Grinding machine tool for rudder shaft machining

Abstract

The invention discloses a grinding machine tool for rudder shaft machining, and relates to the technical field of grinding machines, the grinding machine tool comprises a grinding module, the grinding module comprises a front end vertical plate, the front end vertical plate is movably installed on a U-shaped frame, a plurality of grinding machine bases are evenly installed at the front end of the front end vertical plate at intervals, and grinding heads are installed in the grinding machine bases; a plurality of rear motors are installed at the rear end of the front end vertical plate, the positions of the rear motors correspond to the positions of the grinding machine bases, driving structures are installed between the rear motors and the grinding machine bases, the driving structures of the multiple grinding machine bases are independently arranged, the U-shaped frame is installed on the base, a clamping module is installed on the base, and the clamping module comprises a bottom plate. Clamping seats are installed on the two sides of the bottom plate, ring bodies are rotationally installed on the opposite faces of the two clamping seats, clamping motors are installed on the other sides of the clamping seats, output shafts of the clamping motors penetrate through the clamping seats to be connected with the ring bodies, and a plurality of clamping heads are installed on the ring bodies and distributed in a circumferential mode.

Description

Technical Field

[0001] The invention belongs to the technical field of grinding machines, and in particular relates to a grinding machine tool for processing a rudder shaft. Background Art

[0002] The rudder is used to steer and control the course of the ship. It is usually located at the stern, also known as the stern rudder. It is usually composed of a rudder blade and a rudder shaft. Taking the rudder pintle and the rudder blade taper hole as an example, during installation, a certain degree of fit is required between the various components. Whether it is the propeller and the tail shaft or the rudder shaft and the rudder blade or the rudder pintle and the tiller, they all need to be polished to make the contact surface fit better and increase the static friction. The rudder shaft is a key component in the rudder and a rotating mechanical element used to transfer the power-generating machine to the power-absorbing machine.

[0003] For example, a Chinese invention patent document with the publication number CN107283301A discloses a grinding device, including: a base; a first support part, whose bottom end is fixed on the base, and the first support part has a first bracket and a second bracket; a connecting part, which includes a first connecting block, a limit block and a second connecting block connected in sequence, and the first connecting block is clamped between the first bracket and the second bracket; a first rotating shaft, which is inserted into the first bracket, the second bracket and the first connecting block; a second support part, which has a third bracket and a fourth bracket, and the second connecting block is clamped between the third bracket and the fourth bracket; a second rotating shaft, which is inserted into the first bracket, the second bracket and the first connecting block; a clamping platform, whose bottom end is fixed to the second support part away from the end of the connecting part, and the product to be polished is clamped on the clamping platform. It is convenient to grind each surface of the product in three directions; and it also avoids the problem of over-grinding caused by inaccurate limit during grinding.

[0004] For another example, a publication number discloses a device for grinding and fixing the two end surfaces of shaft parts, including a workbench, a clamping mechanism and a pressing mechanism. A support frame is provided in the middle of the workbench, and support tables are provided at both ends of the workbench respectively. The clamping mechanism includes an elbow clamp and a clamping block located on the support table, and the elbow clamp and the clamping block clamp the two ends of the shaft parts in a clamping state. The pressing mechanism includes clamping parts located on both sides of the support frame, and the clamping parts press the middle part of the shaft parts in a clamping state.

[0005] The traditional rudder shaft grinding structure often adopts the method of clamping the two ends and the middle of the shaft parts and then aligning and grinding them through the grinding head. During grinding, the shaft parts are ground by changing the angle and position of the grinding head itself. The center degree of the shaft parts when clamped is not accurately adjusted. When the grinding amount is certain and the clamping position is inaccurate, it is easy to cause poor grinding accuracy and an uneven shaft surface. Summary of the invention

[0006] In view of the above problems in the prior art, the purpose of the present invention is to provide a grinding machine for processing rudder shafts, in which the grinding head is fixed in position and the grinding of shaft parts is achieved by adjusting the alignment of the rudder shaft clamping and changing the circumferential position of the clamping structure itself.

