A kind of special-shaped insulation sleeve inner surface grinding equipment and method

Abstract

The present invention discloses a grinding equipment and method for the inner surface of a special-shaped thermal insulation sleeve, including a telescopic arm, a grinding cutter disc mechanism and a workbench; the top of the telescopic arm is connected to a rotating tray and a moving tray in sequence and installed on a gantry top beam, and the end thereof is connected to a grinding cutter disc device, the grinding cutter disc device includes a grinding component and a pressing component, the grinding component is used for grinding operation, and the pressing component ensures that the thermal insulation layer does not move by the pressing force; the fan-shaped thermal insulation sleeve is placed on the workbench, and the workbench drives the fan-shaped thermal insulation sleeve to move in the X direction; the moving support plate can move in the Y direction relative to the gantry top beam, the rotating support plate moves along the moving support plate in the Z direction, and the telescopic arm drives the end grinding cutter disc mechanism to move along the radius direction of the fan-shaped thermal insulation sleeve. The end of the cutter disc of the present invention is pressed by an elastic mechanism, and the return spring and the guide rail constitute a guide device, which presses the thermal insulation layer in real time during the grinding operation, protects the thermal insulation layer and the special-shaped box body in a vacuum adsorption state, and automatically generates a trajectory for grinding operation.

Description

Technical Field

[0001] The present invention relates to the technical field of complex surface intelligent grinding equipment, and in particular to a grinding device and method for the inner surface of a special-shaped thermal insulation sleeve. Background Art

[0002] With the rapid development of national defense technology and aerospace technology, the demand for large solid rocket engines is also gradually increasing. The fuel stored in large solid rocket engines is often in the tons level, and the process of manufacturing fuel blocks is also very complicated. The special-shaped insulation sleeve is the tooling mold for making the fuel blocks. Before pouring the charge, the inner surface of the insulation sleeve needs to be roughened. The present invention is an intelligent grinding equipment for the inner surface of the insulation sleeve designed for this roughening process.

[0003] The designed intelligent grinding equipment for the inner surface of special-shaped insulation sleeves is mainly used for the automated mechanical grinding operation inside the fan-shaped or hexahedral insulation sleeves. The grinding disc needs to drive the grinding sheet to rotate quickly to realize the grinding and cutting process of the insulation layer on each plane and the arc surface at the bottom of the fan-shaped body. Due to the thickness variation and overlapping edges of the insulation layer, the grinding disc and the grinding blade need to be adaptable to the insulation layer profile, that is, although the profiles of various parts of the insulation layer are inconsistent, the grinding thickness requirements are consistent, and the insulation layer profile before and after grinding must be consistent with that before grinding. However, due to factors such as the complex shape of the special-shaped insulation sleeve and the small fan-shaped opening, manual grinding is still used for grinding, but manual grinding has the disadvantages of high cost, uneven grinding effect, and low efficiency. Summary of the invention

[0004] Based on the above technical problems, the present invention provides an intelligent grinding equipment and method thereof, in which the processing means are adapted to the outer shape of the special-shaped insulation sleeve and the grinding method is adapted to the inner surface of the insulation sleeve.

[0005] In order to solve the above calculation problem, the present invention adopts the following technical solution:

[0006] A kind of equipment for grinding the inner surface of a special-shaped insulation sleeve, comprising a telescopic arm, a grinding disc mechanism and a workbench; wherein the top of the telescopic arm is connected to a rotating tray and a movable tray in sequence and installed on a gantry top beam, and its end is connected to the grinding disc device, and the grinding disc device comprises a grinding component and a clamping component, wherein the grinding component is used for grinding operation, and the clamping component ensures that the insulation layer does not move by the clamping force; the fan-shaped insulation sleeve is placed on the workbench, and the workbench drives the fan-shaped insulation sleeve to move in the X direction; the movable pallet can move in the Y direction relative to the gantry top beam, the rotary pallet moves along the movable pallet in the Z direction, and the telescopic arm drives the end grinding disc mechanism to move along the radius direction of the fan-shaped insulation sleeve.

[0007] Furthermore, the grinding component includes a grinding motor, a grinding cutter disc, a cutter disc box, a compression spring and a mold; the cutter disc box is connected to the end of the telescopic arm through a wrist ear; the grinding motor is fixedly installed in the cutter disc box; the motor shaft of the grinding motor is connected to the grinding cutter disc; a plurality of compression springs are arranged at the bottom of the cutter disc box with the central axis of the grinding cutter disc as the center; the upper end surface of the compression spring is in close contact with the lower surface of the cutter disc box; and the lower end surface of the compression spring is in close contact with the upper surface of the compression component.

