Intelligent self-adaptive precision grinding equipment and method for superhard material

Abstract

The invention provides intelligent self-adaptive precision grinding equipment and method for a superhard material. The intelligent self-adaptive precision grinding equipment comprises a frame body, a mortar rotating mechanism arranged on the frame body and used for driving a mortar to rotate, and a self-adaptive grinding mechanism used for driving a grinding rod to be rotationally matched with the mortar; the self-adaptive grinding mechanism comprises a flexible grinding rod assembly connected with the grinding rod and a moving module used for driving the flexible grinding rod assembly to move. The flexible grinding rod assembly is connected with the moving module through the three-dimensional torque feedback assembly. The three-dimensional torque feedback assembly feeds back the torque value in real time, the position of the sliding block, namely the moving end, of the moving module is rapidly adjusted, and then the three-dimensional torque feedback assembly and the flexible grinding rod assembly are driven to move; in addition, the flexible grinding rod assembly eliminates the instant change of grinding force caused by the irregularity of part of grinding rods and grinding bowls and different powder accumulation thicknesses, so that the pressure value of the grinding rods for pressing the inner wall is kept within a certain range, and the self-adaptive precise grinding is ensured.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mechanical manufacturing and processing, and particularly relates to an intelligent self-adaptive precision grinding device and method for superhard materials. BACKGROUND

[0002] At present, there are two forms for grinding superhard material powder in China: one is manual grinding, which accounts for more than 85%, and is time-consuming and labor-intensive. The grinding time is longer for agglomerated materials. The other is ordinary grinding equipment, which accounts for about 15%. Such equipment has a simple structure, and the main body is divided into two parts, 1. a grinding rod power part, and 2. a mortar. The motor speed and time are set during grinding, and the equipment stops at the time. The grinding efficiency of the existing equipment is not high compared with manual operation, about 25%, and the qualified rate of one grinding is only about 60%, which is 30% lower than manual operation. Moreover, the adaptability to agglomerated materials is not good, and there is no intelligent sensing and self-adaptive control function.

[0003] The traditional manual grinding efficiency is low, for example, 700g of powder needs 2 hours, which seriously occupies manual labor.

[0004] The existing grinding equipment is mainly designed for ordinary powder, and has poor adaptability to superhard materials, single function and less than 60% qualified rate. Moreover, the existing grinding equipment only supports a fixed pressure mode, and cannot realize intelligent sensing and self-adaptive control, which can damage the coating of the powder.

[0005] The utility model discloses a kind of grinding and polishing equipment, including grinding barrel, rack assembly, floating workbench, lifting spindle assembly and control system, floating workbench includes X-axis motor, Y-axis motor, upper guide rail and lower guide rail, vacuum suction pipe and grinding liquid recovery pipeline are also provided on floating workbench, lifting spindle assembly includes main shaft, main shaft motor, linear module, support, grinding liquid pipe and position identification laser;Grinding barrel includes quartz sand pump, filter and grinding liquid barrel, control system is fixed on table panel, control system is connected to X-axis motor, Y-axis motor and main shaft motor.The equipment is dedicated to glass or ceramic and other material grinding and polishing, and is mainly used for single or small batch glass or ceramic flaw repair, and can also be used for grinding and polishing of single or small batch glass or ceramic.The moving track of the floating workbench can realize the CNC circular arc interpolation function, so that the processed product can obtain smooth transition. However, the grinding equipment has poor adaptability to superhard materials, and cannot realize intelligent sensing and self-adaptive control, which can damage the coating of the powder. SUMMARY

[0006] In view of the above technical problems, the present application provides an intelligent self-adaptive precision grinding device and method for superhard materials, which is used to solve the problem that the grinding device in the prior art has poor adaptability to superhard materials and cannot realize intelligent sensing and self-adaptive control, thereby damaging the coating of the powder. The present application not only improves the grinding efficiency and increases the first-time grinding qualification rate to more than 90%, but also enhances the adaptability to agglomerated powder of superhard materials (such as metal powder and resin powder). Furthermore, the intelligent sensing system and self-adaptive control algorithm are integrated to realize dynamic adjustment of the grinding pressure, motion trajectory and other parameters, thereby improving the grinding quality and protecting the coating of the powder. In addition, the present application can reduce manual intervention and labor intensity.

