A grinding robot device for the inner wall of variable curvature pipe fittings and its application method

Abstract

This invention relates to a grinding robot device and its method of use for grinding the inner wall of variable curvature pipe fittings. The device includes an end-effector mechanism comprising multiple grinding units arranged sequentially. Adjacent grinding units are connected in series via telescopic universal ball joint assemblies. The tail end of the end-effector mechanism is connected to a swing control mechanism located beside a fixture mounting platform via a connector, and a telescopic universal ball joint assembly is also provided between the tail end of the end-effector mechanism and the connector. The swing control mechanism drives the end-effector mechanism to swing horizontally, and its position is adjustable along the X, Y, and Z axes. As can be seen from the above technical solution, the end-effector mechanism of this grinding robot can adjust its curvature and grinding radius to adapt to different curvature requirements and radius variations within the workpiece to be ground.

Description

Technical Field

[0001] This invention relates to the field of grinding robots, and more specifically to a grinding robot device for the inner wall of variable curvature pipe fittings and its usage method. Background Technology

[0002] Currently, polishing robots are increasingly being applied in various aspects of the industrial field. The mainstream polishing robots are mainly divided into serial and parallel types. Polishing robots expand the working range of humans, reduce the workload of traditional manual labor, lower the harm to the human body, and can operate in complex and dangerous environments. They can replace assembly line workers in completing simple and repetitive daily operations, improving productivity, reducing scrap rates, and saving costs.

[0003] Despite the rapid development of grinding robots, some still have shortcomings and defects. Patent CN115570452A discloses a robot for precise grinding of welds and rust on the inner walls of pipes, effectively handling the dust after grinding. However, it lacks flexibility, is mostly used for straight pipes, and is difficult to apply to pipes with varying curvature. Patent CN113878418A discloses an intelligent detection and grinding robot for the inner walls of curved pipes. While this invention has a compact structure and a large travel distance, it enters the curved pipe completely, making it difficult to remove faulty parts. Furthermore, it needs to move entirely on the inner wall surface, which can easily damage the inner wall of the pipe itself. Because it operates close to the inner wall, it lacks a point of leverage, resulting in uneven grinding of the inner wall. Summary of the Invention

[0004] The purpose of this invention is to provide a grinding robot device for the inner wall of a variable curvature pipe. This device can adjust the curvature of the end continuum and the grinding mechanism in real time according to the different curvatures inside the curved pipe, effectively solving the grinding problem of the inner wall of complex curved tubular workpieces, and has strong adaptability.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: It includes a fixture mounting platform, on which multiple fixtures for holding workpieces to be ground are provided; it also includes an end-continuous mechanism, which includes multiple grinding devices arranged sequentially, adjacent grinding devices being connected in series via telescopic universal ball joint assemblies; the tail end of the end-continuous mechanism is connected to a swing control mechanism located beside the fixture mounting platform via a connector, and a telescopic universal ball joint assembly is also provided between the tail end of the end-continuous mechanism and the connector; the swing control mechanism is used to drive the end-continuous mechanism to achieve horizontal swing, and the position of the swing control mechanism on the X, Y, and Z axes is adjustable;

[0006] The grinding device includes a central rotating shaft and a grinding top plate and a grinding bottom plate rotatably connected to both ends of the central rotating shaft. The central rotating shaft is driven to rotate by a rotating shaft motor. A grinding head mounting plate and a movable slider are coaxially mounted on the central rotating shaft. The grinding head mounting plate is fixedly connected to the central rotating shaft, and the movable slider is movably connected to the central rotating shaft. An electric telescopic rod assembly is provided on the grinding head mounting plate, which is used to drive the movable slider to move along the axial direction of the central rotating shaft. The grinding device also includes grinding head assemblies evenly distributed circumferentially along the central rotating shaft. The axial direction of the grinding head assemblies is parallel to the central rotating shaft. The grinding head assemblies and the grinding head mounting plate are connected by a grinding head support plate. The grinding head support plate is parallel to the grinding head mounting plate and slidably connected to it. The sliding direction of the grinding head support plate is consistent with the radial direction of the central rotating shaft. A slider connecting rod is provided between the grinding head support plate and the movable slider, which is hinged to both.

[0007] The telescopic universal ball joint assembly is set between the grinding top plate and the grinding bottom plate of the adjacent grinding device, and includes a ball head, a ball head seat that mates with the ball head, and a cylinder connected to the ball head seat. The ball head is fixed on the grinding bottom plate, and the cylinder is hinged to the grinding top plate.

[0008] The swing control mechanism includes a swing rod, one end of which is provided with a sector gear that meshes with a drive gear on the output shaft of the swing motor. The other end of the swing rod is provided with a connecting plate that is fixed to a connecting member. The middle section of the swing rod is rotatably connected to the swing rod fixing seat.

[0009] The swing control mechanism also includes a square base formed by connecting a base plate, side plates, and a top plate. The swing motor is fixed to the base plate by a swing motor seat, and the output shaft of the swing motor is arranged in a vertical direction. One end of the swing rod with a connecting plate extends out of the square base. The swing rod fixing seat is fixed to the base plate. A fixing block is sleeved on the swing rod between the connecting plate and the swing rod fixing seat. The bottom of the fixing block is rotatably connected to a first slider. The first slider cooperates with a first slide rail horizontally set on the side plate to slide.

[0010] The grinding head support plate has a guide slider on its surface near the grinding head mounting plate. The grinding head mounting plate has a guide groove that mates with the guide slider, and the guide groove is arranged radially along the central rotation axis. The grinding head support plate has a first connecting rod lug and a connecting post at its two ends on its surface away from the grinding head mounting plate, with the end of the first connecting rod lug being close to the central rotation axis. The grinding head assembly includes a grinding head and a grinding head motor that drives the grinding head to rotate. The grinding head is connected to the output shaft of the grinding head motor through a fixed clamp, and the connecting post is fixed to the mounting base of the grinding head motor. The seat end of the electric telescopic rod assembly is fixed to the grinding head mounting plate with screws, and the push rod end of the electric telescopic rod assembly is fixedly connected to the movable slider through a connecting bent rod.

[0011] The grinding top plate and grinding bottom plate are two circular plates with the same diameter but smaller than the workpiece to be ground. The two ends of the central rotating shaft are connected to the grinding top plate and the grinding bottom plate respectively through deep groove ball bearings. The rotating shaft motor is fixed on the grinding bottom plate, and the rotating shaft motor and the central rotating shaft are connected through a pair of transmission gears. The driving gear in the transmission gear is coaxially set with the output shaft of the rotating shaft motor, and the driven gear in the transmission gear is coaxially fixed with the central rotating shaft.

[0012] The cylinder body end of the cylinder is hinged to the cylinder fixing lug on the grinding top plate. The ball head is fixed to the push rod end of the cylinder. The ball head is fixed to the grinding base plate through the ball head connecting rod. The ball head is a split structure, which is formed by the mating and fixing of the upper ball seat and the lower ball seat. The lower ball seat is integrally formed with the push rod end of the cylinder. The upper ball seat is fixed to the lower ball seat by screws and is formed by the mating of two hemispheres.

[0013] The fixture includes a pipe clamp and a pipe clamp fixing seat. The pipe clamp fixing seat is fixed to the fixture mounting platform by a rotating base. The fixture mounting platform is connected to a frame-type platform base by a column. The fixture mounting platform is provided with mounting holes for fixing the fixture. The mounting holes are arranged in a matrix.

