Inner wall profiling constant-force grinding and polishing equipment of eccentric mechanism based on crank arm movement

Abstract

The invention relates to the technical field of pipe fitting grinding equipment, and discloses inner wall profiling constant-force grinding and polishing equipment of an eccentric mechanism based on crank arm movement. A first movable platform; a second movable platform; the motor assembly drives to generate power; the transmission assembly comprises a first gear, a transmission shaft and a rotating platform; the adjusting assembly comprises a connecting rod, a connecting rod shaft and a cylinder; the grinding assembly is installed on the second movable platform and used for grinding the inner wall of the bent pipe. The bent pipe clamping device is used for clamping a bent pipe; the control system is used for receiving and outputting control signals. The inner wall of an elbow can be ground and polished, in the grinding and polishing process, the contact force between a ground workpiece and the grinding assembly can be actively adjusted, the consistency and uniformity of the grinding effect can be guaranteed through constant force control, and the product quality is improved.

Description

Technical Field

[0001] The invention relates to the technical field of pipe grinding equipment, and in particular to an inner wall profiling constant force grinding and polishing equipment based on an eccentric mechanism of crank arm motion. Background Art

[0002] At present, most of the grinders of pipe inner wall grinding machines generally use a straight rod to connect the grinding head and the power output machine, and the power output machine drives the grinding head to penetrate into the pipe to be processed to grind the inner wall of the pipe. When some processing objects are bent pipes, the internal space of the bent pipe is small, and it is difficult to deliver the grinding tool to all the surfaces that need to be processed. Due to the irregular shape of the bent pipe, it is difficult to apply uniform grinding and polishing force to all areas, which is prone to over-grinding or under-grinding.

[0003] Therefore, improvements need to be made. Summary of the invention

[0004] The technical problem solved by the present invention is to provide an inner wall profiling constant force grinding and polishing device with an eccentric mechanism based on crank arm motion in view of the defects existing in the above-mentioned prior art, so as to solve the problems raised in the above-mentioned background technology.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is as follows: an inner wall profiling constant force grinding and polishing equipment with an eccentric mechanism based on crank arm motion, comprising: a workbench, the workbench is used to install mechanical parts; a first movable platform, the first movable platform is installed on the workbench, the first movable platform includes at least one pair of first optical axis components installed on the workbench and a first movable plate installed on the first optical axis component, the first movable plate can be moved along the Y direction of the first optical axis component; a second movable platform, the second movable platform is installed on the first movable platform, the second movable platform includes a second optical axis component installed on the first movable plate and a second movable plate installed on the second optical axis component, the second movable plate can be moved along the X direction of the second optical axis component; a motor assembly, the motor assembly A component is installed at the lower part of the workbench, and the motor component drives to generate power; a transmission component, the transmission component includes a first gear connected to the motor component, a transmission shaft connected to the first gear, and a rotating platform connected to the other end of the transmission shaft; an adjustment component, the adjustment component is arranged on the rotating platform, the adjustment component includes a connecting rod hinged on the rotating platform, a connecting rod shaft arranged at the other end of the connecting rod, and a cylinder installed on the rotating platform and the telescopic end is connected to the connecting rod shaft; wherein the connecting rod shaft is connected to the second movable plate; a grinding component, the grinding component is installed on the second movable platform, and the grinding component is used to grind the inner wall of the bent pipe; a bent pipe clamping device, the bent pipe clamping device is used to clamp the bent pipe; a control system, the control system is used to receive and output control signals.

[0006] Furthermore, the first optical axis assembly includes a first optical axis bracket fixed on the workbench, a first optical axis mounted on the first optical axis bracket, and a first sliding block sleeved on the first optical axis, wherein the first sliding block is connected to the first movable plate.

[0007] Furthermore, the second optical axis assembly includes a second optical axis bracket fixed on the first movable plate, a second optical axis installed on the second optical axis bracket, and a second slider sleeved on the second optical axis, and the second slider is connected to the second movable plate.

[0008] Furthermore, the motor assembly includes a first motor, a reducer connected to an output end of the first motor, and a second gear connected to the reducer, and the second gear is meshed with the first gear for transmission.