[0007] In order to achieve the above-mentioned purposes, the technical scheme of the present application is as follows: The present application provides an intelligent self-adaptive precision grinding device for superhard materials, which comprises a frame body, a mortar rotating mechanism arranged on the frame body and used to drive the mortar to rotate, and a self-adaptive grinding mechanism used to drive the mortar and the grinding rod to rotate in cooperation. The self-adaptive grinding mechanism comprises a flexible grinding rod assembly connected to the grinding rod and a moving module used to drive the flexible grinding rod assembly to move. The flexible grinding rod assembly is connected to the moving module through a three-dimensional torque feedback assembly.

[0008] Further, the self-adaptive grinding mechanism further comprises a self-adaptive grinding mechanism support, and the moving module comprises a moving module A fixed to the self-adaptive grinding mechanism support and a moving module B connected to the moving end of the moving module A.

[0009] Further, the moving module further comprises a dustproof guide rail fixed to the self-adaptive grinding mechanism support, and the length direction of the dustproof guide rail is parallel to the moving direction of the moving module A. The moving module B is slidably connected to the dustproof guide rail through a sliding block.

[0010] Further, the three-dimensional torque feedback assembly comprises a three-dimensional torque sensor bottom plate fixed to the moving end of the moving module, a three-dimensional torque sensor connected to the three-dimensional torque sensor bottom plate, and a three-dimensional torque sensor upper plate connected to the three-dimensional torque sensor.

[0011] Further, the flexible grinding rod assembly comprises a grinding rod support frame, a grinding rod power assembly arranged on the grinding rod support frame, and a flexible connecting piece connected to the output end of the grinding rod power assembly. The flexible connecting piece is connected to the grinding rod through a rigid coupling.

[0012] Further, the flexible grinding rod assembly further comprises a grinding rod angle adjusting plate, the grinding rod support frame is connected to the grinding rod angle adjusting plate, and the grinding rod angle adjusting plate is rotatably connected to the three-dimensional torque sensor upper plate.

[0013] Further, a column is arranged on the three-dimensional torque sensor upper plate away from the rotation axis of itself, and an arc-shaped groove is arranged on the grinding rod angle adjusting plate and slidably matched with the column.

[0014] Further, the mortar rotating mechanism comprises an electric rotating table support plate, an electric rotating table and a pneumatic clamping jaw for clamping the mortar, the electric rotating table is fixed on the electric rotating table support plate, and the pneumatic clamping jaw is connected to the rotating end of the electric rotating table.

[0015] Further, the frame body comprises a fume hood lower frame body and a fume hood upper frame body fixed on the fume hood lower frame body, the mortar rotating mechanism is fixed in the fume hood lower frame body, and the fume hood upper frame body comprises a fume hood shell and a fume hood automatic door capable of being automatically opened and closed, and the self-adaptive grinding mechanism is arranged in the fume hood upper frame body.

[0016] The method of the superhard material intelligent self-adaptive precision grinding equipment according to any one of the above, comprising the following steps: S1, after starting, the fume hood automatic door is closed; the pneumatic clamping jaw clamps the mortar; S2, the moving module A and the moving module B work, drive the three-dimensional torque feedback assembly and the flexible mortar rod assembly to move, so that the mortar rod moves into the mortar, then the moving module A and the moving module B work, so that the mortar rod is close to the inner wall of the mortar, the three-dimensional torque sensor records the torque, and when the set torque is reached, the moving module A and the moving module B stop working, and the mortar rod stops at the inner wall of the mortar; S3, the electric rotating table starts to work, drives the pneumatic clamping jaw and the mortar to rotate; at the same time, the mortar power assembly works, drives the flexible connecting piece and the mortar to rotate, and the grinding of the powder is started; S4, the electric rotating table stops working, the mortar stops rotating, the mortar power assembly stops working, and the mortar stops rotating; the moving module A and the moving module B work, so that the mortar rod moves away from the mortar, the pneumatic clamping jaw is opened, and the fume hood automatic door is opened.

