Flexible grinding machine and rectangular path control method

Abstract

The invention discloses a flexible grinding machine and a rectangular path control method.The flexible grinding machine comprises a grinding equipment body, a clamping mechanism used for clamping a workpiece is arranged in the grinding equipment body, and a swing telescopic rod assembly capable of rotating around the clamping mechanism is arranged in the grinding equipment body; a flexible grinding wheel assembly is arranged at the outer end of the swing telescopic rod assembly, it is ensured that a flexible grinding wheel can be tightly attached to the outer contour of a rectangular workpiece, high-precision grinding is achieved, grinding errors are effectively reduced, the product quality is improved, and flexible adjustment of a width and length control mechanism is matched; the length control mechanism and the width control mechanism can be rapidly adjusted according to the size of the outer contour of the rectangular workpiece, so that the flexible grinding wheel assembly always moves in a tightly attached mode when moving around the outer contour of the workpiece, and precise grinding is achieved; and meanwhile, more rectangular products can be machined, and the adaptability is high.

Description

Technical Field

[0001] The invention relates to a flexible grinding device, in particular to a flexible grinding machine and a rectangular path control method. Background Art

[0002] In modern manufacturing and various precision machining fields, workpiece grinding is a key process. Traditional grinding methods mostly rely on manual handheld grinding tools, which have many disadvantages. On the one hand, manual grinding is inefficient, and workers need to repeat high-intensity labor for a long time, which is not only prone to fatigue and leads to unstable grinding quality, but also has limited output per unit time, making it difficult to meet the rapid delivery needs of large-scale industrial production. Furthermore, manual grinding is difficult to ensure high precision and consistency. Human operation is affected by factors such as skill proficiency, physical strength, and emotions. For complex-shaped workpieces, such as rectangular workpieces with irregular outer contours, it is difficult to accurately control the grinding path and force, resulting in uneven product quality and high scrap rate. With the gradual rise of automation technology, some semi-automatic grinding equipment has emerged. However, existing semi-automatic grinders often have poor adaptability. Most of them can only grind workpieces of fixed size and simple shape, and lack the ability to flexibly respond to rectangular workpieces of different lengths and widths and varying contours. Its clamping mechanism is not smart enough to quickly and stably position and clamp workpieces of various specifications; the grinding path control is rough, and it is difficult to achieve precise adjustments based on the real-time contour of the workpiece, resulting in unsatisfactory grinding effects, either over-grinding and damaging the workpiece, or under-grinding and leaving defects.

[0003] Therefore, the existing flexible grinding device needs to be further improved. Summary of the invention

[0004] The purpose of the present invention is to provide a flexible grinding machine and a rectangular path control method, which can automatically adjust the rectangular path grinding and adapt to the flexible edge grinding processing of different rectangular workpieces.

[0005] In order to achieve the above object, the present invention adopts the following scheme: A flexible grinder comprises a grinding device body, wherein a clamping mechanism for clamping a workpiece is arranged inside the grinding device body, a swing telescopic rod assembly that can rotate around the clamping mechanism is arranged inside the grinding device body, a flexible grinding wheel assembly is arranged at the outer end of the swing telescopic rod assembly, a width control mechanism for controlling the grinding width range of the flexible grinding wheel assembly and a length control mechanism for controlling the grinding length range of the flexible grinding wheel assembly are arranged inside the grinding device body, a guide wheel is arranged at the outer end of the swing telescopic rod assembly, the guide wheel cooperates with the width control mechanism and the length control mechanism to limit the extension distance of the swing telescopic rod assembly during rotation, and a visual detection component for detecting the length and width contour of the workpiece is arranged on the grinding device body.

[0006] Furthermore, the clamping mechanism includes a fixed base plate arranged in the main body of the grinding equipment, a circular positioning seat is arranged in the middle of the fixed base plate, an upper support frame is arranged above the fixed base plate, a lifting mechanism is arranged on the upper support frame, and a clamping part is arranged at the lower end of the lifting mechanism which can cooperate with the circular positioning seat to fix the workpiece.