[0008] Furthermore, the clamping component includes a clamping frame, a spring support plate, a linear guide, and a return spring. The grinding disc is located in the clamping frame. Linear guides are respectively provided on both sides of the clamping frame. A slider is slidably connected to the linear guide. The spring support plate is fixedly connected to the upper surface of the slider. The lower end surface of the clamping spring is tightly attached to the upper surface of the clamping frame. A side plate is provided in the direction perpendicular to the linear guide of the clamping frame. One end of the return spring is fixedly connected to the spring support plate, and the other end is fixedly connected to the side plate. The grinding component can move along the X direction with the spring support plate.

[0009] Furthermore, a motor screw mechanism is arranged inside the gantry top beam, and a slider and a guide rail are arranged behind the movable support plate to facilitate the Y-direction movement of the movable support plate.

[0010] Furthermore, a motor screw mechanism is arranged on the movable pallet in the vertical direction, and a slider and a guide rail are also arranged at the rear of the rotary pallet to facilitate the Z-direction movement of the rotary pallet on the movable pallet.

[0011] Furthermore, the revolving support plate is rotatably connected to the movable support plate, and the revolving support plate drives the telescopic arm to rotate around the X-axis through the motor and the turntable.

[0012] Furthermore, a motor-driven screw rod is provided at the bottom of the workbench to realize X-axis movement of the workbench.

[0013] The present invention also provides a method for grinding the inner surface of a special-shaped thermal insulation sleeve, comprising the following steps:

[0014] Step S1. Before grinding, the fan-shaped insulation sleeve is fixed and clamped to ensure positioning accuracy and pressed by its own weight;

[0015] Step S2. Move the telescopic arm to the opening of the special-shaped insulation sleeve by moving the pallet in the Z direction, the Y direction and rotating the pallet around the X axis, and adjust the angle of the telescopic arm to be parallel to the polishing surface;

[0016] Step S3. Through the rotation and swinging of the wrist of the grinding component, the pressing surface of the pressing frame of the cutter disc grinding mechanism is parallel to the grinding surface, and a certain gap distance is maintained between the pressing surface and the grinding surface;

[0017] Step S4. The telescopic arm keeps the existing angle unchanged, moves along the radius direction of the fan-shaped insulation sleeve into the insulation sleeve, and moves to the initial grinding position. The worktable drives the workpiece to move in the X direction, and moves the initial grinding position of the grinding surface to the position where the grinding cutter disc is located;

[0018] Step S5. The mobile support plate drives the telescopic arm to translate in the Y direction until the clamping frame of the clamping component contacts the inner surface of the thermal insulation sleeve. At this time, the grinding disc that has not yet contacted the grinding surface is pressed down to the grinding surface, and the clamping spring is compressed, so that the clamping frame is tightly pressed against the inner surface to be polished, and the first cycle of grinding work begins;

[0019] Step S6. After a cycle of grinding is completed, the mobile tray drives the telescopic arm to translate in the Y direction, so that the grinding disc mechanism is a certain distance away from the inner surface, the return spring returns to its initial state, and the clamping frame also moves to the position of the next grinding cycle, and then repeats the above steps to perform the next cycle of grinding.

[0020] Compared with the prior art, this application has the following beneficial effects:

[0021] The gantry machine tool structure is adopted, and the telescopic arm maximizes its overall strength and rigidity; through the rotation of the telescopic arm, the rotation and swing of the cutter disc wrist and other degrees of freedom, it can adapt to the grinding needs of the curved bottom surface and multiple sides, the movement form is relatively simple, and the grinding efficiency is high; the end of the cutter disc is compressed by an elastic mechanism, and the return spring and the guide rail form a guide device. During the grinding operation, the insulation layer is compressed in real time to protect the vacuum adsorption state of the insulation layer and the special-shaped box, and the trajectory is automatically generated for the grinding operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a general assembly diagram of an intelligent grinding device for the inner surface of a special-shaped thermal insulation sleeve according to the present invention;

[0023] Figure 2 This is the structural composition diagram of the grinding cutter disc mechanism;

