Grinding and polishing machine based on industrial robot operation

Abstract

The invention relates to the technical field of grinding and polishing, and discloses a grinding and polishing machine based on industrial robot operation, which comprises an I-shaped supporting table, a rotary clamping mechanism and a grinding mechanism, the rotary clamping mechanism comprises a main shaft rotationally connected with the I-shaped supporting table, a concentric-square-shaped supporting frame is arranged at the end, away from the ground, of the main shaft, two sliding sleeves are arranged on the two sides of the supporting frame correspondingly, the two sliding sleeves on the same side of the supporting frame are symmetrically arranged relative to the center of the supporting frame, and lateral ejector rods are slidably connected into the sliding sleeves. The end, away from the main shaft, of the supporting frame is slidably connected with a middle ejector rod collinear with the axis of the main shaft. The lateral ejector rods and the middle ejector rod extend out at the same time to abut against the outer wall of the spherical shell through the ejection assembly, so that the interior of the spherical shell can be fixed, the exterior of the spherical shell is completely not shielded, and after the spherical shell is clamped only once, polishing treatment of the whole outer wall can be completed through the polishing head.

Description

Technical Field

[0001] The invention relates to the technical field of grinding and polishing, in particular to a grinding and polishing machine based on industrial robot operation. Background Art

[0002] Grinding and polishing machines are widely used in the fields of machinery manufacturing, electronics, automobile manufacturing, construction, etc. to remove the surface roughness of materials, perform grinding and polishing. Traditional grinding and polishing machines can only polish some flat structures. With the use of high-precision control of robot operations, some curved surfaces can be polished.

[0003] The robotic arm drives the grinding head to move precisely to achieve arc surface grinding. However, when grinding some spherical structures, the clamping device of the grinder can only be fixed on the outside of the shell, and the clamped part cannot be grinded. This requires repeated adjustment of the clamping position so that the entire outer wall of the spherical structure is effectively polished, and the grinding efficiency is low, so it needs to be improved. Summary of the invention

[0004] The present invention provides a grinding and polishing machine based on industrial robot operation, which solves the problems raised in the above background technology.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] The grinding and polishing machine based on industrial robot operation comprises an I-shaped support table, a rotating clamping mechanism and a grinding mechanism; the rotating clamping mechanism comprises a main shaft rotatably connected to the I-shaped support table, an end of the main shaft away from the ground is provided with a U-shaped support frame, two sliding sleeves are respectively provided on both sides of the support frame, and the two sliding sleeves on the same side of the support frame are symmetrically arranged relative to the center of the support frame, a lateral push rod is slidably connected inside the sliding sleeve, and an end of the support frame away from the main shaft is slidably connected with a middle push rod arranged in line with the axis line of the main shaft, an ejection assembly for driving the lateral push rod and the middle push rod to move synchronously is arranged inside the support frame, and the ends of the lateral push rod and the middle push rod away from the center of the support frame are pressed against the inner wall of the spherical shell; the grinding mechanism comprises a lateral support fixedly connected to the side of the I-shaped support table, a lateral rotating shaft is rotatably connected to the lateral support, a deflection plate is provided at one end of the lateral rotating shaft close to the center of the I-shaped support table, and a deflection beam moving toward the spherical shell is rotatably connected to the end of the deflection plate, and a grinding head is provided at the end of the deflection beam.

[0007] As a preferred technical solution of the present invention, a motor bracket rotatably connected to the main shaft is provided on the side of the I-shaped support platform close to the ground, and a rotary drive motor is provided on the motor bracket, and the rotary drive motor is connected to the main shaft through gear transmission.