[0007] The present invention provides the following technical solutions:

[0008] A grinding machine for processing a rudder shaft comprises a grinding module, wherein the grinding module comprises a front end vertical plate, wherein the front end vertical plate is movably mounted on a U-shaped frame, a plurality of grinding machine seats are evenly mounted at the front end of the front end vertical plate, a grinding head is mounted in the grinding machine seat, a plurality of rear motors are mounted at the rear end of the front end vertical plate, the positions of the rear motors correspond to the positions of the grinding machine seats, a driving structure is mounted between the rear motors and the grinding machine seats, and the driving structures of the plurality of grinding machine seats are independently arranged.

[0009] As a further technical solution, an inner cavity is provided in the grinder seat, and an inner slide rail is symmetrically installed on the inner wall of the inner cavity, and a connecting plate is slidably connected to the inner slide rail, and a grinding motor is fixedly installed between the connecting plates, and the output end of the grinding motor is connected to the grinding head, and a left circular ring moving block is fixedly sleeved on the shaft body of the grinding head, a plurality of straight grooves are opened in the front end vertical plate, and a cylindrical rod is installed in the straight groove, and an intermediate circular ring moving block is slidably connected on the cylindrical rod, the left circular ring moving block is provided with a left limiting groove, and the outer ring of the intermediate circular ring moving block is located in the left limiting groove, and a threaded rod is installed on the output shaft of the rear motor, and a right circular ring moving block is threadedly connected on the threaded rod, and the intermediate circular ring moving block is provided with an intermediate limiting groove, and the outer ring of the right circular ring moving block is located in the intermediate limiting groove.

[0010] As a further technical solution, the front end of the U-shaped frame is symmetrically installed with longitudinal slide rails, and an electric slider is slidably connected to the longitudinal slide rails. A rear end vertical plate is fixedly installed on the electric slider. Side vertical plates are symmetrically installed at both ends of the rear end vertical plate. The front end vertical plate is installed between the two side vertical plates. The rear motor is located between the front end vertical plate and the rear end vertical plate. The rear motor drives the threaded rod to rotate, and the right circular ring moving block rotates and moves downward linearly relative to the threaded rod. The middle circular ring moving block slides downward on the cylindrical rod, and the left circular ring moving block drives the grinding head to move downward. At the same time, the connecting plate moves downward on the inner slide rail, so that the grinding motor is always connected to the grinding head and drives the grinding head to rotate to grind the rudder shaft.

[0011] As a further technical solution, a T-shaped plate is installed at the rear end of the rear end vertical plate, and an auxiliary cylinder is installed on the T-shaped plate. The top of the auxiliary cylinder is installed on the U-shaped frame. All the grinding heads are moved downward to be close to the rudder shaft. The auxiliary cylinder pushes down the T-shaped plate, and the T-shaped plate drives the rear end vertical plate and the electric slider to move up and down on the longitudinal slide rail until the grinding head moves to directly above the rudder shaft, leaving a certain adjustable space margin.

[0012] As a further technical solution, the U-shaped frame is installed on a base, and a clamping module is installed on the base. The clamping module includes a base plate, and clamping seats are installed on both sides of the base plate. A ring body is rotatably installed on the opposite surfaces of the two clamping seats, and a clamping motor is installed on the other side of the clamping seat. The output shaft of the clamping motor passes through the clamping seat and is connected to the ring body. A plurality of clamping heads are installed on the ring body, and the clamping heads are arranged in a circle.

[0013] As a further technical solution, a clamping rod is installed on the clamping head, the clamping rod and the ring body are slidably connected, a force plate is fixedly sleeved on the clamping rod, a compression spring is installed on the force plate and the outer ring of the ring, a pressure sensor is embedded in the force plate, and the compression spring is connected to the pressure sensor.

[0014] As a further technical solution, an annular groove is opened in the ring body, a pressure circular plate is installed in the annular groove, a pressure spring 2 is installed between the pressure circular plate and the annular groove, a pressure sensor is connected to the pressure spring 2, the rudder shaft is clamped in the ring body, and the pressure values ​​measured by the two pressure sensors connected to the pressure spring 2 are observed. When the two values ​​are the same, the clamping rod and the clamping head are moved toward the shaft body of the rudder shaft, and the clamping head is pressed against the shaft body of the rudder shaft until the pressure values ​​measured by the pressure sensors in the three circumferential directions are equal.

[0015] As a further technical solution, a lifting support plate is movably installed on the bottom plate, and a lifting cylinder is installed at the bottom end of the lifting support plate, and the lifting cylinder is located inside the bottom plate.