[0009] Furthermore, the grinding assembly includes a second motor, a flexible shaft connected to the output end of the second motor, a connecting pipe for the flexible shaft to pass through, and a grinding head connected to the flexible shaft; the second motor drives the flexible shaft to drive the grinding head to rotate and grind the inner wall of the pipe.

[0010] Furthermore, the bent pipe clamping device includes a third motor, a third movable plate arranged on the third motor, a first fixed block installed on the third movable plate, and a second fixed block arranged opposite to the first fixed block, and the first fixed block and the second fixed block are movably adjusted to fix the pipe fitting; wherein, the third motor drives the third movable plate to rotate, so as to drive the pipe fitting to rotate and polish the inner wall.

[0011] Furthermore, the control system includes a servo driver electrically connected to the first motor, a programmable controller electrically connected to the servo driver, and a proportional valve connected to the cylinder and the programmable controller.

[0012] Compared with the prior art, the present invention has the following beneficial effects: 1. The cylinder in the adjustment component drives the grinding component to move, which can adjust the contact force between the grinding component and the bent pipe workpiece. The contact point is kept in the normal direction of the inner wall of the bent pipe, and constant force can be applied to the inner wall of the bent pipe workpiece. Under constant force grinding, the consistency and uniformity of the grinding effect can be guaranteed, thereby improving product quality.

[0013] 2. Under the coordinated action of the first movable platform, the second movable platform, the motor assembly and the transmission assembly, the motor assembly is used to drive the transmission assembly. Under the coordinated action of the first movable platform and the second movable platform, the transmission assembly drives the grinding device to rotate in a circle to evenly grind the inner wall of the bent pipe workpiece.

[0014] 3. Combined with the pipe bending clamping device, the pipe bending clamping device is used to rotate the pipe bending one by one during the processing, so that the grinding component can completely grind other positions of the inner wall of the pipe bending. The one-time complete grinding will not appear excessive grinding of the joints and inconsistent textures, thereby improving product quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the structure of the present invention.

[0016] Figure 2 It is a partial structural schematic diagram of the structure of the present invention.

[0017] Figure 3 yes Figure 2 Another angle diagram of the structure.

[0018] Figure 4 It is a structural diagram of the first activity platform.

[0019] Figure 5 It is a structural diagram of the first activity platform.

[0020] Figure 6 It is a structural diagram of the second activity platform.

[0021] Figure 7 It is a structural diagram of the second activity platform.

[0022] Figure 8 It is a structural diagram of the motor assembly, transmission assembly and adjustment assembly.

[0023] Fig. 9 It is a structural diagram of the transmission component.

[0024] Fig.10 It is a structural diagram of the adjustment component.

[0025] Fig.11 It is a structural diagram of the motor assembly.

[0026] Fig.12 It is a schematic diagram of the structure of the grinding component.

[0027] Fig.13 It is a structural schematic diagram of a pipe bending clamping device.

[0028] Fig.14 It is a structural diagram of the control system.

[0029] Figure numerals: 1, workbench; 2, first movable platform; 3, first optical axis assembly; 4, first movable plate; 5, second movable platform; 6, second optical axis assembly; 7, second movable plate; 8, motor assembly; 9, transmission assembly; 10, first gear; 11, transmission shaft; 12, rotating platform; 13, adjustment assembly; 14, connecting rod; 15, connecting rod shaft; 16, cylinder; 17, grinding assembly; 18, bending pipe clamping device; 19, control system; 20, first optical axis Axis bracket; 21. first optical axis; 22. first slider; 23. second optical axis bracket; 24. second optical axis; 25. second slider; 26. first motor; 27. reducer; 28. second gear; 29. ​​second motor; 30. flexible shaft; 31. connecting pipe; 32. grinding head; 33. third motor; 34. third movable plate; 35. first fixed block; 36. second fixed block; 37. servo drive; 38. programmable controller; 39. proportional valve. DETAILED DESCRIPTION

[0030] The present invention will be further described in detail below in conjunction with the accompanying drawings.