[0008] As a preferred technical solution of the present invention, the ejection assembly includes a rotating ring rotatably connected to the main shaft, the rotating ring is fixedly connected to one end of the support frame close to the ground, a column is arranged at the end of the main shaft, a rotating disk located at the center of the support frame is arranged at the end of the column, push rods cooperating with the lateral push rods are arranged on both sides of the rotating disk, the push rods are evenly distributed relative to the center of the rotating disk, one end of the push rod is hinged to the surface of the rotating disk, and the other end of the push rod is hinged to one end of the lateral push rod close to the center of the support frame, a spiral push block is arranged in the middle of the rotating disk, a cross bar is arranged on the spiral push block, and sliding rods that move synchronously with the middle push rod are fixedly connected at both ends of the cross bar. The middle of the sliding rod is slidably connected to the support frame, and a push plate slidably connected to the middle push rod is arranged at the end of the sliding rod away from the rotating disk, a limiting ring is arranged on the middle push rod, and a buffer spring is arranged between the limiting ring and the push plate.

[0009] As a preferred technical solution of the present invention, a rotating ring is rotatably connected to the main shaft, the side wall of the rotating ring is fixedly connected to the end of the support frame close to the ground, a plurality of support frames are evenly distributed on the rotating ring, and a rotating drive device for driving the rotation around the main shaft is provided on the side of the main shaft close to the I-shaped support platform. The rotating drive device includes a suspension frame fixedly connected to the rotating ring, an auxiliary ring rotatably connected to the main shaft is provided at the end of the suspension frame away from the rotating ring, a tightening screw is threadedly connected to the middle part of the suspension frame, and a clamping block cooperating with the main shaft is rotatably connected to the end of the tightening screw close to the main shaft, and guide rods slidably connected to the suspension frame are provided on both sides of the clamping block, and a gripper is provided between the rotating ring and the auxiliary ring.

[0010] As a preferred technical solution of the present invention, the side surface of the deflection plate is rotatably connected to a pressurizing cylinder, and the piston rod of the pressurizing cylinder is rotatably connected to the end of the deflection beam.

[0011] As a preferred technical solution of the present invention, a suspension plate is provided at one end of the lateral rotation shaft away from the center of the I-beam support platform, the suspension plate and the deflection plate are symmetrically arranged relative to the axial center line of the lateral rotation shaft, a counterweight head is provided at the end of the suspension plate, and a deflection drive motor is provided on the lateral support, and the deflection drive motor is connected to the lateral rotation shaft through gear transmission.

[0012] As a preferred technical solution of the present invention, an extension frame is provided at the end of the deflection beam, the extension frame is rotatably connected to a rotating block, the rotating block is rotatably connected to a grinding shaft, a grinding sleeve fixedly connected to the grinding head is slidably connected to the side of the grinding shaft close to the I-shaped support table, a grinding motor is provided on the rotating block, and the output shaft of the grinding motor is fixedly connected to the end of the grinding shaft.

[0013] The present invention has the following benefits:

[0014] Through the ejection assembly, the lateral ejector rod and the middle ejector rod are simultaneously extended to press against the outer wall of the spherical shell, so that the spherical shell can be fixed internally, and the outside of the spherical shell is completely unobstructed. Through the rotation of the spherical shell and the up and down movement of the grinding head, the spherical shell can be clamped only once, and the entire outer wall can be ground by the grinding head, thereby improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0016] Figure 1 The figure is a schematic diagram of the structure of a grinding and polishing machine based on industrial robot operation.

[0017] Figure 2 This is a schematic diagram of the structure of a grinding and polishing machine based on industrial robot operation after the spherical shell is removed.

[0018] Figure 3 for Figure 2 Right view of .

[0019] Figure 4 The figure is a schematic diagram of the structure of a rotary clamping mechanism in a grinding and polishing machine based on industrial robot operation.

[0020] Figure 5 for Figure 4 Right view of .

[0021] Figure 6 The figure is a schematic diagram of the structure of a rotary drive device in a grinding and polishing machine based on industrial robot operation.

[0022] Figure 7 The figure is a schematic diagram of the structure of an ejector assembly in a grinding and polishing machine based on industrial robot operation.

[0023] Figure 8 The figure is a schematic diagram of the structure of a grinding mechanism in a grinding and polishing machine based on industrial robot operation.

[0024] Fig. 9 The figure is a schematic diagram of the structure of a grinding head in a grinding and polishing machine based on industrial robot operation.