[0007] Furthermore, the lower surface of the pressing portion and the upper surface of the circular positioning seat are each provided with an anti-slip structure; A second base is arranged below the fixed bottom plate, a mode switching motor is arranged in the body of the grinding equipment, the output end of the mode switching motor is fixedly connected to the second base, a displacement component is arranged on the second base, and a plurality of auxiliary grinding structures are arranged at the front end of the displacement component.

[0008] Furthermore, the swing telescopic rod assembly includes a rotating ring body sleeved on the circumferential outer wall of the circular positioning seat, an elastic telescopic rod assembly is provided on one side of the rotating ring body, a passive gear is provided on the circumferential outer wall of the rotating ring body, an active motor is provided on the fixed base plate on one side of the rotating ring body, a driving gear is provided at the output end of the active motor, and the driving gear and the passive gear are meshed for transmission.

[0009] Furthermore, the elastic telescopic rod assembly includes a telescopic sleeve arranged on one side of the rotating ring body, a telescopic inner rod is movably arranged in the telescopic sleeve, and an elastic structure for keeping the telescopic inner rod pushed outward is arranged between the telescopic sleeve and the telescopic inner rod.

[0010] Furthermore, the flexible grinding wheel assembly comprises a grinding wheel motor arranged at the outer end of the telescopic inner rod, and a flexible grinding wheel is mounted on the grinding wheel motor.

[0011] Furthermore, the length control mechanism includes two transverse guide grooves arranged on the left and right sides of the fixed base plate, a longitudinal limit rod is movably arranged in the transverse guide groove, a central axis body is arranged on the lower surface of the fixed base plate, a first synchronous gear is sleeved on the central axis body, two first eccentric shafts are evenly distributed on the end surface of the first synchronous gear around the center circumference of the first synchronous gear, a first hinge shaft is arranged on the lower end surface of the longitudinal limit rod, a first connecting rod is hinged between the first eccentric shaft and a corresponding first hinge shaft, a first forward and reverse motor is arranged on the lower end surface of the fixed base plate, a first gear is arranged at the output end of the first forward and reverse motor, and the first gear and the first synchronous gear are meshed for transmission.

[0012] Furthermore, the width control mechanism includes two longitudinal guide grooves arranged on the front and rear sides of the fixed base plate, a transverse limit rod is movably arranged in the longitudinal guide groove, a second synchronous gear is sleeved on the central axis body, two second eccentric shafts are evenly distributed on the end surface of the second synchronous gear around the center circumference of the second synchronous gear, a second hinge shaft is arranged on the lower end surface of the transverse limit rod, a second connecting rod is hinged between the second hinge shaft and a corresponding second eccentric shaft, a second forward and reverse motor is arranged on the lower end surface of the fixed base plate, a second gear is arranged at the output end of the second forward and reverse motor, and the second gear and the second synchronous gear are meshed for transmission.

[0013] Furthermore, the first synchronous gear and the second synchronous gear are arranged on the central axis body in an up-and-down manner, and the first forward and reverse motor and the second forward and reverse motor are arranged on the fixed bottom plate at intervals from left to right; The longitudinal limiting rod and the transverse limiting rod are arranged in an up-and-down manner; The visual detection component includes a plurality of cameras arranged on the upper support frame, and the plurality of cameras are used to detect the length and width of the workpiece.

[0014] A rectangular path control method comprises the following steps: S1. The visual inspection component starts working to capture the length and width profile information of the workpiece after center clamping; S2. A control module is provided in the grinding device body. After receiving the contour information, the control module performs calculation according to a preset algorithm to calculate the actual outer contour size; S3, combining the outer contour size data and the diameter size of the flexible grinding wheel to calculate and obtain the rotation angle data value of the first forward and reverse motor and the second forward and reverse motor, so that the spacing distance between the two longitudinal limit rods and the two transverse limit rods is adjusted, so that the flexible grinding wheel is adapted to the outer contour size of the current rectangular workpiece, and the flexible grinding wheel is ensured to be close to the outer contour of the rectangular workpiece for flexible grinding; S4. Control the rectangular moving path size of the flexible grinding wheel by the two longitudinal limit rods and the two transverse limit rods, so as to adapt to the outer contour grinding of the current workpiece.