[0024] Figure 3 This is the structural composition diagram of the grinding disc and the template;

[0025] Figure 4 It is a schematic diagram of the internal and external structures of the fan-shaped thermal insulation sleeve;

[0026] Figure 5 It is the grinding trajectory diagram of the rectangular planes on the left and right sides of the insulation sleeve;

[0027] Figure 6 This is the grinding trajectory diagram of the fan-shaped planes in front and behind the insulation sleeve;

[0028] Figure 7 This is the grinding trajectory diagram of the arc surface at the bottom of the insulation sleeve;

[0029] In the figure: 1-telescopic arm; 2-grinding cutter disc mechanism; 3-fan-shaped insulation sleeve; 4-workbench; 5-gantry top beam; 6-rotating pallet; 7-movable pallet; 8-gantry column; 201-wrist lifting ear; 202-grinding motor; 203-cutter disc box; 204-clamping frame; 205-supporting mold; 206-grinding cutter disc; 207-clamping spring; 208-spring support plate; 209-return spring; 210-slider; 211-linear guide. DETAILED DESCRIPTION

[0030] The technical solution of the present invention is described in detail below in conjunction with the accompanying drawings, embodiments and comparative examples.

[0031] Example

[0032] like Figure 1-3 As shown, a kind of equipment for grinding the inner surface of a special-shaped insulation sleeve comprises a telescopic arm 1, a grinding disc mechanism 2 and a workbench 4; wherein the top of the telescopic arm 1 is connected to a rotary pallet 6 and a movable pallet in sequence and installed on a gantry top beam 5, and its end is connected to a grinding disc 206 device, and the grinding disc 206 device comprises a grinding component and a clamping component, the grinding component is used for grinding operation, and the clamping component ensures that the insulation layer does not move by the clamping force; the fan-shaped insulation sleeve 3 is placed on the workbench 4, and the workbench 4 drives the fan-shaped insulation sleeve 3 to move in the X direction; the movable pallet 7 can move in the Y direction relative to the gantry top beam 5, the rotary pallet 6 moves along the movable pallet 7 in the Z direction, and the telescopic arm 1 drives the end grinding disc mechanism 2 to move along the radial direction of the fan-shaped insulation sleeve 3.

[0033] The grinding component includes a grinding motor 202, a grinding cutter disc 206, a cutter disc box 203, a clamping spring 207 and a mold 205. The cutter disc box 203 is connected to the end of the telescopic arm 1 through a wrist ear 201. The grinding motor 202 is fixedly installed in the cutter disc box 203. The motor shaft of the grinding motor 202 is connected to the grinding cutter disc 206. A plurality of clamping springs 207 are arranged at the bottom of the cutter disc box 203 with the central axis of the grinding cutter disc 206 as the center. The upper end surface of the clamping spring 207 is in close contact with the lower surface of the cutter disc box 203, and the lower end surface of the clamping spring 207 is in close contact with the upper surface of the clamping component.

[0034] The clamping component includes a clamping frame 204, a spring support plate 208, a linear guide 211, and a return spring 209. The grinding disc 206 is located in the clamping frame 204. Linear guides 211 are respectively provided on both sides of the clamping frame 204. The linear guide 211 is slidably connected to a slider 210. The spring support plate 208 is fixedly connected to the upper surface of the slider 210. The lower end surface of the clamping spring 207 is tightly attached to the upper surface of the clamping frame 204. The clamping frame 204 is provided with a side plate in a direction perpendicular to the linear guide. One end of the return spring 209 is fixedly connected to the spring support plate 208, and the other end is fixedly connected to the side plate. The grinding component can move along the X direction with the spring support plate 208.

[0035] The overall device includes eight degrees of freedom: four linear displacement degrees of freedom and four rotational degrees of freedom.

[0036] The four linear displacement degrees of freedom are respectively the workbench 4 driving the fan-shaped box to move in the X direction, the mobile pallet 7 to move in the Y direction, the swivel pallet 6 to move in the Z direction on the mobile pallet 7, and the telescopic arm 1 driving the end grinding device to move along the radial direction of the fan-shaped insulation sleeve 3. The X-direction movement of the workbench 4 is driven by the motor-driven screw located at the bottom of the workbench 4 to realize the X-direction movement of the workbench 4; a motor screw mechanism is also arranged inside the gantry top beam 5, and a slider and a guide rail are arranged behind the mobile pallet 7 to facilitate the Y-direction movement of the mobile pallet 7; a motor screw mechanism in the vertical direction is also arranged on the mobile pallet 7, and a slider and a guide rail are also arranged behind the swivel pallet 6 to facilitate the Z-direction movement of the swivel pallet 6 on the mobile pallet 7. At the rear of the telescopic arm 1, a motor screw mechanism is arranged along the telescopic arm 1 to realize that the telescopic arm 1 drives the end grinding device to move along the radial direction of the fan-shaped insulation sleeve 3.