[0025] In the figure: 1, I-shaped support table; 2, rotating clamping mechanism; 3, spherical shell; 4, grinding mechanism; 5, main shaft; 6, driven gear; 7, motor bracket; 8, rotating drive motor; 9, driving gear; 10, support frame; 11, lateral ejector rod; 12, clamping ball head; 13, ejector assembly; 14, middle ejector rod; 15, rotating ring; 16, hanging frame; 17, guide rod; 18, tightening screw rod; 19, clamping block; 20, auxiliary ring; 21, gripper; 22, rotating drive device; 23, sliding sleeve; 24, column; 25 , rotating disk; 26, push rod; 27, spiral push block; 28, cross bar; 29, sliding rod; 30, push plate; 31, buffer spring; 32, limit ring; 33, guide wheel; 34, lateral support; 35, lateral rotating shaft; 36, deflection plate; 37, pressurized cylinder; 38, deflection beam; 39, grinding head; 40, counterweight head; 41, suspension plate; 42, second gear; 43, first gear; 44, deflection drive motor; 45, extension frame; 46, rotating block; 47, grinding motor; 48, grinding shaft; 49, grinding sleeve. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0027] In one embodiment, see Figure 1-Figure 9 , a grinding and polishing machine based on industrial robot operation, including an I-shaped support table 1, and supporting feet are arranged at the four corners of the lower surface of the I-shaped support table 1, so that the entire polishing machine can be placed directly on the ground and can also perform stable polishing work. The I-shaped support table 1 is I-shaped in a top view, that is, the left and right sides of the I-shaped support table 1 are provided with clearance grooves, and the deflection beam 38 can have enough space to rotate through the set clearance grooves, so as to achieve the effect of subsequent multi-angle grinding treatment, and because the clearance grooves are arranged on both sides of the I-shaped support table 1, the I-shaped support table 1 can reduce weight and save consumables while maintaining structural strength, and it is also conducive to subsequent transfer and handling. It also includes a rotating clamping mechanism 2 and a grinding mechanism 4;

[0028] The rotary clamping mechanism 2 includes a main shaft 5 rotatably connected to the I-shaped support platform 1, the main shaft 5 is vertically arranged in the middle of the I-shaped support platform 1, and the upper end of the main shaft 5 is connected to the lower part of the vertically arranged support frame 10. The support frame 10 is a U-shaped structure, and sliding sleeves 23 are arranged on the upper and lower sides of the two sides of the support frame 10. The upper sliding sleeve 23 is arranged to be inclined upward, and the lower sliding sleeve 23 is arranged to be inclined downward. The sliding sleeves 23 on the upper and lower sides are symmetrically arranged relative to the center of the support frame 10, and a lateral push rod 11 is slidably connected inside the sliding sleeve 23, and the axis center lines of the lateral push rod 11 and the sliding sleeve 23 are collinearly arranged, and a vertically arranged middle push rod 14 is slidably connected in the middle of the upper end of the support frame 10, and the axis center line of the middle push rod 14 and the axis center line of the main shaft 5 are collinearly arranged. A ejection assembly 13 is provided inside the support frame 10, and the ejection assembly 13 can simultaneously drive all the lateral ejector rods 11 and the middle ejector rod 14 to extend outward or retract inward at the same time. After the spherical shell 3 is sleeved on the outside of the entire rotating clamping mechanism 2, the lateral ejector rods 11 and the middle ejector rod 14 are located inside the spherical shell 3, and clamping ball heads 12 are provided at the ends of the lateral ejector rods 11 and the middle ejector rod 14. The clamping ball heads 12 are made of rubber. Therefore, when the lateral ejector rods 11 and the middle ejector rod 14 are pressed tightly, the clamping ball heads 12 can be deformed to fit tightly against the inner wall of the spherical shell 3, so that the clamping of the entire spherical shell 3 is more stable. A guide wheel 33 cooperating with the rotating disk 25 is provided on the side of the support frame 10, so that the support frame 10 and the rotating disk 25 are more stable when rotating;

[0029] The grinding mechanism 4 includes a lateral support 34 arranged in the middle of the rear side of the I-shaped support platform 1, the lateral support 34 is inclined upward and rearward, and a lateral rotation axis 35 arranged in a front-to-rear direction is rotatably connected to the upper end of the lateral support 34, the front end of the lateral rotation axis 35 is fixedly connected to one end of a deflection plate 36, and the other end of the deflection plate 36 is rotatably connected to a deflection beam 38, the deflection beam 38 extends toward the center direction of the I-shaped support platform 1, and a grinding head 39 is arranged on one side of the end of the deflection beam 38 close to the spherical shell 3, and the grinding head 39 can be polished after falling on the outside of the spherical shell 3.

