the large-opening shell clamp is released and rises, the product is changed, and then the processed product is cleaned.

[0045] Embodiment 2:

[0046] The inventive point of the present invention: the flexible clamping tool may have two forms, one is a large-opening two-jaw cylinder combined with a large-opening two-jaw cylinder, and the other is a three-jaw joint structure combined with a soft silicone plate.

[0047] Core invention point: A flexible grinding mechanism component is used to position the core and shell of the product. A soft silicone plate is used for transition between the shell and the positioning clamp. Appropriate swing can be performed during the grinding process to achieve the self-alignment function. The coaxiality of the clamp and the main shaft is guaranteed to be within 0.1mm, which reduces the difficulty of the device and realizes a flexible clamping range for different products. At the same time, the clamping can meet the self-alignment and adaptive floating characteristics between the core and shell of valve products during the grinding process.

[0048] A large-opening two-jaw cylinder is used to clamp the product. The clamping jaws are used as a V-shaped centering structure to meet the appearance characteristics of the valve product shell (round, hexagonal), while meeting the clamping range, with strong flexibility and no need to replace the clamping jaws.

[0049] The clamping jaws are made into a step chamfer structure, which can not only achieve the function of clamping and centering, but also the chamfered step can apply the downward pressure required for grinding on the product shell. The clamping jaws use a micro proportional valve to control the clamping force.

[0050] In order to adapt to the self-aligning floating characteristics between the core and the shell of valve products, a silicone plate should be pasted in the middle of the clamp to accommodate the floating characteristics of the product.

[0051] During the product grinding process, pressure sensors and torque sensors are added to monitor the characteristics of the product during the grinding process in real time and make self-adjustments to ensure that the sealing ring maintains a fixed force during the grinding process.

[0052] The module is used to move the grinding jaws up and down, which requires the application of interaction force to the product and real-time adjustments based on the data from the pressure sensor during the grinding process. At the same time, it is necessary to meet the space requirements during the changeover process.

[0053] The grinding rod adopts a conical structure (1:50) made of bakelite to ensure the stability and self-locking property of the valve core during the grinding process.

[0054] The external touch screen (all-in-one machine) facilitates human-computer interaction. At the same time, parameters can be directly called up according to different products, imported with one button, and automatically ground.

[0055] The grinding device adds a material tray, which can hold multiple products at one time, realize automatic mold change, increase processing time, reduce the frequency of mold change, and realize one person operating multiple machines.

[0056] The equipment adopts double-station grinding, which can perform rough grinding on one side and fine grinding on the other side, shortening the product transfer cycle and the grinding rod changeover time.

[0057] Torque sensors can monitor the grinding effect of products and make predictive assessments of their sealing characteristics.

[0058] The grinding power adopts a clip-type precision electric spindle with stepless speed change, small spindle runout and easy type change.

[0059] This device uses acrylic plates to protect the grinding parts and is started under the premise of ensuring personnel safety.

[0060] This device adds an ultrasonic cleaning device and an air blowing device, which can quickly clean and dry the product.

[0061] The key point of the present invention is the adaptive alignment and floating of the product during the grinding process, which ensures that the position of the sealing ring belt remains unchanged and improves the quality stability of the product. The main shaft of the clip clamps the grinding rod, driving the shell core to rotate, and the large-opening shell clamp grabs the product shell (grabbing force 15-20N). A soft silicone plate is added to the contact area between the shell clamp and the product shell, and the module applies a grinding interaction force to the two. During the grinding process, the shell swings slightly in the soft silicone plate in the clamp to achieve adaptive alignment grinding. See the attached for details. Figure 3 .

[0062] Another key point of the present invention lies in the design of the large opening shell clamp. The products are characterized by multiple varieties, small batches and a large number of products. The clamp must be a non-standard clamp with strong flexibility, which can not only realize the grasping and positioning of the product, but also exert a grinding force on the product. This clamp is made into a V-shaped chamfered step clamp, which can now adapt to the application of more than 90% of the factory's products.

[0063] The grinding process is as follows: after the operator puts the product core on the grinding rod, he applies the grinding paste on the grinding cone surface of the core, and then puts the product shell on the core, and places the whole on the material tray. The changing jaws will install the whole device (grinding rod + product) on the main shaft of the clip, and the clip locks the grinding rod. The upper shell fixed jaws are driven by the servo module to move to a fixed height. After the large opening shell jaws grab the product, the servo module continues to move, and applies mutual grinding force to the product shell and core. Through the fine adjustment of the servo module, the pressure sensor is stabilized at a digital display of 20N, and the main shaft of the clip is started to drive the grinding rod and the core to rotate. The shell is fixed by the large opening jaws. At this time, the sealing ring is ground. After grinding for 3-4 minutes, when the torque sensor stabilizes at the corresponding torque value, the grinding is completed, the large opening shell jaws are released and raised, and the product is changed. Employees clean the processed products.