[0016] As a further technical solution, transverse slide rails are symmetrically installed on the base, a transverse slide table is installed on the transverse slide rails, the bottom plate is installed on the transverse slide table, a groove is opened on the base, the groove is located between the two transverse slide rails, a screw is installed in the groove, the transverse slide table is installed between the bottom plate and the screw, a moving motor is installed at one end of the screw, and the moving motor is installed at the front end of the base.

[0017] As a further technical solution, an auxiliary component is installed on the base, the auxiliary component includes an inner cylinder, a square groove is opened in the base, the inner cylinder is symmetrically installed at the front end of the base, one end of the inner cylinder extends into the square groove, the polished rudder shaft is removed from the ring body and placed in the square groove, the cylinder rod of the inner cylinder moves toward the inside of the square groove until the cylinder rod presses the rudder shaft against the groove wall of the square groove, and the rudder shaft processed later presses against the previous rudder shaft in the square groove in turn.

[0018] The beneficial effects of the present invention are:

[0019] A plurality of grinding heads are evenly installed on the front vertical plate, a plurality of rear motors are installed on the rear end of the front vertical plate, and a driving structure is installed between the rear motor and the grinding machine base. By setting different driving structures, the plurality of grinding heads can be moved together or individually, and the shaft of the rudder shaft can be ground to different degrees or the same degree at the same time;

[0020] A clamping rod is installed on the clamping head, a force plate is fixedly sleeved on the clamping rod, a compression spring 1 is installed on the force plate and the outer ring of the ring body, a pressure sensor is embedded in the force plate, an annular groove is opened in the ring body, a compression circular plate is installed in the annular groove, a compression spring 2 is installed between the compression circular plate and the annular groove, and a pressure sensor is connected to the compression spring 2. By observing the pressure values ​​measured by the two pressure sensors connected to the compression spring 2 and the pressure values ​​measured by the pressure sensors in three circumferential directions, when the two values ​​of the pressure sensors connected to the compression spring 2 are the same and the pressure values ​​measured by the pressure sensors in the three circumferential directions are the same, the clamping center degree of the rudder shaft can be guaranteed, and it can be ensured that the position of the rudder shaft will not change during clamping and grinding, thereby ensuring the surface flatness of the rudder shaft after grinding;

[0021] The mounting ring is rotated on the opposite surface of the clamping seat, and a clamping motor is installed on the other side of the clamping seat. The clamping motor drives the rudder shaft to rotate itself, and cooperates with the center degree monitoring structure to improve the grinding quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0023] Figure 1 It is a schematic diagram of the overall axonometric structure of the present invention;

[0024] Figure 2 is an axonometric structural diagram of a grinding module of the present invention;

[0025] Figure 3 It is a schematic structural diagram of a driving structure for the independent movement of a grinding head according to the present invention;

[0026] Figure 4 It is a schematic diagram of the axonometric structure of the base of the present invention;

[0027] Figure 5 It is a schematic diagram of the internal structure of the ring body of the present invention;

[0028] Figure 6 It is an axonometric structural schematic diagram of the base plate of the present invention.

[0029] The markings in the figure are: 100, base; 101, groove; 102, horizontal slide rail; 103, square groove; 200, U-shaped frame; 201, longitudinal slide rail; 202, electric slider; 300, grinding module; 301, rear end vertical plate; 302, side vertical plate; 303, grinding machine base; 304, front end vertical plate; 305, grinding head; 306, motor; 307, T-shaped plate; 308, auxiliary cylinder; 309, inner cavity; 310, connecting plate; 311, inner slide rail; 312, grinding motor; 313, left circular ring moving block; 314, straight groove; 315, middle circular ring moving block; 316, circular Column rod; 317, right circular ring moving block; 318, threaded rod; 319, middle limit groove; 320, left limit groove; 400, clamping module; 401, driving motor; 402, bottom plate; 403, clamping seat; 404, ring body; 405, transverse slide; 406, pressure circular plate; 407, clamping head; 408, pressure sensor; 409, pressure spring one; 410, circular ring groove; 411, pressure spring two; 412, clamping motor; 413, lifting support plate; 414, circular arc groove; 415, clamping rod; 416, force plate; 500, auxiliary component; 501, inner cylinder. DETAILED DESCRIPTION