[0030] In one case of the present embodiment, a motor bracket 7 is arranged in the middle of the lower surface of the I-beam support table 1. The motor bracket 7 is a U-shaped structure with an opening upward, and the middle of the lower end of the motor bracket 7 is rotatably connected to the lower end of the main shaft 5, so that the rotation of the main shaft 5 is more stable. A rotary drive motor 8 is arranged on the rear side of the motor bracket 7. The output shaft of the rotary drive motor 8 is fixedly connected to a driving gear 9, which is meshed with a driven gear 6. The driven gear 6 is fixedly connected to the lower part of the main shaft 5. Therefore, the rotary drive motor 8 can rotate the main shaft 5 by gear transmission, that is, it causes the upper rotary clamping mechanism 2 to rotate.

[0031] In one case of this embodiment, the ejection assembly 13 includes a rotating ring 15 rotatably connected to the lower part of the main shaft 5, and the side of the rotating ring 15 is fixedly connected to the lower part of the support frame 10, and in the present application, a plurality of support frames 10 can be arranged to be symmetrically distributed relative to the central circumference of the rotating ring 15. For example, three support frames 10 can be arranged, and a column 24 is vertically arranged in the middle of the upper surface of the main shaft 5. The upper end of the column 24 is fixedly connected to a horizontally arranged rotating disk 25, and the rotating disk 25 is located at the center of the support frame 10, that is, the side of the support frame 10 is provided with lateral ejector rods 11 respectively located at the rotating disk 25. A plurality of push rods 26 are evenly distributed on the upper and lower sides of the rotating disk 25. The push rods 26 and the lateral push rods 11 are arranged one by one. One end of the push rod 26 is hinged to the surface of the rotating disk 25, and the other end of the push rod 26 is hinged to the end of the lateral push rod 11 close to the center of the support frame 10. Therefore, during the rotation of the rotating disk 25, the rotating disk 25 can push the lateral push rod 11 to extend or retract through the push rod 26, thereby achieving the effect of synchronous movement of the lateral push rod 11. A spiral push block 27 is arranged on the upper surface of the rotating disk 25, and a spiral slide groove is arranged on the side of the spiral push block 27. , vertically arranged sliding rods 29 are slidably connected on both sides of the support frame 10, and the lower end of the sliding rod 29 is fixedly connected to a horizontally arranged cross bar 28, and the cross bar 28 can fall into the slide groove on the upper surface of the spiral push block 27. When the cross bar 28 moves along the spiral slide groove of the spiral push block 27, it moves up and down. Therefore, when the rotating disk 25 rotates, on the one hand, the push rod 26 pushes the lateral push rod 11 outward, and on the other hand, the cross bar 28 moves upward along the slide groove of the spiral push block 27. A horizontally arranged push plate 30 is fixedly connected to the upper end of the sliding rod 29, and the middle part of the push plate 30 is slidably connected to the middle The push rod 14 is provided with a limit ring 32 above the middle push rod 14, and a buffer spring 31 is provided between the limit ring 32 and the push plate 30. The buffer spring 31 will make the push plate 30 and the middle push rod 14 move synchronously, that is, when the cross bar 28 moves up and down along the slide groove of the spiral push block 27, the middle push rod 14 will also move up and down. However, due to the provision of the buffer spring 31, when the lateral push rod 11 presses against the inner wall of the spherical shell 3, the middle push rod 14 can also move adaptively, so that the lateral push rod 11 and the middle push rod 14 can effectively press against the inner wall of the spherical shell 3.