[0031] The embodiments described with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and cannot be understood as limiting the present application. In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate the orientation or position relationship based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present application, the meanings of "several" and "multiple" are two or more, unless otherwise clearly and specifically defined. In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be a communication between the two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances. In this application, unless otherwise clearly specified and limited, the first feature "above" or "below" the second feature can include the first and second features being in direct contact, or it can include the first and second features not being in direct contact but being in contact through another feature between them. Moreover, the first feature "above", "above" and "above" the second feature include the first feature being directly above and obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature "below", "below" and "below" the second feature include the first feature being directly above and obliquely above the second feature, or simply means that the first feature is lower in level than the second feature.

[0032] like Figure 1-10As shown, an inner wall profiling constant force grinding and polishing equipment with an eccentric mechanism based on crank arm motion is provided, comprising: a workbench 1, wherein the workbench 1 is used to install mechanical parts; a first movable platform 2, wherein the first movable platform 2 is installed on the workbench 1, wherein the first movable platform 2 comprises at least one pair of first optical axis assemblies 3 installed on the workbench 1 and a first movable plate 4 installed on the first optical axis assembly 3, wherein the first movable plate 4 can move along the first optical axis assembly 3 in the Y direction; a second movable platform 5, wherein the second movable platform 5 is installed on the first movable platform 2, wherein the second movable platform 5 comprises a second optical axis assembly 6 installed on the first movable plate 4 and a second movable plate 7 installed on the second optical axis assembly 6, wherein the second movable plate 7 can move along the second optical axis assembly 6 in the X direction; a motor assembly 8, wherein the motor assembly 8 is installed at the lower part of the workbench 1, wherein the motor assembly 8 drives the production Power; a transmission assembly 9, wherein the transmission assembly 9 includes a first gear 10 that is transmission-connected to the motor assembly 8, a transmission shaft 11 that is connected to the first gear 10, and a rotating platform 12 that is connected to the other end of the transmission shaft 11; an adjustment assembly 13, wherein the adjustment assembly 13 is disposed on the rotating platform 12, wherein the adjustment assembly 13 includes a connecting rod 14 that is hinged on the rotating platform 12, a connecting rod shaft 15 that is disposed at the other end of the connecting rod 14, and a cylinder 16 that is mounted on the rotating platform 12 and whose telescopic end is connected to the connecting rod shaft 15; wherein the connecting rod shaft 15 is connected to the second movable plate 7; a grinding assembly 17, wherein the grinding assembly 17 is mounted on the second movable platform 5, and wherein the grinding assembly 17 is used for grinding the inner wall of the bent pipe; a bent pipe clamping device 18, wherein the bent pipe clamping device 18 is used for clamping the bent pipe; a control system 19, wherein the control system 19 is used for receiving and outputting control signals.

[0033] In view of the technical problems described in the background art, an inner wall profiling constant force grinding and polishing device with an eccentric mechanism based on crank arm motion is proposed.

[0034] refer to Figure 4-7 In the above technical solution, the first movable platform 2 can include a pair of first optical axis assemblies 3 and a first movable plate 4. An opening is designed in the middle of the first movable plate 4 to facilitate the installation of components such as the transmission assembly 9. The pair of optical axis assemblies are arranged in parallel, and the first movable plate 4 can move in the Y direction relative to the first optical axis 21 assembly 3.

[0035] The second movable platform 5 may include a pair of second optical axis components 6 and a second movable plate 7 . The second optical axis components 6 are arranged in parallel, and the second movable plate 7 can move relative to the second optical axis components 6 in the X direction.

[0036] The motor assembly 8 is used as a power output to drive the mechanical parts to move. The motor assembly 8 transmits the power to the transmission assembly 9. In practice, the transmission assembly 9 includes a first gear 10, a transmission shaft 11 and a rotating platform 12. The first gear 10 is meshed with the motor assembly 8 for transmission. The rotating shaft is used to transmit power. The rotating platform 12 is connected to the other end of the rotating shaft. Under this structure, the rotating platform 12 is driven to rotate in a circle.