[0014] The rotating base includes a rotating base body, a cover plate that mates with the rotating base body, a worm gear mechanism disposed within the rotating base body, a rotating platform disposed at the center of the cover plate and flush with the cover plate, and a rotating shaft fixedly connected to the lower surface of the rotating platform. The rotating base body is fixed to the fixture mounting platform by screws. The cover plate is fixed by a fixing post at its bottom engaging with a fixing hole on the rotating base body. The upper surface of the rotating platform is fixed to the pipe clamp fixing seat by screws. The rotating shaft is fixedly connected to the transmission worm gear on the worm gear mechanism by a key, and the bottom end of the rotating shaft is connected to the rotating base body by a rotating deep groove ball bearing.

[0015] The worm gear mechanism includes a transmission worm gear, a worm that cooperates with the transmission worm gear, a worm support for fixing the worm, and a T-shaped adjusting column for driving the worm to rotate. The worm support is fixedly connected to the base plate of the rotating base body, and the worm is mounted on the worm support via a pair of deep groove ball bearings. The T-shaped adjusting column includes a column section, one end of which is connected to a rectangular recess at the end of the worm, and the other end of which penetrates the rotating base body and has a handle perpendicular to the column section.

[0016] The pipe clamp includes a lower support jaw and a left jaw and a right jaw symmetrically arranged on both sides of the lower support jaw. The lower support jaw, the left jaw, and the right jaw form an arc-shaped clamping part with an open top. This arc-shaped clamping part is used to clamp the outer wall of the workpiece to be polished.

[0017] The lower support jaw includes an arc-shaped lower clamping part and a lower support base connected to the bottom of the lower clamping part. The left jaw includes an arc-shaped left clamping part and a left jaw arm connected to the outer arc surface of the left clamping part. The right jaw includes an arc-shaped right clamping part and a right jaw arm connected to the outer arc surface of the right clamping part. The lower clamping part and the lower support base, the left clamping part and the left jaw arm, and the right clamping part and the right jaw arm are all integral structures.

[0018] A vertically arranged pipe clamp cylinder is provided at the center of the pipe clamp fixing seat. A left ear seat and a right ear seat are symmetrically arranged on both sides of the pipe clamp cylinder. The cylinder push rod of the pipe clamp cylinder is fixedly connected to the lower support body. The ends of the left and right gripper arms are respectively hinged to the left and right ear seats. A left connecting rod and a right connecting rod are respectively hinged to the end faces of the left and right gripper arms that are close to each other. The other ends of the left and right connecting rods are respectively hinged to the two ends of the lower support body.

[0019] The swing control mechanism is driven by a Y-axis drive mechanism to move along the Y-axis direction. The Y-axis drive mechanism includes a fixed platform arranged along the Y-axis direction and a movable platform slidably connected to the fixed platform. The fixed platform has a square through slot in the middle. The movable platform includes an upper platform and a lower platform arranged parallel to the upper and lower sides of the fixed platform. The upper platform and the lower platform are connected as one unit by studs. A second slider is fixed on the upper surface of the lower platform. The second slider cooperates with a second slide rail arranged on the lower surface of the fixed platform to slide.

[0020] The Y-axis drive mechanism further includes a power mechanism for driving the second slider to slide along the second slide rail. The power mechanism includes a drum, a drum motor for driving the drum to rotate, a first fixed pulley, a second fixed pulley, and a flexible rope. The drum is located on the upper surface of the lower platform, the drum motor is fixed on the lower surface of the lower platform, the first fixed pulley and the second fixed pulley are set on the upper surface of the fixed platform and are respectively fixed on the plate surfaces at both ends of the square through slot, one end of the flexible rope is connected to the first flexible rope fixing block on the lower platform, and the other end of the flexible rope passes through the first fixed pulley, the drum, and the second fixed pulley in sequence before being connected to the second flexible rope fixing block on the lower platform.

[0021] The Y-axis drive mechanism is connected to the Z-axis lifting mechanism via the X-axis drive mechanism. The X-axis drive mechanism is a lead screw, nut, and slider mechanism, and the Z-axis lifting mechanism is a scissor lift mechanism. The X-axis drive mechanism is fixed on the lifting platform of the Z-axis lifting mechanism, and the fixed platform in the Y-axis drive mechanism is connected to the slide table in the X-axis drive mechanism.

[0022] Another object of the present invention is to provide a method of using a grinding robot device for the inner wall of a variable curvature pipe, comprising the following steps:

[0023] S1: System initialization;

[0024] S2: Place the workpiece to be ground onto the fixture mounting platform, adjust the fixture position and clamp the workpiece to be ground; the depth vision sensor acquires the pose information of the workpiece to be ground in space;

[0025] S3: Control the X-axis drive mechanism, Y-axis drive mechanism, Z-axis lifting mechanism and swing control mechanism to move the end continuum mechanism to the nozzle of the workpiece to be ground;

[0026] S4: Determine whether the spatial position of the end continuum mechanism is accurate. If the result is yes, adjust the curvature of the end continuum mechanism according to the inner diameter of the tube wall of the workpiece to be ground. Otherwise, return to S3.

[0027] S5: Adjust the grinding radius of the grinding device;

[0028] S6: Determine whether the grinding wheel in the grinding device is in contact with the inner wall of the workpiece to be ground. If the determination result is yes, start the rotary shaft motor and the grinding head motor to begin the grinding operation; otherwise, return to S5.

[0029] S7: Determine whether the current section of the workpiece to be ground has been ground. If the result is yes, drive the X-axis drive mechanism to move to the next working section; otherwise, return to S6 to continue grinding.

[0030] S8: Repeat S2 to S7 until all sections are ground, then end the work.

[0031] The beneficial effects of this invention are as follows:

[0032] 1) The end-continuous mechanism of the present invention consists of a grinding device and a telescopic universal ball joint assembly. By controlling the stroke of the cylinder in the telescopic universal ball joint assembly, the posture change of the single-section grinding device can be adjusted so that the end-continuous mechanism can change various curvatures and is suitable for grinding the inner wall of workpieces with different curvatures.

[0033] 2) The end continuum mechanism of the present invention can move in three dimensions in space through the X-axis drive mechanism, the Y-axis drive mechanism and the Z-axis lifting mechanism, and can perform grinding operations on the workpiece at different positions, and can effectively grind the workpiece with curvature changes in different directions.

[0034] 3) This invention uses an electric telescopic rod assembly to drive a movable slider, which in turn drives the slider grinding head assembly to perform radial adjustment, thus making the grinding radius of the grinding device adjustable to accommodate pipes of different diameters. This improves both the integrity of the device and the adaptability of the robot.

[0035] 4) The grinding head assembly of the present invention is provided with multiple sets. This multi-point grinding structure can grind multiple parts of the inner wall of the pipe at the same time, which improves the efficiency of the grinding operation.

[0036] 5) The end-continuous mechanism in this invention is detachable, and the number of grinding device sections can be freely set according to the actual length of the workpiece, which increases the flexibility of the grinding robot operation.

[0037] 6) The clamp in this invention can be rotated and adjusted according to the curvature of the workpiece to adjust the clamping direction, eliminating the need for repositioning and reinstalling the clamp, reducing manual operation and improving work efficiency.

[0038] 7) The Z-axis lifting mechanism in this invention can adjust the working position of the end continuous body mechanism, and can also be retracted to the side of the fixture mounting platform to reduce space occupation when the device is not in use.