[0030] like Figure 1 As shown, the present invention provides a grinding machine for processing a rudder shaft, including a grinding module 300, the grinding module 300 includes a front end vertical plate 304, the front end vertical plate 304 is movably installed on a U-shaped frame 200, a plurality of grinder seats 303 are evenly installed at the front end of the front end vertical plate 304, a grinding head 305 is installed in the grinder seat 303, the U-shaped frame 200 is installed on a base 100, a clamping module 400 is installed on the base 100, the clamping module 400 includes a bottom plate 402, clamping seats 403 are installed on both sides of the bottom plate 402, a clamping motor 412 is installed on the other side of the clamping seat 403, a ring body 404 is rotatably installed on the opposite surfaces of the two clamping seats 403, and the output shaft of the clamping motor 412 passes through the clamping seat 403 and is connected to the ring body 404.

[0031] Specifically, the grinding module 300 is located above the clamping module 400, and the rudder shaft is clamped and fixed by two clamping seats 403. The front end vertical plate 304 moves up and down linearly relative to the U-shaped frame 200 to realize the up and down movement of the grinding head 305, and cooperate with the rotation of the grinding head 305 itself to grind the rudder shaft.

[0032] like Figure 4 As shown, transverse slide rails 102 are symmetrically installed on the base 100, a transverse slide 405 is installed on the transverse slide rails 102, the bottom plate 402 is installed on the transverse slide 405, a groove 101 is opened on the base 100, the groove 101 is located between the two transverse slide rails 102, a screw is installed in the groove 101, the transverse slide 405 is installed between the bottom plate 402 and the screw, a moving motor 401 is installed at one end of the screw, and the moving motor 401 is installed at the front end of the base 100.

[0033] When working, the push motor 401 works and drives the screw to rotate. At this time, the transverse slide 405 moves on the screw and the transverse slide rail 102, thereby pushing the bottom plate 402 to move, that is, the longitudinal movement of the rudder shaft clamped by the clamping module 400.

[0034] Embodiment 1

[0035] like Figure 2 As shown, the up and down linear motion of the grinding head 305 is achieved by the auxiliary cylinder 308. Specifically, the front end of the U-shaped frame 200 is symmetrically installed with a longitudinal slide rail 201, and the longitudinal slide rail 201 is slidably connected with an electric slider 202. The rear end vertical plate 301 is fixedly installed on the electric slider 202. The two ends of the rear end vertical plate 301 are symmetrically installed with side vertical plates 302. The front end vertical plate 304 is installed between the two side vertical plates 302. The rear end of the rear end vertical plate 301 is installed with a T-shaped plate 307, and the T-shaped plate 307 is installed with an auxiliary cylinder 308. The top end of the auxiliary cylinder 308 is installed on the U-shaped frame 200.

[0036] During operation, the auxiliary cylinder 308 pushes the T-plate 307 to move up and down, and drives the rear end vertical plate 301 to move up and down through the T-plate 307, that is, the electric slider 202 makes a linear up and down motion along the longitudinal slide rail 201. Since the front end vertical plate 304 is installed on the rear end vertical plate 301 through the side vertical plate 202, the grinding head 305 moves up and down with the side vertical plate 302. When the grinding head 305 is downward, it grinds the surface of the rudder shaft.

[0037] Furthermore, in order to grind multiple locations of the rudder shaft at the same time, and the grinding processes at each location are independent of each other, such as Figure 2As shown, a plurality of rear motors 306 are installed at the rear end of the front end upright plate 304, and the rear motor 306 is located between the front end upright plate 304 and the rear end upright plate 301. The position of the rear motor 306 corresponds to the position of the grinder base 303, and a driving structure is installed between the rear motor 306 and the grinder base 303, and the driving structures of the plurality of grinder bases 303 are independently arranged.

[0038] Specifically, Figure 3 As shown, a threaded rod 318 is installed on the output shaft of the rear motor 306, and a right circular ring moving block 317 is threadedly connected to the threaded rod 318. A plurality of straight grooves 314 are provided in the front end vertical plate 304, and a cylindrical rod 316 is installed in the straight groove 314. An intermediate circular ring moving block 315 is slidably connected to the cylindrical rod 316. Specifically, an intermediate limiting groove 319 is provided on the intermediate circular ring moving block 315, and the outer ring of the right circular ring moving block 317 is located in the intermediate limiting groove 319. The rear motor 306 drives the threaded rod 318 to rotate, and the right circular ring moving block 317 performs a rotational linear motion relative to the threaded rod 318. While the right circular ring moving block 317 performs a rotational linear motion, since the outer ring of the circular ring moving block 317 is located in the intermediate limiting groove 319, the intermediate circular ring moving block 317 is subjected to the force applied by the right circular ring moving block 317, and performs an up and down linear motion along the cylindrical rod 316.