[0037] refer to Fig.10 In order to achieve constant force control on the pipe fitting, an adjustment assembly 13 is arranged on the rotating platform 12. The adjustment assembly 13 is used to adjust the distance between the grinding assembly 17 and the inner wall of the pipe fitting, so as to control the contact force between the grinding head 32 and the inner wall of the pipe fitting. Specifically, the adjustment assembly 13 includes a cylinder 16, a connecting rod 14 and a connecting rod shaft 15. One end of the connecting rod 14 is hinged on the rotating platform 12. The cylinder 16 is installed on the rotating platform 12. An angle is formed between the cylinder 16 and the connecting rod 14. The telescopic end of the cylinder 16 and the connecting rod 14 are both connected to the connecting rod shaft 15, and the connecting rod shaft 15 is connected to the second movable plate 7. Since the grinding assembly 17 is installed on the second movable platform 5, when the cylinder 16 drives the connecting rod shaft 15 to move, the connecting rod shaft 15 drives the second movable plate 7 to move. Since the grinding assembly 17 is installed on the second movable plate 7, the contact force between the grinding head 32 of the grinding assembly 17 and the inner wall of the pipe fitting is controlled. Since the contact force is a constant force, under constant force grinding, the consistency and uniformity of the grinding effect can be guaranteed, thereby improving product quality.

[0038] The bent pipe clamping device 18 is in the form of an independent device, and is used to clamp and fix the pipe fitting.

[0039] In actual use, the pipe to be polished is installed on the elbow clamping device 18, and the control system 19 drives the adjustment component 13 to work according to the planned contact force. The cylinder 16 extends to drive the second movable plate 7 to move, and drives the polishing component 17 on the second movable plate 7, so that the polishing head 32 of the polishing component 17 contacts the inner wall of the pipe to provide a constant contact force. The motor component 8 drives and drives the rotating platform 12 of the transmission component 9 to rotate. Since the connecting rod shaft 15 after being pushed out is eccentrically arranged with the rotating platform 12, the connecting rod shaft 15 is connected with the second movable plate 7, and the first movable platform 2 and the second movable platform 5 move in the X direction and the Y direction in coordination, so that the polishing head 32 of the polishing component 17 performs a circumferential polishing operation on the inner wall of the pipe.

[0040] At the same time, when the grinding head 32 is worn out, the push rod will automatically push out to compensate for the loss, thereby ensuring uniform grinding. If the actual contact force is less than the planned contact force, the cylinder 16 will automatically push out the belt to maintain the planned contact force; if the actual contact force is greater than the planned contact force, the cylinder 16 will automatically be retracted by the reaction force to maintain the planned contact force. While the device is performing circular motion, the workpiece rotates around the center of the workpiece center axis, thereby achieving a complete inner wall grinding process.

[0041] Constant force grinding control of the grinding contact force is achieved by controlling the thrust of the push rod of the cylinder 16.

[0042] like Figure 4-7 As shown, the first optical axis assembly 3 includes a first optical axis bracket 20 fixed on the workbench 1, a first optical axis 21 installed on the first optical axis bracket 20, and a first slider 22 sleeved on the first optical axis 21, and the first slider 22 is connected to the first movable plate 4.

[0043] The second optical axis assembly 6 includes a second optical axis bracket 23 fixed on the first movable plate 4 , a second optical axis 24 installed on the second optical axis bracket 23 , and a second slider 25 sleeved on the second optical axis 24 , wherein the second slider 25 is connected to the second movable plate 7 .

[0044] Preferably, due to the rotation of the rotating platform 12, the grinding head 32 of the grinding assembly 17 needs to be driven to perform circular motion to achieve grinding of the inner wall of the pipe. To this end, the first movable plate 4 moves in the X direction and the second movable plate 7 moves in the Y direction, forming the first movable platform 2 and the second movable platform 5 to form a circular motion in coordination.

[0045] like Fig.11 As shown, the motor assembly 8 includes a first motor 26 , a reducer 27 connected to an output end of the first motor 26 , and a second gear 28 connected to the reducer 27 , and the second gear 28 is meshed with the first gear 10 for transmission.