[0037] The four rotational degrees of freedom are rotation of the rotary support plate 6 around the X axis, rotation of the grinding disc 206 wrist around the R axis, swinging of the grinding disc 206 wrist around the R axis vertical axis, and rotation of the grinding disc 206. The grinding disc mechanism 2 installed at the end of the telescopic arm 1 has three rotational degrees of freedom, namely, rotation of the grinding disc 206 wrist, swinging of the grinding disc 206 wrist, and rotation and grinding of the grinding disc 206.

[0038] The equipment has the function of connecting to the data acquisition system. The equipment's grinding angle, grinding cutter running time, workpiece feed speed and other parameters can be collected, stored and set in the data acquisition system. By arranging cameras and lighting devices, the grinding process can be monitored in real time.

[0039] The grinding disc mechanism 2 is installed at the end of the telescopic arm 1, and the telescopic arm 1 drives the entire grinding disc mechanism to telescope and move through the motor and the screw; the telescopic arm 1 is installed on the top beam through the movable pallet 7 and the rotating pallet 6, and the movable pallet 7 drives the telescopic arm 1 to move along the Y direction of the top beam through the motor and the screw; the rotating pallet 6 drives the telescopic arm 1 to rotate around the X-axis through the motor and the turntable.

[0040] Since the insulation layer and the fan-shaped insulation sleeve 3 are bonded by vacuum adsorption, in order to prevent the insulation layer from being moved by the grinding cutter head during grinding, four compression springs 207 are arranged under the grinding cutter head box with the R axis as the center. The upper end surface of the compression spring 207 is in close contact with the lower surface of the cutter head box 203, and the lower end surface of the compression spring 207 is in close contact with the upper surface of the spring support plate 208. The spring support plate 208 is provided with a mounting hole for the return spring 209. The lower surface of the spring support plate 208 is connected to the slider, and the slider is connected to the guide rail. The guide rail is fixed to the upper surface of the compression frame 204 by bolts. The mechanism fixes the insulation layer by elastic compression to ensure that the compression frame and the insulation layer are indirectly connected. At the moment of contact, there will be no collision between the clamping frame 204 and the insulation layer; during the grinding operation, the clamping frame 204 ensures that the insulation layer does not move by the clamping force. During the operation, the grinding disc moves along the clamping frame 204 and compresses the return spring 209; when a stroke cycle of grinding operation is completed, the box of the grinding disc is lifted a certain distance under the drive of the telescopic arm 1, away from the surface of the insulation layer, and the clamping spring 207 of the disc box 203 returns to its original state. The clamping frame 204 moves to the other end along the linear guide under the return action of the return spring 209, thus completing a grinding cycle of the grinding disc mechanism 2, and then the next cycle of grinding operation begins. The gantry column 8 can be arranged with a dust suction duct, located at the opening of the special-shaped box, to recover the debris that diffuses to the opening in real time.

[0041] The inner surface of the special-shaped insulation sleeve has three surfaces to be processed, namely the fan-shaped planes at the front and back, the rectangular planes at the left and right, and the arc surface at the bottom. The three processing surfaces have different processing paths. But the same thing is that before grinding each processing surface, the angle and posture of the grinding mechanism are adjusted first, so that the clamping frame 204 is perpendicular to the grinding surface. For the grinding of the front and back and left and right planes, the grinding structure can always maintain an angle during the grinding process, but for the arc surface of the bottom, the grinding mechanism needs to adjust the angle again after each path is completed.

[0042] Figure 4 The following is a schematic diagram of the internal and external structure of the fan-shaped insulation sleeve. The following is an explanation of the grinding process of the left and right rectangular planes. Figure 5It is a grinding track diagram of the left and right rectangular plane grinding process. Grinding is performed from top to bottom. After grinding the first track, the grinding mechanism moves back to the top of the inner surface of the insulation sleeve and continues to grind the second track from top to bottom, and grinds in sequence until the grinding is completed.