[0039] 8) The invention has a compact overall structure, reasonable space utilization, a combination of rigidity and flexibility, low noise, and high transmission efficiency. At the same time, the modular design makes the device easy to install and disassemble. Attached Figure Description

[0040] Figure 1 This is a schematic diagram of the structure of the present invention;

[0041] Figure 2 This is a diagram showing the usage state of the present invention;

[0042] Figure 3 This is a schematic diagram of the fixture mounting platform and platform base of the present invention;

[0043] Figure 4This is a schematic diagram of the end-continuum mechanism of the present invention;

[0044] Figure 5 This is a schematic diagram of the structure of the single-section grinding device and the telescopic universal ball joint assembly of the present invention;

[0045] Figure 6 This is a schematic diagram of the structure of the single-section grinding device of the present invention;

[0046] Figure 7 This is a schematic diagram of the structure of the rotary shaft motor and the central rotary shaft in the single-section grinding device of the present invention;

[0047] Figure 8 This is a schematic diagram of the overall structure of the telescopic universal ball joint assembly of the present invention;

[0048] Figure 9 This is an exploded structural diagram of the telescopic universal ball joint assembly of the present invention;

[0049] Figure 10 This is a schematic diagram of the ball joint seat in the telescopic universal ball joint assembly of the present invention;

[0050] Figure 11 This is a schematic diagram of the overall structure of the swing control mechanism of the present invention;

[0051] Figure 12 This is a schematic diagram of the internal structure of the swing control mechanism of the present invention after the top plate is removed;

[0052] Figure 13 This is a schematic diagram of the fixture of the present invention;

[0053] Figure 14 This is a structural schematic diagram of the pipe clamp and pipe clamp fixing seat of the present invention;

[0054] Figure 15 This is a schematic diagram of the pipe clamp fixing seat of the present invention;

[0055] Figure 16 This is a schematic diagram of the overall structure of the rotating base of the present invention;

[0056] Figure 17 This is an exploded structural diagram of the rotating base of the present invention;

[0057] Figure 18 This is a schematic diagram of the Y-axis drive mechanism of the present invention. Figure 1 ;

[0058] Figure 19 This is a schematic diagram of the Y-axis drive mechanism of the present invention after the upper platform has been removed;

[0059] Figure 20 This is a schematic diagram of the Y-axis drive mechanism of the present invention. Figure 2 ;

[0060] Figure 21 This is a schematic diagram of the X-axis drive mechanism of the present invention;

[0061] Figure 22 This is a schematic diagram of the Z-axis lifting mechanism of the present invention;

[0062] Figure 23 This is a flowchart of the present invention.

[0063] The markings in the above figures are as follows: clamp mounting platform 1, column 11, platform base 12, fixed mounting hole 121, moving guide rail groove 122, mounting hole 13, grinding device 2, first grinding device 2A, second grinding device 2B, third grinding device 2C, connecting plate 20, central rotating shaft 21, rotating shaft motor 211, driving gear 212, driven gear 213, grinding top plate 22, grinding bottom plate 23, grinding head mounting plate 24, guide slide 241, movable slider 25, second connecting rod lug 251, electric telescopic rod assembly 26, connecting bend 261. Rod 261, Grinding head assembly 27, Grinding wheel 271, Fixed chuck 272, Grinding head motor 273, Grinding head support plate 28, Guide slider 281, First connecting rod lug 282, Connecting column 283, Slider connecting rod 29, Telescopic universal ball joint assembly 3, Ball head 31, Ball head connecting rod 311, Ball head seat 32, Upper ball seat 321, Lower ball seat 322, Cylinder 33, Connector 4, Swing control mechanism 5, Swing rod 51, Fixed block 511, Sector gear 52, Swing motor 53, Swing motor seat 531, Drive gear 54, Connecting plate 55, Swing Moving rod fixing seat 56, square base 57, bottom plate 571, side plate 572, top plate 573, first slider 58, first slide rail 59, clamp 6, pipe clamp 61, lower clamping part 611, lower support seat body 612, left clamping part 613, left gripper arm 614, right clamping part 615, right gripper arm 616, left connecting rod 617, right connecting rod 618, pipe clamp fixing seat 62, rotating base 63, rotating base body 631, cover plate 632, rotating platform 633, rotating shaft 634, transmission worm gear 635, worm 636, worm support seat 637. T-shaped adjusting column 638, column section 6381, handle 6382, pipe clamp cylinder 64, left ear seat 65, right ear seat 66, Y-axis drive mechanism 7, fixed platform 71, moving platform 72, upper platform 721, lower platform 722, second slider 723, second slide rail 724, drum 73, drum motor 74, first fixed pulley 75, second fixed pulley 76, flexible cable 77, first flexible cable fixing block 771, second flexible cable fixing block 772, X-axis drive mechanism 8, X-axis fixed base 81, X-axis moving guide rail 82, X-axis moving slider 83, slide table 84, X-axis moving lead screw 85, X-axis drive motor 86, Z-axis lifting mechanism 9 (connected), lifting platform 91, first connecting rod 92, second connecting rod 93, sliding ring 94, sliding guide rail 95, drive push rod 96, limit screw 961, Z-axis drive cylinder 97, workpiece to be ground 10. Detailed Implementation

[0064] The present invention will be further described below with reference to the accompanying drawings:

[0065] like Figure 1 , Figure 2The illustrated robotic device for grinding the inner wall of a variable curvature pipe includes a fixture mounting platform 1 with multiple fixtures 6 for holding the workpiece 10 to be ground. It also includes an end-effector mechanism comprising multiple grinding units 2 arranged sequentially. Adjacent grinding units 2 are connected in series via telescopic universal ball joint assemblies 3. The number of grinding units 2 can be adjusted according to the pipe length of the workpiece 10; generally, the overall length of the end-effector mechanism is slightly longer than the length of the workpiece 10. The tail end of the end-effector mechanism is connected to a swing control mechanism 5 located beside the fixture mounting platform 1 via a connector 4, and a telescopic universal ball joint assembly 3 is also provided between the tail end of the end-effector mechanism and the connector 4. The swing control mechanism 5 drives the end-effector mechanism to swing horizontally, and its position on the X, Y, and Z axes is adjustable.

[0066] Further, such as Figure 4 , Figure 5 , Figure 6 , Figure 7 As shown, the grinding device 2 includes a central rotating shaft 21 and a grinding top plate 22 and a grinding bottom plate 23 rotatably connected to both ends of the central rotating shaft 21. The two ends of the central rotating shaft 21 are connected to the grinding top plate 22 and the grinding bottom plate 23 respectively via deep groove ball bearings. The central rotating shaft 21 is driven to rotate by a rotating shaft motor 211, which is fixed to the grinding bottom plate 23. The rotating shaft motor 211 and the central rotating shaft 21 are connected by a pair of transmission gears. The driving gear 212 of the transmission gears is coaxially arranged with the output shaft of the rotating shaft motor 211, and the driven gear 213 of the transmission gears is coaxially fixed with the central rotating shaft 21. In this embodiment, the grinding top plate 22 and the grinding bottom plate 23 are two circular plates with the same diameter but a diameter smaller than that of the workpiece 10 to be ground.