[0046] In implementation, the motor assembly 8 includes a first motor 26, a reducer 27 and a second gear 28. The first motor 26 can be a servo motor, a stepper motor, etc. Preferably, the first motor 26 is a servo motor. A reducer 27 is set at the output end of the first motor 26 to adjust the torque. The second gear 28 is connected to the reducer 27, and the second gear 28 is engaged with the first gear 10. When the first motor 26 is driven, the first gear 10 is driven to rotate.

[0047] refer to Fig.12As shown, the grinding assembly 17 includes a second motor 29, a flexible shaft 30 connected to the output end of the second motor 29, a connecting pipe 31 for the flexible shaft 30 to pass through, and a grinding head 32 connected to the flexible shaft 30; the second motor 29 drives the flexible shaft 30 to drive the grinding head 32 to rotate to grind the inner wall of the pipe.

[0048] The grinding assembly 17 is used to grind the inner wall of the pipe. The grinding assembly 17 includes a second motor 29, a flexible shaft 30, a connecting pipe 31 and a grinding head 32. The grinding head 32 is used to install a grinding wheel or a polishing wheel. The connecting pipe 31 is installed on the second movable plate 7. The second motor 29 is installed on the second movable plate 7. The connecting pipe 31 is also arranged on the second movable plate 7 and placed in front of the output end of the second motor 29. The connecting pipe 31 is a hollow structure. The connecting pipe 31 can be adapted to 1-3 pipes of different sizes. For unmatched pipes, the connecting pipes 31 with different bending radii can be replaced to meet the grinding requirements of pipes of different sizes. The output end of the second motor 29 is connected to the flexible shaft 30, and the flexible shaft 30 passes through the connecting pipe 31, and then the grinding head 32 is installed on the flexible shaft 30. When in use, after the second motor 29 is driven, the grinding head 32 is driven to rotate for grinding.

[0049] like Fig.13 As shown, the bent pipe clamping device 18 includes a third motor 33, a third movable plate 34 arranged on the third motor 33, a first fixed block 35 installed on the third movable plate 34, and a second fixed block 36 arranged opposite to the first fixed block 35, the first fixed block 35 and the second fixed block 36 are movably adjusted to fix the pipe fitting; wherein, the third motor 33 drives the third movable plate 34 to rotate, so as to drive the pipe fitting to rotate and polish the inner wall.

[0050] In order to achieve complete and continuous grinding of pipe fittings, avoid the situation of inconsistent grain direction, discontinuous grain, and unevenness at the overlap, the structure of the elbow clamping device 18 is designed. It specifically includes a third motor 33, a third movable plate 34, a first fixed block 35 and a second fixed block 36. The first fixed block 35 and the second fixed block 36 are mainly used to clamp the pipe fittings. The number of the first fixed block 35 and the second fixed block 36 can be selected according to the implementation situation, and there is no restriction on this. The first fixed block 35 and the second fixed block 36 are in an adjustable form on the third movable plate 34 to meet the processing of pipe fittings of different sizes. The output end of the third motor 33 is connected to the third movable plate 34, and under the action of the control system 19, the third motor 33 is driven to rotate, and the third movable plate 34 is driven to rotate. In this way, the grinding head 32 can continuously grind the inner wall of the pipe fitting, which can achieve the consistency and uniformity of the grinding effect, improve the product quality, and the inner wall of the pipe fitting is completely polished at one time, without excessive grinding at the splicing and inconsistent texture.

[0051] refer to Fig.14 As shown, the control system 19 includes a servo driver 37 electrically connected to the first motor 26 , a programmable controller 38 electrically connected to the servo driver 37 , and a proportional valve 39 connected to the cylinder 16 and the programmable controller 38 .

[0052] During use, the control system 19 includes a servo driver 37, a programmable controller 38 and a proportional valve 39. The output pressure of the proportional valve 39 is controlled by the programmable controller 38, and the pressure is transmitted to the grinding head 32 at the end of the device through the push rod of the cylinder 16. Even if the grinding head 32 is worn out, the push rod of the cylinder 16 will automatically push out to compensate for the loss, thereby ensuring uniform grinding; at the same time, the first motor 26 is driven to rotate, and the grinding head 32 will make a circular motion to grind the inner wall of the pipe.