[0032] In one case of the present embodiment, a rotation drive device 22 is provided at the lower part of the main shaft 5, and the rotation drive device 22 causes the support frame 10 to rotate relative to the main shaft 5, that is, the rotating disk 25 rotates relative to the support frame 10, thereby realizing the extension or contraction of the lateral push rod 11 and the middle push rod 14. The rotation drive device 22 includes a suspension frame 16 provided below the rotating ring 15, the lower end of the suspension frame 16 is fixedly connected to an auxiliary ring 20 rotatably connected to the main shaft 5, the left and right sides of the auxiliary ring 20 are provided with the suspension frame 16, and the middle part of the suspension frame 16 is threadedly connected to a tightening screw rod 18, the end of the tightening screw rod 18 is rotatably connected to a clamping block 19, the inside of the clamping block 19 is an arc surface, when the tightening screw rod 18 pushes the clamping block 19 to press against the side wall of the main shaft 5, the angle between the rotating ring 15 and the main shaft 5 is locked, and at this time the angle between the support frame 10 and the main shaft 5 is also locked. Guide rods 17 slidably connected to the suspension frame 16 are provided on the upper and lower sides of the clamping block 19, so that the clamping block 19 can move more stably, and a gripper 21 is provided between the rotating ring 15 and the auxiliary ring 20, the upper end of the gripper 21 is fixedly connected to the rotating ring 15, and the lower end of the gripper 21 is fixedly connected to the auxiliary ring 20, and the operator can drive the rotating ring 15 to rotate through the gripper 21.

[0033] In one case of this embodiment, according to the attached Figure 3 It is described that the lower end of the pressurizing cylinder 37 is rotatably connected to the lower surface of the rear side of the deflection plate 36, and the piston rod of the pressurizing cylinder 37 extends upward, and the piston rod of the pressurizing cylinder 37 is rotatably connected to the rear end of the deflection beam 38. The extension of the piston rod of the pressurizing cylinder 37 causes the deflection beam 38 to move toward the spherical shell 3, so that the grinding head 39 can be pressed on the spherical shell 3, and the upper end of the suspension plate 41 is fixedly connected to the rear end of the lateral rotation shaft 35, and the lower end of the suspension plate 41 is fixedly connected to the counterweight head 40. The weight of each component on the front deflection plate 36 is offset by the counterweight head 40, so that the lateral rotation shaft 35 can rotate more stably. A deflection drive motor 44 is provided at the upper end of the lateral support 34, and the output shaft of the deflection drive motor 44 is fixedly connected to the first gear 43, the first gear 43 is meshedly connected to the second gear 42, and the second gear 42 is fixedly connected to the lateral rotation shaft 35, so that the deflection drive motor 44 can drive the lateral rotation shaft 35 to rotate.

[0034] In one case of the present embodiment, an extension frame 45 is provided at the front end of the deflection beam 38, and the front end of the extension frame 45 is rotatably connected to a rotating block 46, and the middle part of the rotating block 46 is rotatably connected to a grinding shaft 48 which is vertically arranged with the rotating block 46, and the lower part of the grinding shaft 48 is slidably connected to a grinding sleeve 49, and the lower end of the grinding sleeve 49 is fixedly connected to the grinding head 39, and a grinding motor 47 is provided above the rotating block 46, and the output shaft of the grinding motor 47 is fixedly connected to the upper end of the grinding shaft 48, and the grinding motor 47 drives the grinding head 39 to rotate, and a spring is provided inside the grinding head 39, so that the grinding head 39 keeps moving in a direction away from the rotating block 46, so that the grinding head 39 can be tightly attached to the outside of the spherical shell 3 during the grinding process.