[0015] In summary, the present invention has the following beneficial effects compared with the prior art: The present invention solves the shortcomings of existing flexible grinding equipment. Through the structural setting of the present invention, it has the following advantages: it ensures that the flexible grinding wheel can closely fit the outer contour of the rectangular workpiece, achieves high-precision grinding, effectively reduces grinding errors, and improves product quality. The elastic telescopic rod assembly gives the flexible grinding wheel a certain adaptability, and cooperates with the flexible adjustment of the width and length control mechanism to enable the grinder to cope with the unevenness of the workpiece surface, changes in the curvature of the corners, etc., to meet diverse grinding needs, broaden the application scenarios of the equipment, and can quickly adjust the length control mechanism and the width control mechanism according to the size of the outer contour of the rectangular workpiece, so that the flexible grinding wheel assembly always moves closely when moving around the outer contour of the workpiece, thereby achieving precise grinding. At the same time, it can adapt to the processing of more rectangular products and has strong adaptability. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the structure of two grinding devices of the present invention; Figure 2 The left view is switched for the two grinding modes of the present invention; Figure 3 A three-dimensional diagram of the device of the present invention; Figure 4 is a cross-sectional view of the present invention; Figure 5 One of the three-dimensional diagrams of the present invention; Figure 6 This is the second stereogram of the present invention; Figure 7 It is one of the structural schematic diagrams of the present invention; Figure 8 This is the second structural schematic diagram of the present invention; Fig. 9 This is the third structural schematic diagram of the present invention. DETAILED DESCRIPTION

[0017] 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.

[0018] See also Figure 1-Figure 9The present invention provides a flexible grinding machine, comprising a grinding device body 1, wherein a clamping mechanism 2 for clamping a workpiece is arranged in the grinding device body 1, wherein a swing telescopic rod assembly 3 capable of rotating around the clamping mechanism 2 is arranged in the grinding device body 1, wherein a flexible grinding wheel assembly 4 is arranged at the outer end of the swing telescopic rod assembly 3, wherein a width control mechanism 5 for controlling the grinding width range of the flexible grinding wheel assembly 4 and a length control mechanism 6 for controlling the grinding length range of the flexible grinding wheel assembly 4 are arranged in the grinding device body 1, wherein a guide wheel 7 is arranged at the outer end of the swing telescopic rod assembly 3, wherein the guide wheel 7 cooperates with the width control mechanism 5 and the length control mechanism 6 to limit the extension distance of the swing telescopic rod assembly 3 during the rotation process, and wherein a visual detection component 8 for detecting the length and width contour of the workpiece is arranged on the grinding device body 1; First, place the workpiece to be polished on the clamping mechanism 2 in the polishing equipment body 1. Specifically, align the workpiece with the circular positioning seat 202 in the middle of the fixed base plate 200. The circular positioning seat 202 plays a role in preliminary positioning, ensuring that the workpiece is placed relatively centered, which is convenient for subsequent precise polishing. Next, start the lifting mechanism 204 on the support frame 203 on the rear end of the fixed base plate 200, and the lifting mechanism 204 drives the clamping part 205 at its lower end to move downward. Since the lower surface of the clamping part 205 and the upper surface of the circular positioning seat 202 are each provided with an anti-slip structure, such as a textured rubber pad or a serrated protrusion, when the clamping part 205 cooperates with the circular positioning seat 202, a large friction force can be generated to fix the workpiece tightly, avoiding the displacement of the workpiece caused by factors such as vibration and rotational force generated by the operation of the equipment during the subsequent polishing process, laying the foundation for high-precision polishing.