[0017] The beneficial effects of the present application are: 1, the three-dimensional torque sensor real-time feedback torque value, the position of the slider of the moving module A and the moving module B is quickly adjusted, that is, the position of the moving end, and then the three-dimensional torque feedback assembly and the flexible mortar rod assembly are moved, and the flexible connecting piece eliminates the irregularities of part of the mortar rod, the mortar and the different thicknesses of the powder accumulation, so that the grinding force changes instantaneously, the pressure value of the mortar rod pressing the inner wall is kept in a certain range, and the self-adaptive precision grinding is ensured. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creating any creative labor.

[0019] Figure 1 is a perspective view of the structure of the present application; Figure 2 is a front view of the structure of the present application; Figure 3 is a structural schematic view of the adaptive grinding mechanism and the mortar rotating mechanism of the present application; Figure 4 is a perspective view of the structure of the present application; Figure 3 Figure 5 is a perspective view of the three-dimensional torque feedback assembly and the flexible pestle assembly of the present application; Figure 6 is a structural schematic view of the three-dimensional torque feedback assembly and the flexible pestle assembly of the present application; Figure 7 is a structural schematic view of the mortar rotating mechanism of the present application.

[0020] In the figure: 1, fume hood upper shelf body, 1-1, fume hood shell, 1-2, fume hood automatic door, 2, fume hood lower shelf body, 2-1, fume hood lower shelf body panel, 2-2, fume hood lower shelf body frame, 2-3, ground foot, 4, adaptive grinding mechanism, 4-1, adaptive grinding mechanism support, 4-2, moving module, 4-2-1, moving module A, 4-2-2, moving module B, 4-2-3, dustproof guide rail, 4-3, three-dimensional torque feedback assembly, 4-3-1, three-dimensional torque sensor bottom plate, 4-3-2, three-dimensional torque sensor, 4-3-3, three-dimensional torque sensor upper plate, 4-4, flexible pestle assembly, 4-4-1, pestle angle adjustment plate, 4-4-2, pestle support frame, 4-4-3, pestle power assembly, 4-4-4, flexible connecting piece, 4-4-5, rigid coupling, 4-4-6, pestle, 5, mortar rotating mechanism, 5-1, electric turntable support plate, 5-2, electric turntable, 5-3, pneumatic clamping jaw, 6, mortar. DETAILED DESCRIPTION

[0021] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0022] As Figure 2 and Figure 3 ​As shown, the superhard material intelligent self-adaptive precision grinding device in embodiment 1 of the present application comprises a frame body, a mortar rotating mechanism 5 for clamping a mortar 6 arranged on the frame body, and a self-adaptive grinding mechanism 4 for connecting the mortar stick 4-4-6. The mortar rotating mechanism 5 is used to drive the rotation of the mortar 6, and the self-adaptive grinding mechanism 4 is used to drive the mortar stick 4-4-6 to rotate with the mortar 6. The self-adaptive grinding mechanism 4 comprises a flexible mortar stick assembly 4-4 connected to the mortar stick 4-4-6, and a moving module 4-2 connected to the flexible mortar stick assembly 4-4. The moving module 4-2 is used to drive the movement of the flexible mortar stick assembly 4-4, thereby driving the movement of the mortar stick 4-4-6. The flexible mortar stick assembly 4-4 is connected to the moving module 4-2 through a three-dimensional torque feedback assembly 4-3. The three-dimensional torque feedback assembly 4-3 is used to feedback the torque on the mortar stick 4-4-6.