[0067] A grinding head mounting plate 24 and a movable slider 25 are coaxially mounted on the central rotating shaft 21. The grinding top plate 22, movable slider 25, grinding head mounting plate 24, and grinding bottom plate 23 are arranged coaxially in sequence. The grinding head mounting plate 24 is fixedly connected to the central rotating shaft 21, and the movable slider 25 is movably connected to the central rotating shaft 21. In this example, both the grinding head mounting plate 24 and the movable slider 25 are equilateral triangles. The side length of the grinding head mounting plate 24 is greater than the side length of the movable slider 25, and the three corners of both the grinding head mounting plate 24 and the movable slider 25 are flattened.

[0068] Furthermore, the grinding device 2 also includes grinding head assemblies 27 evenly distributed circumferentially along the central rotation axis 21, with the axial direction of the grinding head assemblies 27 parallel to the central rotation axis 21. The grinding head assembly 27 includes a grinding wheel 271 and a grinding head motor 273 that drives the grinding wheel 271 to rotate. The grinding wheel 271 is connected to the output shaft of the grinding head motor 273 via a fixed chuck 272. Driven by the grinding head motor 273, the grinding wheel 271 grinds the inner wall of the workpiece 10 to be ground through its side surface.

[0069] The grinding head assembly 27 is connected to the grinding head mounting plate 24 via a grinding head support plate 28. The grinding head support plate 28 is parallel to the grinding head mounting plate 24 and is slidably connected to it. The sliding direction of the grinding head support plate 28 is consistent with the radial direction of the central rotation axis 21. Specifically, the grinding head support plate 28 has a guide slider 281 on its surface near the grinding head mounting plate 24, and the grinding head mounting plate 24 has a guide groove 241 that cooperates with the guide slider 281. The guide groove 241 is arranged radially along the central rotation axis 21. The grinding head support plate 28 has a first connecting rod lug 282 and a connecting post 283 at its two ends on its surface away from the grinding head mounting plate 24, and the end where the first connecting rod lug 282 is located is close to the central rotation axis 21. A slider connecting rod 29 is provided between the grinding head support plate 28 and the movable slider 25, which is hinged to both. Specifically, one end of the slider connecting rod 29 is hinged to the first connecting rod lug 282, and the other end of the slider connecting rod 29 is hinged to the second connecting rod lug 251 provided on the movable slider 25. The connecting column 283 is fixed to the mounting seat of the grinding head motor 273.

[0070] The grinding head mounting plate 24 is equipped with an electric telescopic rod assembly 26, which is used to drive the movable slider 25 to move axially along the central rotation axis 21. Specifically, the seat end of the electric telescopic rod assembly 26 is fixed to the grinding head mounting plate 24 by screws, and the push rod end of the electric telescopic rod assembly 26 is fixedly connected to the movable slider 25 through a connecting bent rod 261.

[0071] Preferably, in this embodiment, the grinding head assembly 27 is provided with three sets around the central rotation axis 21. Correspondingly, the grinding head mounting plate 24 is also provided with three sets of guide grooves 241. The three sets of guide grooves 241 are respectively arranged with the central rotation axis 21 as the center and along the angle bisector direction. The electric telescopic rod assembly 26 is also provided with three sets. The connecting bent rods 261 in the three sets of electric telescopic rod assemblies 26 are respectively arranged at the middle of the three sides of the movable slider 25.

[0072] When the grinding radius of the grinding device 2 needs to be adjusted, the push rods in the three sets of electric telescopic rod assemblies 26 extend or retract, causing the movable slider 25 to rise or fall accordingly. The movable slider 25 drives the grinding head support plate 28 to slide along the direction defined by the guide groove 241 through the slider connecting rod 29, thereby causing the grinding head assembly 27 to move closer to or further away from the central rotating shaft 21, thus adjusting the grinding radius of the grinding device 2. During grinding, both the rotary shaft motor 211 and the grinding head motor 273 are started. The grinding head motor 273 drives the grinding wheel 271 to rotate, and the rotary shaft motor 211 drives the central rotating shaft 21 to rotate through the transmission gear, thereby driving the grinding head mounting plate 24 to rotate synchronously, so as to achieve overall grinding of the inner wall of the workpiece 10 to be ground.

[0073] In this embodiment, three sets of grinding devices 2 are provided. Correspondingly, three sets of telescopic universal ball joint assemblies 3 are also provided. Specifically, one set of telescopic universal ball joint assemblies 3 is provided between the first set of grinding devices 2A and the second set of grinding devices 2B, between the second set of grinding devices 2B and the third set of grinding devices 2C, and between the third set of grinding devices 2C and the connector 4. Each set of telescopic universal ball joint assemblies 3 is used to drive the previous set of grinding devices 2 to rotate in different directions, so that the grinding devices 2 can adapt to the changes in the curvature of the pipe.

[0074] In this embodiment, the telescopic universal ball joint assembly 3 between the first grinding device 2A and the second grinding device 2B, and between the second grinding device 2B and the third grinding device 2C, is respectively disposed between the grinding top plate 22 and the grinding bottom plate 23 of the adjacent grinding devices. Specifically, as shown... Figure 8 , Figure 9 , Figure 10 As shown, the telescopic universal ball joint assembly 3 includes a ball head 31, a ball head seat 32 that mates with the ball head 31, and a cylinder 33 connected to the ball head seat 32. The ball head 31 is fixed to the grinding base plate 23, and the cylinder 33 is hinged to the grinding top plate 22. Specifically, the cylinder body end of the cylinder 33 is hinged to the cylinder fixing lug 331 on the grinding top plate 22, the ball head seat 32 is fixed to the push rod end of the cylinder 33, and the ball head 31 is fixed to the grinding base plate 23 through the ball head connecting rod 311. In the telescopic universal ball joint assembly 3 between the third grinding device 2C and the connecting member 4, the cylinder body end of the cylinder 33 is fixed to the connecting plate 20 fixed to the connecting member 4, and the ball head 31 is fixed to the grinding base plate 23 of the second grinding device 2B.

[0075] Preferably, the ball head seat 32 is a split structure, consisting of an upper ball seat 321 and a lower ball seat 322 fixed together. The lower ball seat 322 is integrally formed with the push rod end of the cylinder 33. The upper ball seat 321 is fixed to the lower ball seat 322 by screws and is formed by two hemispherical seats. The ball head 31 is in concentric contact with the ball head seat 32, and the ball head 31 is confined within the ball head seat 32 and can rotate within the bore diameter of the ball head seat 32. In this embodiment, three sets of cylinders 33 are provided. The three sets of cylinders 33 can operate simultaneously or in groups. The cylinders 33 can control the extension and retraction of the push rod of each set of cylinders to have different strokes, thereby realizing the angle change of the previous set of grinding devices 2 through the connected grinding base plate 23 to adapt to the change of curvature of the workpiece 10 to be ground.