[0019] After the workpiece is clamped, the active motor 304 located on one side of the fixed base plate 200 starts to work. The active gear 305 arranged at the output end of the active motor 304 meshes with the passive gear 303 on the rotating ring body 301 sleeved on the circumferential outer wall of the circular positioning seat 202. When the active motor 304 rotates, the power is smoothly transmitted to the rotating ring body 301 through the precise meshing between the gears, driving the rotating ring body 301 to rotate stably around the circular positioning seat 202. The elastic telescopic rod assembly 302 arranged on one side of the rotating ring body 301 rotates synchronously therewith. The telescopic inner rod 3022 movably arranged in the telescopic sleeve 3021 in the elastic telescopic rod assembly 302, due to the elastic structure 3023 arranged between the two, such as elastic elements such as springs, the telescopic inner rod 3022 always maintains a tendency to be ejected outwards. At the same time, the grinding wheel motor 401 at the outer end of the telescopic inner rod 3022 is started, driving the flexible grinding wheel 402 installed thereon to rotate at high speed, ready to grind the outer contour surface of the rectangular workpiece.

[0020] Edge grinding width control: During the grinding process, the edge grinding width range is precisely controlled by the width control mechanism 5. A transverse limit rod 502 is movably arranged in the longitudinal guide groove 501 arranged on the front and rear sides of the fixed base plate 200. The end face of the second synchronous gear 503 sleeved on the central axis body 602 is evenly distributed with two second eccentric shafts 504 around its central circumference. A second connecting rod 506 is hinged between the second hinge shaft 505 on the lower end face of the transverse limit rod 502 and the corresponding second eccentric shaft 504. When the second forward and reverse motor 507 on the lower end face of the fixed base plate 200 is started, the second gear 508 at its output end drives the second synchronous gear 503 to rotate. With the rotation of the second synchronous gear 503, the second eccentric shaft 504 and the second connecting rod 506 are linked to drive the transverse limit rod 502 to make reciprocating linear motion in the longitudinal guide groove 501. The position change of the lateral limiting rod 502 limits the extension distance of the swing telescopic rod assembly 3 in the width direction, thereby accurately controlling the grinding width of the flexible grinding wheel assembly 4 so that it can be adaptively adjusted according to the width requirements of different workpieces.

[0021] Edge grinding length control: Similar to edge grinding width control, the edge grinding length range is controlled by the length control mechanism 6. Longitudinal limit rods 606 are movably arranged in the transverse guide grooves 601 on the left and right sides of the fixed base plate 200, and a first synchronous gear 603 is sleeved on the central axis body 602. Two first eccentric shafts 604 are evenly distributed on the circumference of the end surface of the first synchronous gear 603. The first hinge shaft 6050 on the lower end surface of the longitudinal limit rod 606 is hinged to the first eccentric shaft 604 through the first connecting rod 605. The first forward and reverse motor 607 on the lower end surface of the fixed base plate 200 is started, and the first gear 608 at its output end drives the first synchronous gear 603 to rotate. During the rotation of the first synchronous gear 603, with the help of the coordinated action of the first eccentric shaft 604 and the first connecting rod 605, the longitudinal limit rod 606 performs reciprocating linear motion in the transverse guide groove 601. The displacement of the longitudinal limiting rod 606 changes the extension boundary of the swing telescopic rod assembly 3 in the length direction, thereby accurately controlling the grinding length of the flexible grinding wheel assembly 4 to meet the grinding requirements of different workpieces in the length direction.

[0022] The guide wheel 7 arranged at the outer end of the swing telescopic rod assembly 3 plays a key auxiliary positioning role in the whole grinding process. The guide wheel 7 cooperates with the width control mechanism 5 and the length control mechanism 6 to operate. When the rotating ring body 301 drives the elastic telescopic rod assembly 302 to rotate, the guide wheel 7 rolls along the boundary defined by the longitudinal limit rod 606 and the transverse limit rod 502, and limits the extension distance of the swing telescopic rod assembly 3 during the rotation process in real time, realizes the movement of the rectangular path, prevents the flexible grinding wheel assembly 4 from deviating from the predetermined grinding path due to various external forces, and further ensures that the flexible grinding wheel 402 always closely fits the outer contour of the workpiece, and performs grinding according to the precisely set path and range, which greatly improves the grinding accuracy and stability.