[0023] Further, as shown in Figure 4 The self-adaptive grinding mechanism 4 further comprises a self-adaptive grinding mechanism support 4-1, and the moving module 4-2 comprises a moving module A 4-2-1 fixed on the self-adaptive grinding mechanism support 4-1 and a moving module B 4-2-2 connected to the moving end of the moving module A 4-2-1. The moving module A 4-2-1 is vertically arranged and used to drive the vertical movement of the moving module B 4-2-2, and the moving module B 4-2-2 is horizontally arranged and used to drive the horizontal movement of the three-dimensional torque feedback assembly 4-3 and the flexible mortar stick assembly 4-4.

[0024] Embodiment 2 differs from embodiment 1 in that, as shown in Figure 4 Due to the longer length of the moving module B 4-2-2, the moving module 4-2 further comprises a dustproof guide rail 4-2-3 fixed on the self-adaptive grinding mechanism support 4-1. The length direction of the dustproof guide rail 4-2-3 is parallel to the moving direction of the moving module A 4-2-1, that is, the dustproof guide rail 4-2-3 is vertically arranged. One end of the moving module B 4-2-2 is connected to the moving end of the moving module A 4-2-1, and the other end is slidably connected to the dustproof guide rail 4-2-3 through a sliding block, thereby enabling the stable movement of the moving module B 4-2-2.

[0025] Embodiment 3 differs from embodiment 2 in that, as shown in Figure 5 The three-dimensional torque feedback assembly 4-3 comprises a three-dimensional torque sensor bottom plate 4-3-1 fixed on the moving end of the moving module 4-2, a three-dimensional torque sensor 4-3-2 connected to the three-dimensional torque sensor bottom plate 4-3-1, a three-dimensional torque sensor upper plate 4-3-3 connected to the working end of the three-dimensional torque sensor 4-3-2, and the flexible mortar stick assembly 4-4 is connected to the three-dimensional torque sensor upper plate 4-3-3. The three-dimensional torque sensor 4-3-2 feedbacks the torque on the mortar stick 4-4-6 on the flexible mortar stick assembly 4-4.

[0026] Example 4 differs from Example 3 in that, as shown in Figure 5 and Figure 6 The flexible mortar rod assembly 4-4 includes a mortar rod support frame 4-4-2, a mortar rod power assembly 4-4-3 arranged on the mortar rod support frame 4-4-2, a flexible connecting piece 4-4-4 connected at the output end of the mortar rod power assembly 4-4-3, and the flexible connecting piece 4-4-4 is connected with the mortar rod 4-4-6 through a rigid shaft coupling 4-4-5, so as to ensure that the rotation of the mortar rod power assembly 4-4-3 is transmitted to the mortar rod 4-4-6 through the flexible connecting piece 4-4-4. In this embodiment, the mortar rod power assembly 4-4-3 is a motor. The output end of the motor is connected with the flexible connecting piece 4-4-4, and the other end of the flexible connecting piece 4-4-4 is connected with the mortar rod 4-4-6 through the rigid shaft coupling 4-4-5.

[0027] Example 5 differs from Example 4 in that, as shown in Figure 5 The flexible mortar rod assembly 4-4 further includes a mortar rod angle adjusting plate 4-4-1, the mortar rod support frame 4-4-2 is connected to the mortar rod angle adjusting plate 4-4-1, and the mortar rod angle adjusting plate 4-4-1 is rotationally connected to the three-dimensional torque sensor upper plate 4-3-3.

[0028] Further, as shown in Figure 6 The three-dimensional torque sensor upper plate 4-3-3 is provided with a column at a position away from the rotation axis of itself, and the mortar rod angle adjusting plate 4-4-1 is provided with an arc-shaped slot through which the column passes and which is in sliding fit with the column. The central part of the mortar rod angle adjusting plate 4-4-1 is rotationally connected to the three-dimensional torque sensor upper plate 4-3-3 through a rotating shaft. The two sides of the mortar rod angle adjusting plate 4-4-1 are provided with the arc-shaped slots, and the corresponding positions of the three-dimensional torque sensor upper plate 4-3-3 are provided with the columns which protrude forward and are in sliding fit with the arc-shaped slots. In a preferred embodiment, an angle scale can also be provided at the edge of the arc-shaped slot, and the adjusting angle of the mortar rod angle adjusting plate 4-4-1 and the mortar rod 4-4-6 thereon can be known through the relative position of the column and the arc-shaped slot.