[0035] During the implementation of this embodiment, the deflection motor is first started to rotate the deflection beam 38 to one side of the I-shaped support platform 1, and the pressurized cylinder 37 is started to deflect the deflection beam 38 downward away from the center of the I-shaped support platform 1. At this time, the grinding mechanism 4 avoids the rotating clamping mechanism 2, and the tightening screw 18 is loosened to disengage the clamping block 19 from the main shaft 5. At this time, the spherical shell 3 is sleeved from top to bottom on the outside of the rotating clamping mechanism 2, and the top of the inner wall of the spherical shell 3 falls on the upper end of the middle push rod 14, and the middle push rod 14 is pressed downward, so that The lateral push rod 11 will also be retracted. When the spherical shell 3 is completely covered on the outside, the operator holds the gripper 21 and drives the rotating ring 15 to rotate through the gripper 21. At this time, the support frame 10 and the rotating disk 25 rotate relatively. At this time, the lateral push rod 11 and the middle push rod 14 extend outward. When the lateral push rod 11 and the middle push rod 14 are both pressed against the inner wall of the spherical shell 3, the spherical shell 3 achieves the effect of automatic centering. At this time, tighten the tightening screws 18 on both sides, and the clamping block 19 is tightly clamped on the outside of the main shaft 5. At this time, the spherical shell 3 completes the clamping process.

[0036] Start the rotary drive motor 8, which drives the main shaft 5 to rotate, so that the spherical shell 3 rotates at a high speed. At this time, the deflection plate 36 is first set upward by the deflection drive motor 44, and the pressurizing cylinder 37 is started in the reverse direction. The piston rod of the pressurizing cylinder 37 is extended, and the deflection beam 38 is deflected toward the outer wall of the spherical shell 3. At this time, the grinding head 39 falls on the top of the spherical shell 3, and the grinding motor 47 drives the grinding head 39 to rotate. The pressure of the grinding head 39 on the outer wall of the spherical shell 3 is adjusted by adjusting the output pressure of the pressurizing cylinder 37. At this time, start the deflection drive motor 44, which drives the lateral rotation axis 35 to rotate, and the grinding head 39 grinds the outer wall of the spherical shell 3 from top to bottom. The grinding head 39 can be moved up and down, so that the outer wall of the spherical shell 3 is repeatedly polished, and the grinding gap can be used to disassemble and assemble the grinding head 39. The grinding and polishing effect is improved by changing the grinding head 39 with different mesh sizes.

[0037] After grinding is completed, the grinding motor 47 is stopped, and the pressurized cylinder 37 pushes the grinding head 39 away from the spherical shell 3. At this time, the deflection drive motor 44 drives the deflection beam 38 to rotate and fall on the I-shaped support table 1. The operator holds the gripper 21 and loosens the tightening screw 18. At this time, the spherical shell 3 descends, and the middle push rod 14 and the lateral push rod 11 are both retracted, so that the spherical shell 3 that has been ground and polished can be easily removed.

[0038] The present invention is applicable to a grinding and polishing machine based on industrial robot operation. Through the ejection assembly 13, the lateral ejector rod 11 and the middle ejector rod 14 are simultaneously extended to press against the outer wall of the spherical shell 3, so that the spherical shell 3 can be internally fixed, and the outside of the spherical shell 3 is completely unobstructed. Through the rotation of the spherical shell 3 and the up and down movement of the grinding head 39, the spherical shell 3 can complete the grinding of the entire outer wall through the grinding head 39 after only one clamping, thereby improving work efficiency.

[0039] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be considered exemplary and non-restrictive in all respects, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims be included in the present invention.

Claims

1. A grinding and polishing machine based on industrial robot operation, characterized in that: It includes an I-shaped support table, a rotating clamping mechanism and a grinding mechanism; The rotary clamping mechanism comprises a main shaft rotatably connected to an I-shaped support table, a U-shaped support frame is arranged at one end of the main shaft away from the ground, two sliding sleeves are arranged on both sides of the support frame, the two sliding sleeves on the same side of the support frame are symmetrically arranged relative to the center of the support frame, a lateral push rod is slidably connected inside the sliding sleeve, and a middle push rod arranged colinearly with the axis of the main shaft is slidably connected to one end of the support frame away from the main shaft, an ejection assembly for driving the lateral push rod and the middle push rod to move synchronously is arranged inside the support frame, and the ends of the lateral push rod and the middle push rod away from the center of the support frame press against the inner wall of the spherical shell; The grinding mechanism includes a lateral support fixedly connected to the side of the I-shaped support platform, a lateral rotation axis is rotatably connected to the lateral support, a deflection plate is arranged at one end of the lateral rotation axis close to the center of the I-shaped support platform, a deflection beam moving toward the spherical shell is rotatably connected to the end of the deflection plate, and a grinding head is arranged at the end of the deflection beam.