[0023] The visual detection component 8 on the grinding equipment body 1 provides intelligent data support for the entire grinding process. The multiple cameras 801 located on the upper support frame 203 are started before grinding to quickly and accurately detect the length and width profile of the workpiece and obtain detailed size information of the workpiece. These image data are transmitted to the built-in control module of the equipment. The control module analyzes and calculates the data according to the preset algorithm to obtain key parameters such as the edge grinding width and length required for the current workpiece. Subsequently, the control module accurately controls the rotation angle and direction of the first forward and reverse motor 607 and the second forward and reverse motor 507 and the speed of the grinding wheel motor 401 according to the calculation results.

[0024] The clamping mechanism 2 described in the present invention includes a fixed base plate 200 arranged in the grinding equipment body 1, a circular positioning seat 202 is arranged in the middle of the fixed base plate 200, an upper support frame 203 is arranged above the fixed base plate 200, a lifting mechanism 204 is arranged on the upper support frame 203, and a clamping part 205 that can cooperate with the circular positioning seat 202 to fix the workpiece is arranged at the lower end of the lifting mechanism 204.

[0025] The lower surface of the pressing portion 205 and the upper surface of the circular positioning seat 202 of the present invention are each provided with an anti-slip structure; A second base 201 is provided below the fixed bottom plate, a mode switching motor 300 is provided in the grinding equipment body 1, an output end of the mode switching motor 300 is fixedly connected to the second base 201, a displacement assembly 300 is provided on the second base 201, and a plurality of auxiliary grinding structures 400 are provided at the front end of the displacement assembly 300; The mode switching motor 300 can drive the two grinding devices on the fixed base plate 200 and the second base 201 to switch, and can switch two different grinding modes in the same grinding equipment body 1 according to processing requirements to meet more grinding requirements; The displacement assembly 300 is used to clamp the workpiece for feeding, and feeds the workpiece to multiple auxiliary grinding structures 400 for grinding work in different directions.

[0026] The swing telescopic rod assembly 3 described in the present invention includes a rotating ring body 301 which is sleeved on the circumferential outer wall of the circular positioning seat 202, an elastic telescopic rod assembly 302 is arranged on one side of the rotating ring body 301, a passive gear 303 is arranged on the circumferential outer wall of the rotating ring body 301, an active motor 304 is arranged on the fixed base plate 200 on one side of the rotating ring body 301, and a driving gear 305 is arranged at the output end of the active motor 304, and the driving gear 305 and the passive gear 303 are meshed for transmission.

[0027] The elastic telescopic rod assembly 302 of the present invention includes a telescopic sleeve 3021 arranged on one side of the rotating ring body 301, a telescopic inner rod 3022 is movably arranged in the telescopic sleeve 3021, and an elastic structure 3023 for keeping the telescopic inner rod 3022 ejected outward is arranged between the telescopic sleeve 3021 and the telescopic inner rod 3022.

[0028] The flexible grinding wheel assembly 4 of the present invention comprises a grinding wheel motor 401 disposed at the outer end of the telescopic inner rod 3022, and a flexible grinding wheel 402 is mounted on the grinding wheel motor 401; The length control mechanism 6 described in the present invention includes two transverse guide grooves 601 arranged on the left and right sides of the fixed base plate 200, and a longitudinal limit rod 606 is movably arranged in the transverse guide groove 601. A central axis body 602 is arranged on the lower surface of the fixed base plate 200, and a first synchronous gear 603 is sleeved on the central axis body 602. Two first eccentric shafts 604 are evenly distributed on the end surface of the first synchronous gear 603 around the central circumference of the first synchronous gear 603. A first hinge shaft 6050 is arranged on the lower end surface of the longitudinal limit rod 606, and a first connecting rod 605 is hinged between the first eccentric shaft 604 and a corresponding first hinge shaft 6050. A first forward and reverse motor 607 is arranged on the lower end surface of the fixed base plate 200, and a first gear 608 is arranged on the output end of the first forward and reverse motor 607. The first gear 608 and the first synchronous gear 603 are meshed for transmission.