[0076] Further, such as Figure 11 , Figure 12 As shown, the swing control mechanism 5 includes a horizontally oriented swing rod 51. One end of the swing rod 51 is provided with a sector gear 52, which meshes with a drive gear 54 on the output shaft of the swing motor 53. The other end of the swing rod 51 is provided with a connecting plate 55 fixed to the connecting member 4. The middle section of the swing rod 51 is rotatably connected to the swing rod fixing seat 56 by a stud. The swing control mechanism 5 also includes a square base 57 formed by connecting a base plate 571, a side plate 572, and a top plate 573. Specifically, the swing motor 53 is fixed to the base plate 571 via the swing motor seat 531, and the output shaft of the swing motor 53 is arranged vertically. The swing rod fixing seat 56 is fixed to the base plate 571 with screws. One end of the swing rod 51 with a connecting plate 55 extends out of the square base 57. A fixing block 511 is fitted on the swing rod 51 between the connecting plate 55 and the swing rod fixing seat 56. The bottom of the fixing block 511 is rotatably connected to the first slider 58. The first slider 58 slides in cooperation with the first slide rail 59 horizontally arranged on the side plate 572. That is, the side plate in the swing control mechanism 5 has a square hole for the swing rod 51 to pass through on the side plate near the end continuous mechanism. The bottom edge of the square hole is provided with the first slide rail 59, and the first slider 58 is provided on the first slide rail 59. The swing rod 51 is rotatably connected to the first slider 58 through the fixing block 511. The first slider 58 and the first slide rail 59 support the cantilever end of the swing rod 51. At the same time, the cooperation between the first slider 58 and the first slide rail 59 also limits the swing rod 51 to swing left and right in the horizontal direction.

[0077] When the swing motor 53 is working, the power is transmitted to the sector gear 52 through the drive gear 54, so that the swing rod 51 swings horizontally with the center of the swing rod fixing seat 53 as the axis, thereby driving the end continuous mechanism to swing accordingly through the connecting plate 55, making the adjustment of the end continuous mechanism more flexible.

[0078] Further, such as Figure 3 , Figure 13 As shown, the clamp 6 includes a pipe clamp 61 and a pipe clamp fixing seat 62. The pipe clamp fixing seat 62 is fixed on the clamp mounting platform 1 by a rotating base 63. The clamp mounting platform 1 is connected to the frame-type platform base 12 by a column 11. The clamp mounting platform 1 is provided with mounting holes 13 for fixing the clamp 6, and the mounting holes 13 are arranged in a matrix.

[0079] like Figure 14 , Figure 15 As shown, the pipe clamp 61 includes a lower support jaw and left and right jaws symmetrically arranged on both sides of the lower support jaw. The lower support jaw, left jaw, and right jaw form an arc-shaped clamping part with an open top, which is used to clamp the outer wall of the workpiece 10 to be polished. Specifically, the lower support jaw includes an arc-shaped lower clamping part 611 and a lower support base 612 connected to the bottom of the lower clamping part 611. The left jaw includes an arc-shaped left clamping part 613 and a left jaw arm 614 connected to the outer arc surface of the left clamping part 613. The right jaw includes an arc-shaped right clamping part 615 and a right jaw arm 616 connected to the outer arc surface of the right clamping part 615. The lower clamping part 611 and the lower support base 612, the left clamping part 613 and the left jaw arm 614, and the right clamping part 615 and the right jaw arm 616 are all integral structures.

[0080] A vertically arranged pipe clamp cylinder 64 is provided at the center of the pipe clamp fixing base 62. A left ear seat 65 and a right ear seat 66 are symmetrically arranged on both sides of the pipe clamp cylinder 64. The cylinder push rod of the pipe clamp cylinder 64 is fixedly connected to the lower support base 612. The ends of the left gripper arm 614 and the right gripper arm 616 are respectively hinged to the left ear seat 65 and the right ear seat 66. A left connecting rod 617 and a right connecting rod 618 are respectively hinged to the close end faces of the left gripper arm 614 and the right gripper arm 616. The other ends of the left connecting rod 617 and the right connecting rod 618 are respectively hinged to the two ends of the lower support base 612.

[0081] When it is necessary to clamp the workpiece 10 to be ground, the cylinder push rod of the pipe clamp cylinder 64 extends first. At this time, the lower support jaw moves upward, and the left and right jaws open outward simultaneously through the left connecting rod 617 and the right connecting rod 618. At this time, the workpiece 10 to be ground can be placed into the pipe clamp 61. Then, the cylinder push rod of the pipe clamp cylinder 64 retracts, the lower support jaw moves downward, and the left and right jaws close inward, thus clamping the workpiece 10 to be ground. In this embodiment, the structure of the pipe clamp 61 can be applied to workpieces 10 with various pipe diameters.

[0082] like Figure 16 , Figure 17As shown, the rotating base 63 includes a rotating base body 631, a cover plate 632 that mates with the rotating base body 631, a worm gear mechanism disposed within the rotating base body 631, a rotating platform 633 disposed at the center of the cover plate 632 and flush with the cover plate 632, and a rotating shaft 634 fixedly connected to the lower surface of the rotating platform 633. Specifically: the rotating base body 631 is fixed to the clamp mounting platform 1 by screws; the cover plate 632 is fixed by a fixing post at its bottom engaging with a fixing hole on the rotating base body 631; the upper surface of the rotating platform 633 is fixed to the pipe clamp fixing seat 62 by screws; the rotating shaft 634 is fixedly connected to the transmission worm gear 635 on the worm gear mechanism by a key; and the bottom end of the rotating shaft 634 is connected to the rotating base body 631 by a rotating deep groove ball bearing.

[0083] Specifically, the worm gear mechanism includes a transmission worm gear 635, a worm 636 that cooperates with the transmission worm gear 635, a worm support 637 that fixes the worm 636, and a T-shaped adjusting column 638 that drives the worm 636 to rotate. The worm support 637 is fixedly connected to the base plate of the rotating base body 631, and the worm 636 is mounted on the worm support 637 through a pair of deep groove ball bearings. The T-shaped adjusting column 638 includes a column section 6381, one end of which is connected to a rectangular recess at the end of the worm 636, and the other end of the column section 6381 penetrates the rotating base body 631 and has a handle 6382 perpendicular to the column section 6381. The handle 6382 facilitates the rotation of the column section 6381, thereby allowing precise adjustment of the rotation angle of the rotating platform 633.

[0084] By rotating the T-shaped adjusting column 638, the worm gear 636 can drive the transmission worm wheel 635 to rotate synchronously, thereby causing the pipe clamp 61 connected to the rotating platform 633 to rotate, so as to better clamp the workpiece 10 to be ground.

[0085] Furthermore, the swing control mechanism 5 is driven by the Y-axis drive mechanism 7 to move along the Y-axis direction, such as... Figure 18 , Figure 19 , Figure 20 As shown, the Y-axis drive mechanism 7 includes a fixed platform 71 arranged along the Y-axis direction and a movable platform 72 slidably connected to the fixed platform 71. The fixed platform 71 has a square through slot in the middle. The movable platform 72 includes an upper platform 721 and a lower platform 722 arranged parallel to the upper and lower sides of the fixed platform 71. The upper platform 721 and the lower platform 722 are connected as one unit by studs. A second slider 723 is fixed on the upper surface of the lower platform 722. The second slider 723 cooperates with the second slide rail 724 arranged on the lower surface of the fixed platform 71 to slide.

[0086] The Y-axis drive mechanism 7 also includes a power mechanism for driving the second slider 723 to slide along the second slide rail 724. The power mechanism includes a drum 73, a drum motor 74 for driving the drum 73 to rotate, a first fixed pulley 75, a second fixed pulley 76, and a flexible cable 77. Specifically: the drum 73 is located on the upper surface of the lower platform 722; the drum motor 74 is fixed to the lower surface of the lower platform 722; the first fixed pulley 75 and the second fixed pulley 76 are disposed on the upper surface of the fixed platform 71 and respectively fixed to the plates at both ends of the square through slot; one end of the flexible cable 77 is connected to the first flexible cable fixing block 771 on the lower platform 722; and the other end of the flexible cable 77 passes sequentially around the first fixed pulley 75, the drum 73, and the second fixed pulley 76 before connecting to the second flexible cable fixing block 772 on the lower platform 722.