[0029] Example 6 differs from Example 5 in that, as shown in Figure 7 The mortar rotating mechanism 5 is arranged below the adaptive grinding mechanism 4. The mortar rotating mechanism 5 includes an electric rotating table support plate 5-1, an electric rotating table 5-2, and a pneumatic clamping jaw 5-3 for clamping the mortar 6. The electric rotating table 5-2 is fixed on the electric rotating table support plate 5-1, the pneumatic clamping jaw 5-3 is connected to the rotating end of the electric rotating table 5-2, and the pneumatic clamping jaw 5-3 protrudes upward to facilitate clamping the mortar 6.

[0030] Example 7 differs from Example 6 in that, as shown in Figure 1As shown, the frame body includes a fume hood lower frame body 2 and a fume hood upper frame body 1 fixed on the fume hood lower frame body 2, and the mortar rotating mechanism 5 is fixed in the fume hood lower frame body 2. The fume hood upper frame body 1 includes a fume hood shell 1-1 and a fume hood automatic door 1-2 which can be automatically opened and closed, and the fume hood automatic door 1-2 adopts an automatic door in the prior art. The adaptive grinding mechanism 4 is arranged in the fume hood upper frame body 1. The fume hood lower frame body 2 includes a fume hood lower frame body frame 2-2, a fume hood lower frame body panel 2-1 arranged on the top of the fume hood lower frame body frame 2-2, and a foot 2-3 arranged on the bottom of the fume hood lower frame body frame 2-2. Among them, as shown in the figure, the fume hood lower frame body panel 2-1 is provided with an opening so that the pneumatic clamping jaw 5-3 is exposed, which facilitates clamping the bottom of the mortar body 6 on the pneumatic clamping jaw 5-3, and at the same time the mortar body 6 is located in the fume hood upper frame body 1 to facilitate cooperation with the adaptive grinding mechanism 4. Figure 1 As shown in the figure, the fume hood lower frame body panel 2-1 is provided with an opening so that the pneumatic clamping jaw 5-3 is exposed, which facilitates clamping the bottom of the mortar body 6 on the pneumatic clamping jaw 5-3, and at the same time the mortar body 6 is located in the fume hood upper frame body 1 to facilitate cooperation with the adaptive grinding mechanism 4.

[0031] Embodiment 8, which is different from embodiment 7, further comprises a console, and the console comprises a controller connected with the moving module of the adaptive grinding mechanism 4, the three-dimensional torque sensor, the mortar rod power assembly, the motorized turntable of the mortar rotating mechanism 5, the pneumatic clamping jaw control, and the fume hood automatic door 1-2. The controller is built-in with grinding formulas of different powders. The main parameters in the formula include grinding time, grinding pressure, pressure threshold value, rotation speed of the mortar rod 4-4-6, rotation speed of the mortar 6, moving speed of the mortar rod 4-4-6, trajectory route, etc.

[0032] During the grinding process, the three-dimensional torque sensor 4-3-2 feeds back the torque value in real time, quickly adjusts the position of the sliding blocks of the moving module A 4-2-1 and the moving module B 4-2-2, and then drives the three-dimensional torque feedback assembly 4-3 and the flexible mortar rod assembly 4-4 to move, plus the flexible connecting piece 4-4-4 eliminates the irregularity of part of the mortar rod and the mortar and the different thicknesses of the powder accumulation, so as to keep the pressure value of the mortar rod 4-4-6 pressing the inner wall in a certain range, thereby ensuring the adaptive precision grinding.