[0053] The above does not limit the technical scope of the present invention in any way. Any modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. An inner wall profiling constant force grinding and polishing device based on an eccentric mechanism of a crank arm motion, characterized in that: include: A workbench, wherein the workbench is used to install mechanical parts; A first movable platform, the first movable platform is mounted on the workbench, the first movable platform comprises at least one pair of first optical axis components mounted on the workbench and a first movable plate mounted on the first optical axis components, and the first movable plate can move along the Y direction of the first optical axis components; A second movable platform, the second movable platform is mounted on the first movable platform, the second movable platform comprises a second optical axis assembly mounted on the first movable plate and a second movable plate mounted on the second optical axis assembly, and the second movable plate can move along the second optical axis assembly in the X direction; A motor assembly, the motor assembly is installed at the lower part of the workbench, and the motor assembly is driven to generate power; A transmission assembly, the transmission assembly comprising a first gear transmission-connected to the motor assembly, a transmission shaft connected to the first gear, and a rotating platform connected to the other end of the transmission shaft; An adjustment assembly, the adjustment assembly is arranged on the rotating platform, the adjustment assembly comprises a connecting rod hinged on the rotating platform, a connecting rod shaft arranged at the other end of the connecting rod, and a cylinder installed on the rotating platform and having a telescopic end connected to the connecting rod shaft; wherein the connecting rod shaft is connected to the second movable plate; A grinding assembly, the grinding assembly is mounted on the second movable platform, and the grinding assembly is used for grinding the inner wall of the bent pipe; A pipe bending clamping device, the pipe bending clamping device is used to clamp the pipe bending; A control system is provided, wherein the control system is used for receiving and outputting control signals.

2. According to claim 1, the inner wall profiling constant force grinding and polishing equipment based on the eccentric mechanism of the crank arm motion is characterized by: The first optical axis assembly includes a first optical axis bracket fixed on the workbench, a first optical axis installed on the first optical axis bracket, and a first sliding block sleeved on the first optical axis, wherein the first sliding block is connected to the first movable plate.

3. According to claim 2, the inner wall profiling constant force grinding and polishing equipment based on the eccentric mechanism of the crank arm motion is characterized by: The second optical axis assembly includes a second optical axis bracket fixed on the first movable plate, a second optical axis installed on the second optical axis bracket, and a second slider sleeved on the second optical axis, wherein the second slider is connected to the second movable plate.

4. The inner wall profiling constant force grinding and polishing equipment based on the eccentric mechanism of the crank arm motion according to any one of claims 1 to 3, characterized in that: The motor assembly includes a first motor, a reducer connected to an output end of the first motor, and a second gear connected to the reducer, wherein the second gear is meshed with the first gear for transmission.

5. The inner wall profiling constant force grinding and polishing equipment based on the eccentric mechanism of the crank arm motion according to claim 4 is characterized in that: The grinding assembly includes a second motor, a flexible shaft connected to the output end of the second motor, a connecting pipe for the flexible shaft to pass through, and a grinding head connected to the flexible shaft; the second motor drives the flexible shaft to drive the grinding head to rotate and grind the inner wall of the pipe.

6. The inner wall profiling constant force grinding and polishing equipment based on the eccentric mechanism of the crank arm motion according to claim 5, characterized in that: The bent pipe clamping device comprises a third motor, a third movable plate arranged on the third motor, a first fixed block mounted on the third movable plate, and a second fixed block arranged opposite to the first fixed block, wherein the first fixed block and the second fixed block can be moved and adjusted to fix the pipe fitting; Wherein, the third motor drives the third movable plate to rotate, so as to drive the pipe to rotate and polish the inner wall.

7. The inner wall profiling constant force grinding and polishing equipment based on the eccentric mechanism of the crank arm motion according to claim 5, characterized in that: The control system includes a servo driver electrically connected to the first motor, a programmable controller electrically connected to the servo driver, and a proportional valve connected to the cylinder and the programmable controller.

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