[0043] Step S1. Before grinding, the fan-shaped insulation sleeve is fixed and clamped to ensure positioning accuracy and pressed tightly by its own weight.

[0044] Step S2. Move the telescopic arm to the opening of the special-shaped insulation sleeve by moving the pallet in the Z direction, the Y direction and rotating the pallet around the X axis, and adjust the angle of the telescopic arm to be parallel to the polishing surface.

[0045] Step S3. By rotating and swinging the wrist of the grinding disc, the pressing surface of the pressing frame 204 of the grinding disc mechanism is made parallel to the grinding surface, but a gap distance of more than 10 mm is maintained between the pressing surface and the grinding surface.

[0046] Step S4. The telescopic arm keeps the existing angle unchanged, moves along the radius direction of the fan-shaped insulation sleeve into the insulation sleeve, and moves to the initial grinding position. The worktable drives the workpiece to move in the X direction, and moves the initial grinding position of the grinding surface to the position where the grinding cutter disc is located;

[0047] Step S5. The mobile support plate drives the telescopic arm to translate in the Y direction until the clamping frame of the grinding disc mechanism contacts the inner surface of the insulation sleeve. At this time, the grinding disc mechanism that has not yet contacted the grinding surface is pressed down to the grinding surface, and the clamping spring 207 is compressed, so that the clamping frame is tightly pressed against the inner surface to be ground, and the first cycle of grinding work begins.

[0048] Step S6. After a cycle of grinding is completed, the mobile tray drives the telescopic arm to move horizontally in the Y direction, so that the grinding cutter mechanism is a certain distance away from the inner surface, the return spring 209 returns to the initial state, and the clamping frame also moves to the position of the next grinding cycle. Repeat the above steps to perform the next cycle of grinding.

[0049] The grinding steps of the front and rear fan-shaped planes are the same as the grinding steps of the left and right rectangular planes mentioned above, except that the grinding tracks are different. Figure 6 The entrance of the fan-shaped insulation sleeve is narrow, and the angle of the telescopic arm inside the insulation sleeve is limited, so it is divided into three grinding tracks. First, the telescopic arm is parallel to the left plane, starting from the initial position, and the left part of the fan-shaped plane is polished, and then the telescopic arm is withdrawn from the insulation sleeve; then the telescopic arm is rotated by rotating the tray to be parallel to the right plane, and the right part is polished. After the right part is polished, the telescopic arm is withdrawn from the insulation sleeve; finally, the tray is rotated to a vertical state to polish the remaining part.

[0050] The principle of the grinding steps of the bottom arc surface is similar to that of the left and right rectangular planes mentioned above, but the grinding mechanism cannot move in the X direction. Therefore, the grinding process is not completed by the movement of the grinding mechanism, but by the workbench driving the workpiece to move in the X direction.

[0051] The grinding track of the bottom arc surface is as follows Figure 7 The inner bottom surface of the insulation sleeve is an arc surface, which is different from the grinding process of the plane. Because it is necessary to ensure that the clamping frame is facing the grinding surface when grinding each track, the telescopic arm must be on the sector radius of the grinding point at each grinding point. Therefore, after each track is finished, the telescopic arm must be withdrawn from the insulation sleeve, and then the telescopic arm is adjusted to the sector radius of the next grinding point by moving and rotating the support plate, and each track is polished in turn until all tracks on the arc surface are polished.

[0052] The specific embodiments described herein are merely examples of the spirit of the present invention. Those skilled in the art may make various modifications or additions to the specific embodiments described or replace them in similar ways without departing from the spirit of the present invention or exceeding the scope defined by the appended claims.