[0039] An inner cavity 309 is provided in the grinder base 303, and an inner slide rail 311 is symmetrically installed on the inner side wall of the inner cavity 309, and a connecting plate 310 is slidably connected to the inner slide rail 311, and a grinding motor 312 is fixedly installed between the connecting plates 310, and the output end of the grinding motor 312 is connected to the grinding head 305, and a left circular ring moving block 313 is fixedly sleeved on the shaft body of the grinding head 305, and a left limiting groove 320 is opened on the left circular ring moving block 313, and the outer ring of the middle circular ring moving block 315 is located in the left limiting groove 320, and the right circular ring moving block 317 transmits force to the left circular ring moving block 313 through the middle circular ring moving block 315, and the rising and falling of the grinding head 305 connected thereto is realized through the left circular ring moving block 313, and further, the movement of the grinding head 305 is realized by the connecting plate 310 moving up and down along the inner slide rail 311.

[0040] During operation, the multiple grinding heads 305 move downward together: the auxiliary cylinder 308 pushes down the T-shaped plate 307, and the T-shaped plate 307 drives the rear end vertical plate 301 and the electric slider 202 to move up and down on the longitudinal slide rail 201;

[0041] A single grinding head 305 moves downward independently: the rear motor 306 drives the threaded rod 318 to rotate, the right circular ring moving block 317 rotates and moves downward linearly relative to the threaded rod 318, the middle circular ring moving block 315 slides downward on the cylindrical rod 316, and the left circular ring moving block 313 drives the grinding head 305 to move downward. At the same time, the connecting plate 310 moves downward on the inner slide rail 311, so that the grinding motor 312 is always connected to the grinding head 305 and drives the grinding head 305 to rotate to grind the rudder shaft.

[0042] Embodiment 2

[0043] On the basis of the above-mentioned embodiment 1, the quality of grinding the rudder shaft is further improved by using the clamping structure of the rudder shaft. Figure 5 As shown, a plurality of clamping heads 407 are installed on the ring body 404 , and the clamping heads 407 are arranged in a circumference. When working, the end of the rudder shaft is fixed by the relative movement of the clamping heads 407 .

[0044] Furthermore, a clamping rod 415 is installed on the clamping head 407, and the clamping rod 415 and the ring body 404 are slidably connected. A driving member (not shown in the figure) is installed on the top of the clamping rod 415, and the linear movement of the clamping rod 415 is realized by the driving member. In order to facilitate the clamping center alignment of the end of the rudder shaft, an annular groove 410 is opened in the ring body 404, and a pressure circular plate 406 is installed in the annular groove 410. A pressure spring 411 is installed between the pressure circular plate 406 and the annular groove 410, and a pressure sensor is connected to the pressure spring 411.

[0045] Specifically, since the compression spring 411 is located at the center of the compression circular plate 406, and the other end of the pressure sensor connected to the compression spring 411 is installed at the center of the annular groove 410, when the rudder shaft is clamped in the ring body 404, the compression circular plate 406 is subjected to compression and extrusion pressure. When the pressure values ​​measured by the two pressure sensors are the same, the horizontality of the rudder shaft clamping is guaranteed. In addition, a force plate 416 is fixedly sleeved on the clamping rod 415, and a compression spring 409 is installed on the outer ring of the force plate and the ring body 404. A pressure sensor 408 is embedded in the force plate 416. The compression spring 409 and the pressure sensor 408 are connected, and the principle is the same as that of the compression spring 411. When the clamping head 407 moves, the compression spring 409 is subjected to a certain extrusion pressure, and the pressure sensor 408 measures the extrusion pressure value. By comparing the data of the pressure sensors 408 at various locations, it is determined whether the clamping centers of the rudder shaft are on the same straight line.