[0064] During the debugging process, large-scale products were used to explore and adjust parameters. They have now been put into normal use. The left side is used for rough grinding of the product with abrasive paste, and the right side is used for fine grinding with instrument oil.

[0065] The operation examples of the present invention are as follows:

[0066] 1. Employees make preliminary production preparations, put the product core on the grinding rod, apply grinding paste (apply instrument oil for fine grinding) on ​​the grinding cone surface of the core, and then place them on the 5# material tray in turn.

[0067] 2. Click the start button, the acrylic baffle in front of the 1# grinding mechanism assembly opens, the 3# changing jaw moves the grinding rod + product set to the 2# clip mandrel, the clip locks the grinding rod, and the acrylic baffle drops to provide protection.

[0068] 3. The 1# grinding mechanism starts to work. The 1-10# servo module drives the 1-6# shell clamp to descend to the set height. After the shell clamp positions the product shell, the 1-10# servo module continues to move downward, so that the 1-2# pressure sensor is stabilized at 20N. The 2# clip spindle is started with a speed of 200r / min. The timed grinding is 5min. The 1-3# torque sensor is stable within the set range, indicating that the grinding is qualified.

[0069] 4. After grinding is completed, the 2# magazine spindle stops rotating, the 1-6# shell clamp opens, the 1-10# servo module moves upward to a safe position, and then the acrylic guard moves upward.

[0070] 5. After the 1-6# shell clamps and acrylic guard plate are moved into place, the 2# clamp of the main shaft is opened, and the 3# changing clamp moves the ground product to another 5# material tray and changes to the next grinding rod + product.

[0071] 6. Using this operation process, after the parts in the tray are ground, a message indicating that the grinding is complete will be displayed.

[0072] 7. The staff will clean and dry the finished products, and fill the parts in the 5# tray for the next automatic grinding.

[0073] The principle of the present invention is as follows:

[0074] 1. The 1-6# shell clamp is a 120° V-shaped chamfered step shape, which can not only clamp the product shell, but also apply grinding force to the product. At the same time, it is very flexible and can achieve a clamping range of (diameter 20-diameter 69) round and hexagonal.

[0075] 2. The grinding rod and the product core are positioned with a 1:50 taper connection, which not only has good positioning but also has a self-locking function. The product is not easy to slide and is stable when rotating.

[0076] 3. Paste 1-7# soft silicone plate in front of 1-6# shell clamp. This silicone is cut and pasted from silicone finger sleeves. It is slightly softer than fingers and is used in subsequent applications in the same way as manual grinding.

[0077] 4. During the grinding process, the grinding rod drives the product core to rotate, with a deflection of 0.03-0.1. At this time, the product shell can swing adaptively in the package of 1-7# soft silicone plate to achieve the function of adaptive alignment. At this time, the air pressure of the large opening cylinder should be adjusted to 0.2MPa, and the converted clamping force is about 18-20N, which can ensure the positioning of the product, and the small clamping force does not affect the floating effect of the product.

[0078] 5. The 1-10# servo module applies a downward force to the shell. At this time, the soft silicone plate is also pasted on the chamfer of the jaw step. The silicone plate applies a downward force to the product and moves through the servo module. The 1-2# pressure sensor is controlled to start grinding at 20N. During the process, the 1-10# servo module needs to be fine-tuned according to the changes of the 1-2# pressure sensor to ensure a constant grinding force.

[0079] 6. 1-3# torque sensor is used as an evaluation data of grinding effect and as a human-machine interactive display of grinding effect, which can be used to judge the grinding effect.

[0080] In addition, Figure 4 As shown, the large-opening cylinder structure in the 1# grinding mechanism assembly is replaced with a three-claw joint structure, a joint torque sensor is added to control the working state of the product, and a Beark quick-change mechanism is added to the end of the three-claw cylinder to control the clamping jaws to position and apply force to the product during operation.

[0081] Main components: I-three-jaw self-centering cylinder, II-Xiongke quick-change mechanism, II-torque fine-tuning nut, IV-micro torque sensor, V-product shrapnel clamp, VI-soft silicone plate.

[0082] 1. Adjust the II# key quick-change structure position according to the product model, adjust the clamping range of the clamping jaws, adjust the pressure of 0.2MPa to make the clamping jaws clamp the standard rod, and use the III# key to adjust the torque digital display of the three joints to be consistent.

[0083] 2. Using the same operating procedures as in Example 1, use an articulated gripper to grab the product, and apply a grinding force to the product through a servo module.

[0084] 3. During the grinding process, the V-product shrapnel clamp and the VI-soft silicone plate are resilient structures that can accommodate the swing of the product shell. During the grinding process, the product shell performs adaptive floating adjustment as the core body rotates and swings, and the product's sealing ring belt performs adjustable grinding.