[0087] When the swing mechanism 5 needs to move in the Y-axis direction, the drum motor 74 works and drives the drum 73 to rotate. Since the length of the flexible cable 77 is fixed, the rotation of the drum 73 will cause the length of the flexible cable 77 on one side to increase and the length of the flexible cable 77 on the other side to decrease. At this time, the moving platform 72 moves to one side under the pull of the flexible cable 77, which drives the swing mechanism 5 to achieve displacement in the Y-axis direction.

[0088] Furthermore, the Y-axis drive mechanism 7 is connected to the Z-axis lifting mechanism 9 via the X-axis drive mechanism 8. The X-axis drive mechanism 8 is a lead screw nut slider mechanism, and the Z-axis lifting mechanism 9 is a scissor lift mechanism. The X-axis drive mechanism 8 is fixed on the lifting platform 91 of the Z-axis lifting mechanism 9, and the fixed platform 71 in the Y-axis drive mechanism 7 is connected to the slide table 84 in the X-axis drive mechanism 8.

[0089] Specifically, such as Figure 22 As shown, the Z-axis lifting mechanism 9 is mounted on the platform base 12. The Z-axis lifting mechanism 9 includes a square-shaped lifting platform 91. Two sets of scissor-type connecting rods are symmetrically arranged below the lifting platform 91. The scissor-type connecting rods are X-shaped and are hinged together by a first connecting rod 92 and a second connecting rod 93. The top ends of the first connecting rod 92 and the second connecting rod 93 are respectively connected to the sliding guide rail 95 fixed on the bottom surface of the lifting platform 91 through sliding rings 94. The bottom end of the second connecting rod 93 is hinged to the fixed mounting hole 121 on the platform base 12. The bottom ends of the two sets of first connecting rods 92 are respectively sleeved on both ends of the drive push rod 96, and the two ends of the drive push rod 96 are respectively engaged with the movable guide rail groove 122 provided on the platform base 12 for sliding. The end of the drive push rod 96 is provided with a limit screw 961. The platform base 12 is also provided with a Z-axis drive cylinder 97, and the cylinder push rod of the Z-axis drive cylinder 97 is fixed to the drive push rod 96.

[0090] The drive push rod 96 includes a rod body with a square cross section. Both ends of the rod body are provided with connecting shafts with circular cross sections. The bottom end of the first connecting rod 92 is sleeved on the connecting shaft. The connecting shaft slides in the moving guide groove 122 under the action of the Z-axis drive cylinder 97. The end of the connecting shaft is provided with an internal thread. The limiting screw 961 is fixed in conjunction with the internal thread to prevent the connecting shaft from falling out of the moving guide groove 122 during the sliding process.

[0091] Specifically, such as Figure 21 As shown, the X-axis drive mechanism 8 includes an X-axis fixed base 81 fixed on the lifting platform 91 along the X-axis direction. The X-axis fixed base 81 is provided with an X-axis moving guide rail 82, an X-axis moving slider 83 that cooperates with the X-axis moving guide rail 82, and a slide table 84 that is fixed to the X-axis moving slider 83 by screws. It also includes an X-axis moving screw 85 that forms a screw-nut movement with the slide table 84. Both ends of the X-axis moving screw 85 are fixed on the X-axis fixed base 81 by screw support seats. One end of the X-axis moving screw 85 is connected to the X-axis drive motor 86 through a coupling.

[0092] In this embodiment, the X-axis drive mechanism 8, Y-axis drive mechanism 7, and Z-axis lifting mechanism 9 are used to achieve the initial positioning of the swing mechanism, that is, to achieve the initial positioning of the end continuum mechanism before grinding. When the opening of the workpiece 10 to be ground has an angle with the X-axis direction, it can be finely adjusted by the swing control mechanism 5. During grinding, by adjusting the push rod stroke of the cylinder 33 in the telescopic universal ball joint assembly 3, the grinding device 2 can adapt to the different curvature requirements inside the workpiece 10 to be ground. By adjusting the push rod stroke in the electric telescopic rod assembly 26, the grinding head assembly 27 can be driven to move closer to or further away from the central rotation axis 21, thereby adjusting the grinding radius of the grinding device 2 to adapt to the radius change of the inner wall of the workpiece 10 to be ground.

[0093] The present invention also includes a control system, which includes an industrial computer with a communication interface, a host computer, a feedback module, and an actuator. The host computer is connected to the industrial computer, and the industrial computer is connected to the actuator. The feedback module provides feedback to the host computer for display and use through the industrial computer. The output end of the industrial computer is connected to the X-axis drive motor in the X-axis drive mechanism, the drum motor in the Y-axis drive mechanism, the Z-axis drive cylinder in the Z-axis lifting mechanism, the swing motor in the swing control mechanism, the cylinder in the telescopic universal ball joint assembly, and the rotary shaft motor, electric telescopic rod assembly, and grinding head motor in the grinding device.

[0094] The feedback module includes a depth vision sensor, a grating displacement sensor, an IMU sensor, an ultrasonic sensor, and a Hall effect displacement encoder. Four depth vision sensors are installed at the four corners of the fixture mounting platform to acquire the position and orientation information of the workpiece to be ground. Three grating displacement sensors are installed: two are mounted on the lifting platform in conjunction with the X-axis drive mechanism to provide feedback on the position of the swing control mechanism in the X-axis direction; the other is mounted on the drive push rod of the Z-axis lifting mechanism to provide feedback on the position of the swing control mechanism in the Z-axis direction. Six IMU sensors are installed on the grinding top plates of the three grinding devices to provide feedback on the orientation of the end-continuous mechanism. Two ultrasonic sensors are installed on the grinding top plate at the foremost end of the end-continuous mechanism to provide feedback on the distance from the inner wall of the workpiece to be ground to the end-continuous mechanism. One Hall effect displacement encoder is installed on the drum motor in the Y-axis drive mechanism to provide feedback on the position of the swing control mechanism in the Y-axis direction.

[0095] The working process of this invention is as follows:

[0096] Before grinding, the workpiece to be ground is first fixed on the fixture mounting platform using a clamp. A depth vision sensor acquires information about the workpiece. The industrial control computer drives the X-axis drive mechanism, Y-axis drive mechanism, and Z-axis lifting mechanism to adjust the position of the end-effector mechanism, aligning it with the opening of the workpiece and achieving initial positioning. Then, the swing control mechanism is controlled to finely adjust the horizontal position of the end-effector mechanism to ensure that the front end of the end-effector mechanism matches the center line of the opening of the workpiece as closely as possible. Next, the X-axis drive mechanism moves the end-effector mechanism into the opening. The depth vision sensor transmits the information about the workpiece to the industrial control computer, which drives the cylinder in the telescopic universal ball joint assembly to adjust the curvature of the grinding device to match the workpiece. Based on feedback from the ultrasonic sensor, the grinding radius of the grinding device is adjusted to make it contact the inner wall of the workpiece. At this point, the industrial control computer controls the rotary axis motor and grinding head motor in the grinding device to start grinding the current section. After the current section is ground, the X-axis drive motor is controlled to move, so that the end continuum moves to the next section of the workpiece to be ground for grinding, until all sections are ground.