[0046] In order to further cooperate with the clamping of the rudder shaft, such as Figure 6As shown, a lifting support plate 413 is movably installed on the bottom plate 402, and a lifting cylinder is installed at the bottom end of the lifting support plate 413. The lifting cylinder is located in the bottom plate 402, and the middle part of the rudder shaft is clamped by the lifting support plate 413. At the same time, since the rudder shaft is indirectly driven by the clamping motor 412 to achieve rotation, the lifting support plate 413 ensures the stability of the rudder shaft during its own rotation, and ensures that the rudder shaft can achieve its own rotation while grinding.

[0047] Embodiment 3

[0048] like Figure 3 As shown, an auxiliary component 500 is installed on the base 100, and the auxiliary component 500 includes an inner cylinder 501. A square groove 103 is opened in the base 100, and the inner cylinder 501 is symmetrically installed at the front end of the base 100, and one end of the inner cylinder 501 extends into the square groove 103.

[0049] In order to facilitate the storage of the rudder shaft after grinding, a square groove 103 is opened on the base 100. After grinding, the rudder shaft is placed into the square groove 103 in sequence. At the same time, an inner cylinder 501 is also provided to push the rudder shaft and limit the position of the rudder shaft in the square groove 103.

[0050] The working principle of the present invention is:

[0051] Step 1: clamp the rudder shaft in the ring body 404, observe the pressure values ​​measured by the two pressure sensors connected to the second compression spring 411, and when the two values ​​are the same, move the clamping rod 415 and the clamping head 407 toward the shaft body of the rudder shaft, and press the clamping head 407 against the shaft body of the rudder shaft until the pressure values ​​measured by the pressure sensors 408 in three circumferential directions are equal;

[0052] Step 2: The motor 401 is driven to drive the screw to rotate, and the bottom plate 402 moves toward the U-shaped frame 200, so that the rudder shaft moves to the bottom of the grinding head 305;

[0053] Step 3: first move all the grinding heads 305 downward to make them close to the rudder shaft, and the auxiliary cylinder 308 pushes down the T-shaped plate 307, and the T-shaped plate 307 drives the rear end vertical plate 301 and the electric slider 202 to move up and down on the longitudinal slide rail 201 until the grinding head 305 moves to the top of the rudder shaft, leaving a certain amount of adjustable space margin;

[0054] Step 4: According to the thickness of the rudder shaft body that needs to be polished, a single polishing head 305 moves downward independently, the rear motor 306 drives the threaded rod 318 to rotate, the right circular ring moving block 317 rotates and moves linearly downward relative to the threaded rod 318, the middle circular ring moving block 315 slides downward on the cylindrical rod 316, and the left circular ring moving block 313 drives the polishing head 305 to move downward. At the same time, the connecting plate 310 moves downward on the inner slide rail 311, so that the polishing motor 312 is always connected to the polishing head 305 and drives the polishing head 305 to rotate to polish the rudder shaft;

[0055] Step 5, the polished rudder shaft is removed from the ring body 404 and placed in the square groove 103, and the new rudder shaft repeats the actions of steps 1 to 4 above. At the same time, the cylinder rod of the inner cylinder 501 moves toward the inner side of the square groove 103 until the cylinder rod presses the rudder shaft against the groove wall of the square groove 103, and the rudder shaft processed later presses against the previous rudder shaft in the square groove 103 in turn.

[0056] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A grinding machine tool for processing a rudder shaft, comprising a grinding module (300), characterized in that: The grinding module (300) comprises a front end vertical plate (304), wherein the front end vertical plate (304) is movably mounted on the U-shaped frame (200), a plurality of grinding machine seats (303) are evenly mounted at the front end of the front end vertical plate (304), a grinding head (305) is mounted in the grinding machine seat (303), a plurality of rear motors (306) are mounted at the rear end of the front end vertical plate (304), the positions of the rear motors (306) correspond to the positions of the grinding machine seats (303), a driving structure is mounted between the rear motors (306) and the grinding machine seats (303), and the driving structures of the plurality of grinding machine seats (303) are independently arranged.