[0029] The width control mechanism 5 described in the present invention includes two longitudinal guide grooves 501 arranged on the front and rear sides of the fixed base plate 200, and a transverse limiting rod 502 is movably arranged in the longitudinal guide groove 501. A second synchronous gear 503 is sleeved on the central axis body 602, and two second eccentric shafts 504 are evenly distributed on the end surface of the second synchronous gear 503 around the central circumference of the second synchronous gear 503. A second hinge shaft 505 is arranged on the lower end surface of the transverse limiting rod 502, and a second connecting rod 506 is hinged between the second hinge shaft 505 and a corresponding second eccentric shaft 504. A second forward and reverse motor 507 is arranged on the lower end surface of the fixed base plate 200, and a second gear 508 is arranged on the output end of the second forward and reverse motor 507. The second gear 508 and the second synchronous gear 503 are meshed for transmission.

[0030] The first synchronous gear 603 and the second synchronous gear 503 of the present invention are arranged on the central axis 602 in a stacked manner, and the first forward and reverse motor 607 and the second forward and reverse motor 507 are arranged on the fixed base plate 200 at intervals. The longitudinal limiting rod 606 and the transverse limiting rod 502 are arranged in an up-and-down manner; The visual detection component 8 includes a plurality of cameras 801 disposed on the upper support frame 203 , and the plurality of cameras 801 are used to detect the length and width of the workpiece.

[0031] A rectangular path control method comprises the following steps: S1, the visual detection component 8 starts working to capture the length and width profile information of the workpiece after centering and clamping; S2. A control module is provided in the grinding device body 1. After receiving the contour information, the control module performs calculation according to a preset algorithm to calculate the actual outer contour size; S3, calculate the data of the outer contour size and the diameter of the flexible grinding wheel 402, and obtain the data value of the rotation angle of the first forward and reverse motor 607 and the second forward and reverse motor 507, so that the interval between the two longitudinal limit rods 606 and the two transverse limit rods 502 is adjusted, so that the flexible grinding wheel 402 is adapted to the outer contour size of the current rectangular workpiece, and ensures that the flexible grinding wheel 402 is close to the outer contour of the rectangular workpiece for flexible grinding; S4. The rectangular moving path size of the flexible grinding wheel 402 is controlled by the two longitudinal limiting rods 606 and the two transverse limiting rods 502 to adapt to the outer contour grinding of the current workpiece.

[0032] The visual inspection component 8 was the first to start operation. With its precise image acquisition capability, it scanned the centered and clamped workpiece in all directions, quickly and accurately capturing the length and width profile information of the workpiece. The high-resolution lens used by the camera and the advanced optical sensing technology ensured that the acquired images were clear and complete, providing a solid data foundation for subsequent precise grinding operations.

[0033] An intelligent control module is carefully arranged inside the grinding device body 1, which is like the "smart brain" of the grinder. When the contour information from the visual detection component is received, the built-in precision algorithm program is immediately and efficiently started. Through in-depth analysis and complex calculation of image data, the actual outer contour size of the workpiece is accurately calculated, and the two-dimensional visual image is successfully converted into a quantitative size value that can be used for the device to accurately perform the grinding operation.