[0097] Another object of the present invention is to provide a method of using a grinding robot device for the inner wall of a variable curvature pipe, comprising the following steps:

[0098] S1: System initialization;

[0099] S2: Place the workpiece to be ground onto the fixture mounting platform, adjust the fixture position and clamp the workpiece to be ground; the depth vision sensor acquires the pose information of the workpiece to be ground in the work space;

[0100] S3: Control the X-axis drive mechanism, Y-axis drive mechanism, Z-axis lifting mechanism and swing control mechanism to move the end continuum mechanism to the nozzle of the workpiece to be ground;

[0101] S4: Determine whether the spatial position of the end continuum mechanism is accurate. If the result is yes, adjust the curvature of the end continuum mechanism according to the inner diameter of the tube wall of the workpiece to be ground. Otherwise, return to S3.

[0102] S5: Adjust the grinding radius of the grinding device;

[0103] S6: Determine whether the grinding wheel in the grinding device is in contact with the inner wall of the workpiece to be ground. If the determination result is yes, start the rotary shaft motor and the grinding head motor to begin the grinding operation; otherwise, return to S5.

[0104] S7: Determine whether the current section of the workpiece to be ground has been ground. If the result is yes, drive the X-axis drive mechanism to move to the next working section; otherwise, return to S6 to continue grinding.

[0105] S8: Repeat S2 to S7 until all sections are ground, then end the work.

[0106] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A grinding robot device for the inner wall of a pipe fitting with variable curvature, characterized in that: The system includes a fixture mounting platform (1), on which multiple fixtures (6) are provided for clamping the workpiece (10) to be polished; it also includes an end-continuous mechanism, which includes multiple polishing devices (2) arranged in sequence, adjacent polishing devices (2) are connected in series by telescopic universal ball joint assembly (3), the tail end of the end-continuous mechanism is connected to the swing control mechanism (5) located next to the fixture mounting platform (1) through a connector (4), and a telescopic universal ball joint assembly (3) is also provided between the tail end of the end-continuous mechanism and the connector (4); the swing control mechanism (5) is used to drive the end-continuous mechanism to swing in the horizontal direction, and the position of the swing control mechanism (5) on the X, Y, and Z axes is adjustable; The grinding device (2) includes a central rotating shaft (21) and a grinding top plate (22) and a grinding bottom plate (23) rotatably connected to both ends of the central rotating shaft (21). The central rotating shaft (21) is driven to rotate by a rotating shaft motor (211). A grinding head mounting plate (24) and a movable slider (25) are coaxially mounted on the central rotating shaft (21). The grinding head mounting plate (24) is fixedly connected to the central rotating shaft (21), and the movable slider (25) is movably connected to the central rotating shaft (21). An electric telescopic rod assembly (26) is provided on the grinding head mounting plate (24). The electric telescopic rod assembly (26) is used to drive the movable slider (25) along the central rotating shaft (21). The grinding device (2) further includes grinding head assemblies (27) evenly distributed circumferentially along the central rotation axis (21). The axial direction of the grinding head assembly (27) is parallel to the central rotation axis (21). The grinding head assembly (27) is connected to the grinding head mounting plate (24) through a grinding head support plate (28). The grinding head support plate (28) is parallel to the grinding head mounting plate (24) and is slidably connected to the grinding head mounting plate (24). The sliding direction of the grinding head support plate (28) is consistent with the radial direction of the central rotation axis (21). A slider connecting rod (29) is provided between the grinding head support plate (28) and the movable slider (25) and is hinged to both. The telescopic universal ball joint assembly (3) is set between the grinding top plate (22) and the grinding bottom plate (23) of the adjacent grinding device (2), including a ball head (31), a ball head seat (32) that cooperates with the ball head (31), and a cylinder (33) connected to the ball head seat (32). The ball head (31) is fixed on the grinding bottom plate (23), and the cylinder (33) is hinged on the grinding top plate (22). The swing control mechanism (5) includes a swing rod (51), one end of which is provided with a sector gear (52), and the sector gear (52) meshes with the drive gear (54) on the output shaft of the swing motor (53). The other end of the swing rod (51) is provided with a connecting plate (55) fixed to the connecting member (4). The middle section of the swing rod (51) is rotatably connected to the swing rod fixing seat (56).

2. The grinding robot device for the inner wall of a variable curvature pipe fitting according to claim 1, characterized in that: The swing control mechanism (5) further includes a square base (57) formed by connecting a base plate (571), a side plate (572), and a top plate (573). The swing motor (53) is fixed on the base plate (571) through a swing motor seat (531), and the output shaft of the swing motor (53) is arranged in a vertical direction. One end of the swing rod (51) with a connecting plate (55) extends out of the square base (57). The swing rod fixing seat (56) is fixed on the base plate (571). A fixing block (511) is sleeved on the swing rod (51) between the connecting plate (55) and the swing rod fixing seat (56). The bottom of the fixing block (511) is rotatably connected to the first slider (58). The first slider (58) slides in cooperation with the first slide rail (59) horizontally set on the side plate (572).

3. The grinding robot device for the inner wall of a variable curvature pipe fitting according to claim 1, characterized in that: The grinding head support plate (28) has a guide slider (281) on its plate surface near the grinding head mounting plate (24). The grinding head mounting plate (24) has a guide groove (241) that cooperates with the guide slider (281). The guide groove (241) is arranged radially along the central rotation axis (21). The grinding head support plate (28) has a first connecting rod lug (282) and a connecting post (283) at both ends of its plate surface away from the grinding head mounting plate (24). The end of the first connecting rod lug (282) is close to the central rotation axis (21). The grinding head assembly (27) includes a grinding wheel (271) and a grinding head motor (273) that drives the grinding wheel (271) to rotate. The grinding wheel (271) is connected to the output shaft of the grinding head motor (273) through a fixed clamp (272). The connecting column (283) is fixed to the mounting seat of the grinding head motor (273). The seat end of the electric telescopic rod assembly (26) is fixed to the grinding head mounting plate (24) with screws. The push rod end of the electric telescopic rod assembly (26) is fixedly connected to the movable slider (25) through a connecting bent rod (261).

4. The grinding robot device for the inner wall of a variable curvature pipe fitting according to claim 1, characterized in that: The grinding top plate (22) and grinding bottom plate (23) are two circular plates with the same diameter and smaller than the workpiece (10) to be ground. The two ends of the central rotating shaft (21) are connected to the grinding top plate (22) and grinding bottom plate (23) respectively through deep groove ball bearings. The rotating shaft motor (211) is fixed on the grinding bottom plate (23), and the rotating shaft motor (211) and the central rotating shaft (21) are connected by a pair of transmission gears. The driving gear (212) in the transmission gear is coaxially set with the output shaft of the rotating shaft motor (211), and the driven gear (213) in the transmission gear is coaxially fixed with the central rotating shaft (21). The cylinder body end of the cylinder (33) is hinged to the cylinder fixing lug (331) on the grinding top plate (22). The ball head seat (32) is fixed to the push rod end of the cylinder (33). The ball head (31) is fixed to the grinding base plate (23) through the ball head connecting rod (311). The ball head seat (32) is a split structure, which is formed by the upper ball seat (321) and the lower ball seat (322) being joined and fixed. The lower ball seat (322) is integrally formed with the push rod end of the cylinder (33). The upper ball seat (321) is fixed to the lower ball seat (322) by screws and the upper ball seat (321) is formed by the joining of two hemispherical seats.