[0033] Embodiment 9, the method of the superhard material intelligent adaptive precision grinding equipment, comprising the following steps: First step: pour the powder into the mortar 6; select the formula corresponding to the powder by operating the console; Second step: click the feeding button on the console, the fume hood automatic door 1-2 is automatically opened, the pneumatic clamping jaw 5-3 is opened, and the mortar 6 with powder is placed in the pneumatic clamping jaw 5-3 by artificial; Third step: click the start button on the console to start the superhard material intelligent adaptive precision grinding equipment; the fume hood automatic door 1-2 is closed; Fourth step: the pneumatic clamping jaw 5-3 clamps the mortar 6; Fifth step: the mobile module A4-2-1 and the mobile module B4-2-2 work, drive the three-dimensional torque feedback assembly 4-3 and the flexible mortar rod assembly 4-4 to move, so that the mortar rod 4-4-6 moves into the mortar 6, and then the mobile module A4-2-1 and the mobile module B4-2-2 work slowly, so that the mortar rod 4-4-6 is close to the inner wall of the mortar 6, the three-dimensional torque sensor 4-3-2 records the torque, and when the torque reaches the set torque, the mobile module A4-2-1 and the mobile module B4-2-2 stop working, and the mortar rod 4-4-6 stops at the grinding inner wall; Sixth step: the electric rotating table 5-2 starts to work, drives the pneumatic clamping jaw 5-3 and the mortar 6 to rotate; Seventh step: the mortar rod power assembly 4-4-3 works, drives the flexible connecting piece 4-4-4 and the mortar rod 4-4-6 to rotate, and the powder grinding starts; Eighth step: the mobile module A4-2-1 and the mobile module B4-2-2 work, drive the mortar rod 4-4-6 to reciprocate around the inner wall of the mortar 6, the three-dimensional torque sensor 4-3-2 records the torque in real time, and according to the fluctuation of the torque, the pressing force of the mortar rod 4-4-6 on the mortar 6 is adjusted in real time, so that the constant pressure purpose is achieved; Ninth step: when the equipment runs to the set time, the electric rotating table 5-2 stops working, the mortar 6 stops rotating, the mortar rod power assembly 4-4-3 stops working, the mortar rod 4-4-6 stops rotating, the mobile module A4-2-1 and the mobile module A4-2-2 continue to work, so that the mortar rod 4-4-6 moves away from the mortar 6 and moves to the original point, the pneumatic clamping jaw 5-3 is opened, and the fume hood automatic door 1-2 is opened; Tenth step: the mortar 6 is taken out.

[0034] The present application defines the grinding time, grinding pressure, pressure threshold, mortar rod rotating speed, mortar rotating speed, mortar rod moving speed, trajectory route and the like of different powders in advance in the controller. The trajectory route only needs to define three points, a starting point, a midpoint and an ending point, and the equipment will reciprocate according to the three points during the grinding process, and the grinding pressure is adjusted, so that the grinding effect and efficiency are ensured. Important parameters and graphics such as the grinding time, the grinding pressure, the pressure threshold, the mortar rod rotating speed, the mortar rotating speed, the mortar rod moving speed, the trajectory route and the real-time pressure waveform are displayed on the computer screen. The equipment is provided with a local database, and data such as operator information, material model, material name, formula parameter, start time and end time during the working process are all saved to the local database, so that data traceability is achieved.

[0035] The above merely describes the preferred embodiments of the present application and is not used to limit the present application. Although the present application is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that, within the spirit and principle of the present application, the technical solutions recorded in the foregoing embodiments can be modified, or some or all of the technical features can be replaced equivalently, and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. An intelligent adaptive precision lapping apparatus for superhard materials, characterized in that, The adaptive grinding mechanism (4) further comprises an adaptive grinding mechanism support (4-1), and the moving module (4-2) comprises a moving module A (4-2-1) fixed on the adaptive grinding mechanism support (4-1) and a moving module B (4-2-2) connected to a moving end of the moving module A (4-2-1).

2. The superhard material smart adaptive lapping apparatus of claim 1, wherein, The moving module (4-2) further comprises a dustproof guide rail (4-2-3) fixed on the adaptive grinding mechanism support (4-1), and a length direction of the dustproof guide rail (4-2-3) is parallel to a moving direction of the moving module A (4-2-1); the moving module B (4-2-2) is slidably connected with the dustproof guide rail (4-2-3) through a sliding block.