2. A grinding and polishing machine based on industrial robot operation according to claim 1, characterized in that: A motor bracket rotatably connected to the main shaft is arranged on one side of the I-shaped support platform close to the ground, a rotary drive motor is arranged on the motor bracket, and the rotary drive motor is connected to the main shaft through gear transmission.

3. The grinding and polishing machine based on industrial robot operation according to claim 1, characterized in that: The ejection assembly includes a rotating ring rotatably connected to the main shaft, the rotating ring is fixedly connected to one end of the support frame close to the ground, a column is provided at the end of the main shaft, a rotating disk located in the center of the support frame is provided at the end of the column, push rods cooperating with lateral ejector rods are provided on both sides of the rotating disk, the push rods are evenly distributed relative to the center of the rotating disk, one end of the push rod is hinged to the surface of the rotating disk, and the other end of the push rod is hinged to one end of the lateral ejector rod close to the center of the support frame, a spiral push block is provided in the middle of the rotating disk, a cross bar is provided on the spiral push block, and sliding rods that move synchronously with the middle ejector rod are fixedly connected at both ends of the cross bar.

4. The grinding and polishing machine based on industrial robot operation according to claim 3 is characterized in that: The middle part of the sliding rod is slidably connected to the support frame, and a push plate slidably connected to the middle push rod is arranged at one end of the sliding rod away from the rotating disk. A limiting ring is arranged on the middle push rod, and a buffer spring is arranged between the limiting ring and the push plate.

5. The grinding and polishing machine based on industrial robot operation according to claim 1, characterized in that: A rotating ring is rotatably connected to the main shaft, and the side wall of the rotating ring is fixedly connected to an end of the support frame close to the ground. A plurality of support frames are evenly distributed on the rotating ring. A rotating drive device for driving the main shaft to rotate around the main shaft is arranged on the side of the main shaft close to the I-shaped support platform.

6. The grinding and polishing machine based on industrial robot operation according to claim 5, characterized in that: The rotary drive device includes a suspension frame fixedly connected to a rotating ring, an auxiliary ring rotatably connected to the main shaft is arranged at one end of the suspension frame away from the rotating ring, a tightening screw is threadedly connected to the middle part of the suspension frame, an end of the tightening screw close to the main shaft is rotatably connected to a clamping block cooperating with the main shaft, guide rods slidably connected to the suspension frame are arranged on both sides of the clamping block, and a gripper is arranged between the rotating ring and the auxiliary ring.

7. The grinding and polishing machine based on industrial robot operation according to claim 1, characterized in that: The side surface of the deflection plate is rotatably connected to a pressurizing cylinder, and the piston rod of the pressurizing cylinder is rotatably connected to the end of the deflection beam.

8. The grinding and polishing machine based on industrial robot operation according to claim 1, characterized in that: A suspension plate is provided at one end of the lateral rotation shaft away from the center of the I-beam support platform. The suspension plate and the deflection plate are symmetrically arranged relative to the axis of the lateral rotation shaft. A counterweight head is provided at the end of the suspension plate. A deflection drive motor is provided on the lateral support, and the deflection drive motor is connected to the lateral rotation shaft through gear transmission.

9. The grinding and polishing machine based on industrial robot operation according to claim 1, characterized in that: An extension frame is provided at the end of the deflection beam, the extension frame is rotatably connected to a rotating block, the rotating block is rotatably connected to a grinding shaft, a grinding sleeve fixedly connected to the grinding head is slidably connected to the side of the grinding shaft close to the I-shaped support table, a grinding motor is provided on the rotating block, and the output shaft of the grinding motor is fixedly connected to the end of the grinding shaft.

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