[0034] The control module further exerts its powerful integration and calculation functions, and cleverly combines the acquired outer contour size data and the known diameter size of the flexible grinding wheel 402. Based on the rigorous geometric relationship model construction, the key factors such as the fit degree of the grinding wheel with the outer contour of the workpiece during the grinding process and the grinding allowance are fully considered. Through a series of complex and precise mathematical calculations, the precise rotation angle data values ​​required by the first forward and reverse motor 607 and the second forward and reverse motor 507 are finally obtained. Subsequently, the two motors are accurately driven to operate, and the motors drive the corresponding gears to cooperate tacitly, so that the two longitudinal limit rods 606 and the two transverse limit rods 502 move flexibly and accurately in the transverse guide groove, and then the distance between them is finely adjusted at the millimeter level. In this way, it can ensure that the flexible grinding wheel 402 is perfectly adapted to the outer contour size of the current rectangular workpiece, so that during the grinding operation, the flexible grinding wheel 402 can consistently and closely fit the outer contour of the rectangular workpiece, and stably and efficiently carry out flexible grinding operations.

[0035] In the entire grinding process, the precise boundary range defined by the two longitudinal limit rods 606 and the two transverse limit rods 502 is fully relied upon, just like laying an invisible but precise "track" for the flexible grinding wheel 402, strictly controlling the rectangular moving path size of the flexible grinding wheel 402. As the various components of the grinder work together in an orderly manner, the flexible grinding wheel 402 follows the rectangular path carefully planned by the limit rods, and finely grinds the outer contour of the workpiece in all directions and without dead ends, ensuring that the grinding quality reaches ultra-high standards to the greatest extent, perfectly meeting the diverse workpiece grinding needs.

[0036] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A flexible grinding machine, comprising a grinding device body (1), characterized in that: The grinding device body (1) is provided with a clamping mechanism (2) for clamping a workpiece, the grinding device body (1) is provided with a swing telescopic rod assembly (3) that can rotate around the clamping mechanism (2), the outer end of the swing telescopic rod assembly (3) is provided with a flexible grinding wheel assembly (4), the grinding device body (1) is provided with a width control mechanism (5) for controlling the edge grinding width range of the flexible grinding wheel assembly (4) and a length control mechanism (6) for controlling the edge grinding length range of the flexible grinding wheel assembly (4), the outer end of the swing telescopic rod assembly (3) is provided with a guide wheel (7), the guide wheel (7) cooperates with the width control mechanism (5) and the length control mechanism (6) to limit the extension distance of the swing telescopic rod assembly (3) during the rotation process, and the grinding device body (1) is provided with a visual detection assembly (8) for detecting the length and width profile of the workpiece.

2. A flexible grinding machine according to claim 1, characterized in that: The clamping mechanism (2) comprises a fixed base plate (200) arranged in the grinding equipment body (1), a circular positioning seat (202) being arranged in the middle of the fixed base plate (200), an upper support frame (203) being arranged above the fixed base plate (200), a lifting mechanism (204) being arranged on the upper support frame (203), and a pressing portion (205) being arranged at the lower end of the lifting mechanism (204) and being capable of cooperating with the circular positioning seat (202) to fix a workpiece.

3. A flexible grinding machine according to claim 2, characterized in that: The lower surface of the pressing portion (205) and the upper surface of the circular positioning seat (202) are each provided with an anti-slip structure; A second base (201) is arranged below the fixed bottom plate (200), a mode switching motor (300) is arranged in the grinding device body (1), an output end of the mode switching motor (300) is fixedly connected to the second base (201), a displacement assembly (300) is arranged on the second base (201), and a plurality of auxiliary grinding structures (400) are arranged at the front end of the displacement assembly (300).

4. A flexible grinding machine according to claim 3, characterized in that: The swing telescopic rod assembly (3) comprises a rotating ring body (301) sleeved on the circumferential outer wall of the circular positioning seat (202); an elastic telescopic rod assembly (302) is arranged on one side of the rotating ring body (301); a passive gear (303) is arranged on the circumferential outer wall of the rotating ring body (301); an active motor (304) is arranged on the fixed base plate (200) on one side of the rotating ring body (301); a driving gear (305) is arranged at the output end of the active motor (304); and the driving gear (305) and the passive gear (303) are meshed and transmitted.