Claims

1. A special-shaped insulation sleeve inner surface grinding equipment, characterized in that: It includes a telescopic arm, a grinding disc mechanism and a workbench; wherein the top of the telescopic arm is connected to the rotary tray and the movable tray in sequence and installed on the gantry top beam, and the end thereof is connected to the grinding disc mechanism, and the grinding disc mechanism includes a grinding component and a clamping component, wherein the grinding component is used for grinding operation, and the clamping component ensures that the insulation layer does not move by the clamping force; the fan-shaped insulation sleeve is placed on the workbench, and the workbench drives the fan-shaped insulation sleeve to move in the X direction; the movable support plate can move in the Y direction relative to the gantry top beam, the rotary support plate moves along the movable support plate in the Z direction, and the telescopic arm drives the end grinding disc mechanism to move along the radius direction of the fan-shaped insulation sleeve; The grinding component includes a grinding motor, a grinding cutter disc, a cutter disc box, a clamping spring and a template. The cutter disc box is connected to the end of the telescopic arm through a wrist hanging ear. The grinding motor is fixedly installed in the cutter disc box. The motor shaft of the grinding motor is connected to the grinding cutter disc. A plurality of clamping springs are arranged at the bottom of the cutter disc box with the central axis of the grinding cutter disc as the center. The upper end surface of the clamping spring is in close contact with the lower surface of the cutter disc box, and the lower end surface of the clamping spring is in close contact with the upper surface of the clamping component. The clamping component includes a clamping frame, a spring support plate, a linear guide rail, and a return spring. The grinding cutter disc is located in the clamping frame. Linear guide rails are respectively provided on both sides of the clamping frame. Slide blocks are slidably connected to the linear guide rails. The spring support plate is fixedly connected to the upper surface of the slide block. The lower end surface of the clamping spring is close to the upper surface of the clamping frame. The clamping frame is provided with a side plate in a direction perpendicular to the linear guide rail. One end of the return spring is fixedly connected to the spring support plate, and the other end is fixedly connected to the side plate. The grinding component can move along the X direction with the spring support plate.

2. The inner surface grinding equipment of a special-shaped thermal insulation sleeve according to claim 1, characterized in that: A motor screw mechanism is arranged inside the gantry top beam, and a slide block and a guide rail are arranged behind the movable support plate to facilitate the Y-direction movement of the movable support plate.

3. The inner surface grinding equipment of a special-shaped thermal insulation sleeve according to claim 1, characterized in that: A motor screw mechanism in the vertical direction is arranged on the movable pallet, and a slider and a guide rail are also arranged at the rear of the rotary pallet to facilitate the Z-direction movement of the rotary pallet on the movable pallet.

4. The inner surface grinding equipment of a special-shaped thermal insulation sleeve according to claim 1, characterized in that: The rotary support plate is rotatably connected to the movable support plate, and the rotary support plate drives the telescopic arm to rotate around the X-axis through a motor and a turntable.

5. The inner surface grinding equipment of a special-shaped thermal insulation sleeve according to claim 1, characterized in that: A motor-driven screw rod is arranged at the bottom of the workbench to realize the X-direction movement of the workbench.

6. The method for grinding the inner surface of a special-shaped thermal insulation sleeve of a special-shaped thermal insulation sleeve inner surface grinding equipment according to claim 1, characterized in that: The steps include: Step S1. Before grinding, the fan-shaped insulation sleeve is fixed and clamped to ensure positioning accuracy and pressed by its own weight; Step S2. Move the telescopic arm to the opening of the special-shaped insulation sleeve by moving the pallet in the Z direction, the Y direction and rotating the pallet around the X axis, and adjust the angle of the telescopic arm to be parallel to the polishing surface; Step S3. Through the rotation and swinging of the wrist of the grinding component, the pressing surface of the pressing frame of the cutter disc grinding mechanism is parallel to the grinding surface, and a certain gap distance is maintained between the pressing surface and the grinding surface; Step S4. The telescopic arm keeps the existing angle unchanged, moves along the radius direction of the fan-shaped insulation sleeve into the insulation sleeve, and moves to the initial grinding position. The worktable drives the workpiece to move in the X direction, and moves the initial grinding position of the grinding surface to the position where the grinding cutter disc is located; Step S5. The mobile support plate drives the telescopic arm to translate in the Y direction until the clamping frame of the clamping component contacts the inner surface of the thermal insulation sleeve. At this time, the grinding disc that has not yet contacted the grinding surface is pressed down to the grinding surface, and the clamping spring is compressed, so that the clamping frame is tightly pressed against the inner surface to be polished, and the first cycle of grinding work begins; Step S6. After a cycle of grinding is completed, the mobile tray drives the telescopic arm to translate in the Y direction, so that the grinding disc mechanism is a certain distance away from the inner surface, the return spring returns to its initial state, and the clamping frame also moves to the position of the next grinding cycle, and then repeats the above steps to perform the next cycle of grinding.

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