3. The apparatus of claim 2, wherein, The three-dimensional torque feedback assembly (4-3) comprises a three-dimensional torque sensor bottom plate (4-3-1) fixed on a moving end of the moving module (4-2), a three-dimensional torque sensor (4-3-2) connected to the three-dimensional torque sensor bottom plate (4-3-1), and a three-dimensional torque sensor upper plate (4-3-3) connected to the three-dimensional torque sensor (4-3-2).

4. The apparatus for smart adaptive lapping of superhard materials according to claim 2 or 3, wherein, The flexible grinding rod assembly (4-4) further comprises a grinding rod angle adjusting plate (4-4-1), the grinding rod support frame (4-4-2) is connected to the grinding rod angle adjusting plate (4-4-1), and the grinding rod angle adjusting plate (4-4-1) is rotatably connected to the three-dimensional torque sensor upper plate (4-3-3).

5. The apparatus of claim 4, wherein, The three-dimensional torque sensor upper plate (4-3-3) is provided with a column body at a position away from a rotation axis of the three-dimensional torque sensor upper plate (4-3-3), and the grinding rod angle adjusting plate (4-4-1) is provided with an arc-shaped groove through which the column body passes and which is in sliding fit with the column body.

6. The apparatus of claim 5, wherein, The mortar rotating mechanism (5) comprises an electric rotating table support plate (5-1), an electric rotating table (5-2) and a pneumatic clamping jaw (5-3) for clamping the mortar (6), the electric rotating table (5-2) is fixed on the electric rotating table support plate (5-1), and the pneumatic clamping jaw (5-3) is connected to a rotating end of the electric rotating table (5-2).

7. The apparatus of claim 6, wherein, ​ 8. The apparatus according to any one of claims 1-3, 5-7, wherein, ​ 9. The apparatus of claim 8, wherein, The frame body comprises a fume hood lower frame body (2) and a fume hood upper frame body (1) fixed on the fume hood lower frame body (2), and the mortar rotating mechanism (5) is fixed in the fume hood lower frame body (2); the fume hood upper frame body (1) comprises a fume hood shell (1-1) and a fume hood automatic door (1-2) capable of being automatically opened and closed, and the self-adaptive grinding mechanism (4) is arranged in the fume hood upper frame body (1).

10. The method of claim 1-9, wherein, The method comprises the following steps: S1, starting the equipment, the fume hood automatic door (1-2) is closed, and the pneumatic clamping jaw (5-3) clamps the mortar (6); S2, the moving module A (4-2-1) and the moving module B (4-2-2) work, drive the three-dimensional torque feedback assembly (4-3) and the flexible mortar rod assembly (4-4) to move, so that the mortar rod (4-4-6) moves into the mortar (6), then the moving module A (4-2-1) and the moving module B (4-2-2) work, so that the mortar rod (4-4-6) is close to the grinding inner wall, the three-dimensional torque sensor (4-3-2) records the torque, after reaching the set torque, the moving module A (4-2-1) and the moving module B (4-2-2) stop working, and the mortar rod (4-4-6) stops at the grinding inner wall; S3, the electric rotating table (5-2) starts to work, drives the pneumatic clamping jaw (5-3) and the mortar (6) to rotate; at the same time, the mortar rod power assembly (4-4-3) works, drives the flexible connecting piece (4-4-4) and the mortar rod (4-4-6) to rotate, and starts to grind the powder; S4, the electric rotating table (5-2) stops working, the mortar (6) stops rotating, the mortar rod power assembly (4-4-3) stops working, and the mortar rod (4-4-6) stops rotating; the moving module A (4-2-1) and the moving module B (4-2-2) work, so that the mortar rod (4-4-6) is away from the mortar (6), the pneumatic clamping jaw (5-3) is opened, and the fume hood automatic door (1-2) is opened.

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