5. A flexible grinding machine according to claim 4, characterized in that: The elastic telescopic rod assembly (302) comprises a telescopic sleeve (3021) arranged on one side of the rotating ring body (301), a telescopic inner rod (3022) being movably arranged inside the telescopic sleeve (3021), and an elastic structure (3023) for keeping the telescopic inner rod (3022) pushed outward is arranged between the telescopic sleeve (3021) and the telescopic inner rod (3022).

6. A flexible grinding machine according to claim 5, characterized in that: The flexible grinding wheel assembly (4) comprises a grinding wheel motor (401) arranged at the outer end of the telescopic inner rod (3022), and a flexible grinding wheel (402) is mounted on the grinding wheel motor (401).

7. A flexible grinding machine according to claim 6, characterized in that: The length control mechanism (6) comprises two transverse guide grooves (601) arranged on the left and right sides of the fixed base plate (200), and longitudinal limit rods (606) are movably arranged in the transverse guide grooves (601). A central axis body (602) is arranged on the lower surface of the fixed base plate (200), and a first synchronous gear (603) is sleeved on the central axis body (602). The end surface of the first synchronous gear (603) is uniformly distributed with two first eccentric shafts ( 604), a first hinge shaft (6050) is arranged on the lower end surface of the longitudinal limit rod (606), a first connecting rod (605) is hinged between the first eccentric shaft (604) and a corresponding one of the first hinge shafts (6050), a first forward and reverse motor (607) is arranged on the lower end surface of the fixed base plate (200), a first gear (608) is arranged at the output end of the first forward and reverse motor (607), and the first gear (608) and the first synchronous gear (603) are meshed for transmission.

8. A flexible grinding machine according to claim 7, characterized in that: The width control mechanism (5) comprises two longitudinal guide grooves (501) arranged at the front and rear sides of the fixed base plate (200), a transverse limiting rod (502) being movably arranged in the longitudinal guide groove (501), a second synchronous gear (503) being sleeved on the middle shaft body (602), two second eccentric shafts (504) being evenly distributed on the end surface of the second synchronous gear (503) around the central circumference of the second synchronous gear (503), a second hinge shaft (505) being arranged on the lower end surface of the transverse limiting rod (502), a second connecting rod (506) being hinged between the second hinge shaft (505) and a corresponding second eccentric shaft (504), a second forward and reverse motor (507) being arranged on the lower end surface of the fixed base plate (200), a second gear (508) being arranged at the output end of the second forward and reverse motor (507), and the second gear (508) and the second synchronous gear (503) being meshed for transmission.

9. A flexible grinding machine according to claim 8, characterized in that: The first synchronous gear (603) and the second synchronous gear (503) are arranged on the central axis (602) in an up-and-down manner, and the first forward and reverse motor (607) and the second forward and reverse motor (507) are arranged on the fixed base plate (200) in a left-and-right manner. The longitudinal limiting rod (606) and the transverse limiting rod (502) are arranged in an overlapping manner; The visual detection component (8) comprises a plurality of cameras (801) arranged on the upper support frame (203), and the plurality of cameras (801) are used to detect the length and width of a workpiece.

10. A rectangular path control method, characterized in that : The rectangular path control method comprises the following steps: S1, the visual detection component (8) starts working to capture the length and width profile information of the workpiece after centering and clamping; S2, including a control module, which receives the contour information and performs calculations according to a preset algorithm to calculate the actual outer contour size; S3, combining the outer contour size data and the diameter size of the flexible grinding wheel (402) to calculate and obtain the rotation angle data values ​​of the first forward and reverse motor (607) and the second forward and reverse motor (507), so as to adjust the spacing distance between the two longitudinal limit rods (606) and the two transverse limit rods (502) so that the flexible grinding wheel (402) is adapted to the outer contour size of the current rectangular workpiece, and ensure that the flexible grinding wheel (402) is tightly attached to the outer contour of the rectangular workpiece for flexible grinding; S4. Controlling the rectangular moving path size of the flexible grinding wheel (402) by means of two longitudinal limiting rods (606) and two transverse limiting rods (502), so as to adapt to the outer contour grinding of the current workpiece.

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