[0085] Due to the different shapes of product shells, the clamping claws can be made into different shapes. If the flat surface on the product is larger, it can be made into a direct end face pressing type, and a silicone plate can be pasted on the end face. The adaptive swing of the product shell during the grinding process can also be achieved. This embodiment has also been verified.

[0086] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the field can easily think of various equivalent modifications or substitutions within the technical scope disclosed by the present invention, and these modifications or substitutions should all be covered within the protection scope of the present invention.

Claims

1. A valve sealing ring with a grinding flexibility device, characterized in that: The invention comprises a grinding mechanism assembly (1), a clip spindle (2), a shape-changing clamping claw (3), a cleaning machine (4), a shape-changing material tray (5) and an industrial control computer (6), wherein the clip spindle (2), the shape-changing clamping claw (3), the cleaning machine (4) and the shape-changing material tray (5) are arranged on the same table, the industrial control computer (6) is connected to and controls the rotation of the clip spindle (2), an interface for installing a grinding rod is provided on the clip spindle (2), the grinding mechanism assembly (1) is arranged directly above the clip spindle (2), the grinding mechanism assembly (1) is provided with a clamping claw for clamping a part shell, and an elastic member is provided at the working end of the clamping claw; when the grinding rod drives the shell core to rotate, the part shell slightly swings in the elastic member of the clamping claw, thereby realizing adaptive alignment grinding.

2. A valve seal ring belt grinding flexibility device according to claim 1, characterized in that: The elastic member is a soft silicone sheet.

3. A valve sealing ring belt grinding flexibility device according to claim 1, characterized in that: The grinding mechanism assembly (1) comprises a module fixing plate (1-8), a module adapter plate (1-1), a cylinder connecting plate (1-4), a servo module (1-10) and a cylinder assembly. The servo module (1-10) is fixed in a main frame (1-11), the main frame (1-11) is fixed on a table, the module fixing plate (1-8) is mounted on the upper and lower moving ends of the servo module (1-10), the cylinder connecting plate (1-4) is mounted below the module fixing plate (1-8) via the module adapter plate (1-1), and the cylinder assembly is mounted at the bottom of the cylinder connecting plate (1-4).

4. A valve seal ring belt grinding flexibility device according to claim 3, characterized in that: A pressure sensor (1-2) and a torque sensor (1-3) are arranged in the module fixing plate (1-8) to measure the pressure and torque at the bottom of the cylinder assembly.

5. A valve seal ring belt grinding flexibility device according to claim 4, characterized in that: The cylinder assembly comprises a large-opening two-jaw cylinder (1-5) and a product shell clamping jaw (1-6). The large-opening two-jaw cylinder (1-5) drives two product shell clamping jaws (1-6) to clamp the part shell.

6. A valve seal ring belt grinding flexibility device according to claim 5, characterized in that: The product shell clamping jaw (1-6) is a V-shaped chamfered step clamping jaw, and a first soft silicone plate (1-7) is provided on the clamping jaw of the product shell clamping jaw (1-6).

7. A valve seal ring belt grinding flexibility device according to claim 4, characterized in that: The cylinder assembly comprises a three-jaw self-centering cylinder (I) and a product shrapnel clamp (V). The three-jaw self-centering cylinder (I) drives three product shrapnel clamps (V) to clamp the part housing.

8. A valve seal ring belt grinding flexibility device according to claim 7, characterized in that: The bottom of the three-jaw self-centering cylinder (I) is connected to three Beark quick-change mechanisms (II), and three product spring clamps (V) are respectively installed under the three Beark quick-change mechanisms (II). Each product spring clamp (V) is connected to a torque fine-tuning nut (III) and a micro torque sensor (IV).

9. A valve seal ring belt grinding flexibility device according to claim 8, characterized in that: The product shrapnel clamp (V) is a joint-type clamp, a micro torque sensor (IV) is arranged at the joint position, and a second soft silicone plate (VI) is arranged on the clamp of the product shrapnel clamp (V).

10. A method for using a valve seal ring belt grinding flexibility device, using a valve seal ring belt grinding flexibility device as claimed in any one of claims 4 to 9, characterized in that: After the product core is put on the grinding rod, the grinding paste is applied to the grinding cone surface of the core, and then the part shell is put on the product core, and the whole is placed on the change-over tray; the whole set of parts on the change-over tray is installed on the clip spindle, the clip locks the grinding rod, the grinding mechanism assembly moves to a fixed height, and then the part shell is grabbed and moved to a fixed height position by using the servo module, so that the part shell and the product core exert mutual grinding force, and the pressure sensor is stabilized at 20N through fine-tuning of the servo module; Start the magazine spindle to drive the grinding rod and the core body to rotate and grind the sealing ring. When the torque sensor stabilizes at the corresponding torque value, the grinding is completed, the large opening shell clamp is released and raised, the product is changed, and then the processed product is cleaned.

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