2. The grinding machine for processing a rudder shaft according to claim 1, characterized in that: The grinding machine seat (303) is provided with an inner cavity (309), the inner side wall of the inner cavity (309) is symmetrically provided with an inner slide rail (311), a connecting plate (310) is slidably connected to the inner slide rail (311), a grinding motor (312) is fixedly installed between the connecting plates (310), the output end of the grinding motor (312) is connected to the grinding head (305), a left circular ring moving block (313) is fixedly sleeved on the shaft body of the grinding head (305), a plurality of straight grooves (314) are opened in the front end vertical plate (304), and a cylindrical rod (314) is installed in the straight groove (314) 316), an intermediate circular ring moving block (315) is slidably connected to the cylindrical rod (316), a left limiting groove (320) is provided on the left circular ring moving block (313), and the outer ring of the intermediate circular ring moving block (315) is located in the left limiting groove (320), a threaded rod (318) is installed on the output shaft of the rear motor (306), a right circular ring moving block (317) is threadedly connected to the threaded rod (318), a middle limiting groove (319) is provided on the intermediate circular ring moving block (315), and the outer ring of the right circular ring moving block (317) is located in the middle limiting groove (319).

3. The grinding machine for processing a rudder shaft according to claim 1 or 2, characterized in that: The front end of the U-shaped frame (200) is symmetrically provided with a longitudinal slide rail (201), the longitudinal slide rail (201) is slidably connected with an electric slider (202), a rear end vertical plate (301) is fixedly provided on the electric slider (202), side vertical plates (302) are symmetrically provided at both ends of the rear end vertical plate (301), a front end vertical plate (304) is provided between the two side vertical plates (302), and a rear motor (306) is located between the front end vertical plate (304) and the rear end vertical plate (301).

4. The grinding machine for processing a rudder shaft according to claim 3, characterized in that: A T-shaped plate (307) is installed at the rear end of the rear end vertical plate (301), an auxiliary cylinder (308) is installed on the T-shaped plate (307), and the top end of the auxiliary cylinder (308) is installed on the U-shaped frame (200).

5. The grinding machine for processing a rudder shaft according to claim 1, characterized in that: The U-shaped frame (200) is installed on a base (100), and a clamping module (400) is installed on the base (100). The clamping module (400) includes a bottom plate (402), and clamping seats (403) are installed on both sides of the bottom plate (402). Ring bodies (404) are rotatably installed on the opposite surfaces of the two clamping seats (403). A clamping motor (412) is installed on the other side of the clamping seat (403), and the output shaft of the clamping motor (412) passes through the clamping seat (403) and is connected to the ring body (404). A plurality of clamping heads (407) are installed on the ring body (404), and the clamping heads (407) are arranged in a circle.

6. The grinding machine for processing a rudder shaft according to claim 5, characterized in that: The clamping head (407) is provided with a clamping rod (415), the clamping rod (415) and the ring body (404) are slidably connected, a force plate (416) is fixedly sleeved on the clamping rod (415), a compression spring (409) is installed on the outer ring of the force plate and the ring body (404), a pressure sensor (408) is embedded in the force plate (416), and the compression spring (409) and the pressure sensor (408) are connected.

7. The grinding machine for processing a rudder shaft according to claim 6, characterized in that: The ring body (404) is provided with an annular groove (410), a pressure circular plate (406) is installed in the annular groove (410), a second pressure spring (411) is installed between the pressure circular plate (406) and the annular groove (410), and a pressure sensor is connected to the second pressure spring (411).

8. The grinding machine for processing a rudder shaft according to claim 5 or 7, characterized in that: A lifting support plate (413) is movably mounted on the bottom plate (402), and a lifting cylinder is mounted on the bottom end of the lifting support plate (413), and the lifting cylinder is located inside the bottom plate (402).

9. The grinding machine for processing a rudder shaft according to claim 5, characterized in that: The base (100) is symmetrically mounted with transverse slide rails (102), a transverse slide platform (405) is mounted on the transverse slide rails (102), the bottom plate (402) is mounted on the transverse slide platform (405), a groove (101) is opened on the base (100), the groove (101) is located between the two transverse slide rails (102), a screw is mounted in the groove (101), the transverse slide platform (405) is mounted between the bottom plate (402) and the screw, a moving motor (401) is mounted at one end of the screw, and the moving motor (401) is mounted at the front end of the base (100).

10. The grinding machine for processing a rudder shaft according to claim 1, characterized in that: An auxiliary component (500) is installed on the base (100), and the auxiliary component (500) includes an inner cylinder (501). A square groove (103) is provided in the base (100), and the inner cylinder (501) is symmetrically installed at the front end of the base (100), and one end of the inner cylinder (501) extends into the square groove (103).

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