5. The grinding robot device for the inner wall of a variable curvature pipe fitting according to claim 1, characterized in that: The clamp (6) includes a pipe clamp (61) and a pipe clamp fixing seat (62). The pipe clamp fixing seat (62) is fixed on the clamp mounting platform (1) by a rotating base (63). The clamp mounting platform (1) is connected to the frame-type platform base (12) by a column (11). The clamp mounting platform (1) is provided with mounting holes (13) for fixing the clamp (6). The mounting holes (13) are arranged in a matrix. The rotating base (63) includes a rotating base body (631), a cover plate (632) that cooperates with the rotating base body (631), a worm gear mechanism disposed in the rotating base body (631), a rotating platform (633) disposed at the center of the cover plate (632) and flush with the cover plate (632), and a rotating shaft (634) fixedly connected to the lower surface of the rotating platform (633). The rotating base body (631) is fixed to the clamp mounting platform (1) by screws. The cover plate (632) is fixed by the fixing post at its bottom and the fixing hole on the rotating base body (631). The upper surface of the rotating platform (633) is fixed to the pipe clamp fixing seat (62) by screws. The rotating shaft (634) is fixedly connected to the transmission worm wheel (635) on the worm gear mechanism by a key. The bottom end of the rotating shaft (634) is connected to the rotating base body (631) by a rotating deep groove ball bearing.

6. The grinding robot device for the inner wall of a variable curvature pipe fitting according to claim 5, characterized in that: The worm gear mechanism includes a transmission worm wheel (635), a worm (636) that cooperates with the transmission worm wheel (635), a worm support seat (637) that fixes the worm (636), and a T-shaped adjusting column (638) that drives the worm (636) to rotate. The worm support seat (637) is fixedly connected to the base plate of the rotating base body (631). The worm (636) is mounted on the worm support seat (637) through a pair of worm deep groove ball bearings. The T-shaped adjusting column (638) includes a column section (6381). One end of the column section (6381) is connected to a rectangular concave hole provided at the end of the worm (636). The other end of the column section (6381) passes through the rotating base body (631) and is provided with a handle (6382) perpendicular to the column section (6381).

7. The grinding robot device for the inner wall of a variable curvature pipe according to claim 5, characterized in that: The pipe clamp (61) includes a lower support jaw and a left jaw and a right jaw symmetrically arranged on both sides of the lower support jaw. The lower support jaw, the left jaw and the right jaw form an arc-shaped clamping part with an open top. The arc-shaped clamping part is used to clamp the outer wall of the workpiece (10) to be polished. The lower support jaw includes an arc-shaped lower clamping part (611) and a lower support base (612) connected to the bottom of the lower clamping part (611). The left jaw includes an arc-shaped left clamping part (613) and a left jaw arm (614) connected to the outer arc surface of the left clamping part (613). The right jaw includes an arc-shaped right clamping part (615) and a right jaw arm (616) connected to the outer arc surface of the right clamping part (615). The lower clamping part (611) and the lower support base (612), the left clamping part (613) and the left jaw arm (614), and the right clamping part (615) and the right jaw arm (616) are all integral structures. The pipe clamp fixing seat (62) is provided with a vertically arranged pipe clamp cylinder (64) at the center position. The pipe clamp cylinder (64) is provided with a left ear seat (65) and a right ear seat (66) symmetrically on both sides. The cylinder push rod of the pipe clamp cylinder (64) is fixedly connected to the lower support body (612). The ends of the left claw arm (614) and the right claw arm (616) are respectively hinged to the left ear seat (65) and the right ear seat (66). The left connecting rod (617) and the right connecting rod (618) are respectively hinged to the end faces of the left claw arm (614) and the right claw arm (616). The other ends of the left connecting rod (617) and the right connecting rod (618) are respectively hinged to the two ends of the lower support body (612).

8. The grinding robot device for the inner wall of a variable curvature pipe according to claim 1, characterized in that: The swing control mechanism (5) is driven by the Y-axis drive mechanism (7) to move along the Y-axis direction. The Y-axis drive mechanism (7) includes a fixed platform (71) arranged along the Y-axis direction and a moving platform (72) slidably connected to the fixed platform (71). The fixed platform (71) has a square through slot in the middle. The moving platform (72) includes an upper platform (721) and a lower platform (722) arranged parallel to the upper and lower sides of the fixed platform (71). The upper platform (721) and the lower platform (722) are connected as one unit by studs. A second slider (723) is fixed on the upper surface of the lower platform (722). The second slider (723) slides in cooperation with the second slide rail (724) arranged on the lower surface of the fixed platform (71). The Y-axis drive mechanism (7) further includes a power mechanism for driving the second slider (723) to slide along the second slide rail (724). The power mechanism includes a drum (73), a drum motor (74) for driving the drum (73) to rotate, a first fixed pulley (75), a second fixed pulley (76), and a flexible cable (77). The drum (73) is located on the upper surface of the lower platform (722), the drum motor (74) is fixed on the lower surface of the lower platform (722), the first fixed pulley (75) and the second fixed pulley (76) are set on the upper surface of the fixed platform (71) and are respectively fixed on the plate surfaces at both ends of the square through slot. One end of the flexible cable (77) is connected to the first flexible cable fixing block (771) on the lower platform (722), and the other end of the flexible cable (77) passes through the first fixed pulley (75), the drum (73), and the second fixed pulley (76) in sequence and is connected to the second flexible cable fixing block (772) on the lower platform (722).

9. The grinding robot device for the inner wall of a variable curvature pipe according to claim 8, characterized in that: The Y-axis drive mechanism (7) is connected to the Z-axis lifting mechanism (9) through the X-axis drive mechanism (8). The X-axis drive mechanism (8) is a screw nut slider mechanism, and the Z-axis lifting mechanism (9) is a scissor lift mechanism. The X-axis drive mechanism (8) is fixed on the lifting platform (91) of the Z-axis lifting mechanism (9). The fixed platform (71) in the Y-axis drive mechanism (7) is connected to the slide (84) in the X-axis drive mechanism (8).

10. A method of using a grinding robot device for the inner wall of a variable curvature pipe according to any one of claims 1 to 9, comprising the following steps: S1: System initialization; S2: Place the workpiece to be ground onto the fixture mounting platform, adjust the fixture position and clamp the workpiece to be ground; the depth vision sensor acquires the pose information of the workpiece to be ground in space; S3: Control the X-axis drive mechanism, Y-axis drive mechanism, Z-axis lifting mechanism and swing control mechanism to move the end continuum mechanism to the nozzle of the workpiece to be ground; S4: Determine whether the spatial position of the end continuum mechanism is accurate. If the result is yes, adjust the curvature of the end continuum mechanism according to the inner diameter of the tube wall of the workpiece to be ground. Otherwise, return to S3. S5: Adjust the grinding radius of the grinding device; S6: Determine whether the grinding wheel in the grinding device is in contact with the inner wall of the workpiece to be ground. If the determination result is yes, start the rotary shaft motor and the grinding head motor to begin the grinding operation; otherwise, return to S5. S7: Determine whether the current section of the workpiece to be ground has been ground. If the result is yes, drive the X-axis drive mechanism to move to the next working section; otherwise, return to S6 to continue grinding. S8: Repeat S2 to S7 until all sections are ground, then end the work.

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