Automatic grooving and grinding integrated equipment for wooden door

Abstract

The invention discloses automatic grooving and grinding integrated equipment for a wooden door, and belongs to the technical field of automatic generation. According to the technical scheme, the grooving machine comprises an equipment frame, a servo sliding table set, a grooving machine head and a grinding mechanism, and the grooving machine head and the grinding mechanism are jointly installed at the output end of a Y-axis sliding table of the servo sliding table set; the grinding mechanism comprises a compensation assembly and a grinding assembly. The compensation assembly is installed between the output end of the Y-axis sliding table and the grinding assembly. The compensation assembly comprises a driving mechanism used for driving the grinding assembly to conduct position compensation in the horizontal plane. The grinding assembly comprises a grinding motor, an output shaft and a centrifugal pressing hammer. The polishing motor is in transmission connection with the output shaft and the centrifugal pressing hammer. The grooving machine head and the grinding mechanism are jointly and directly installed at the output end of the Y-axis sliding table of the same servo sliding table set, so that grooving and grinding are continuously conducted under the same clamping and positioning, and time loss and repeated positioning errors caused by workpiece transfer are eliminated.

Description

Technical Field

[0001] This invention relates to the field of automated production technology, and in particular to an integrated automated grooving and sanding equipment for wooden doors. Background Technology

[0002] In the production of wooden door panels, decorative grooving and sanding of the surface are common finishing processes. Currently, there are two main ways to automate this process: one is to use two separate machines, a grooving machine and a grinding machine, to operate independently. This method has problems such as the need for secondary clamping and positioning of the workpiece, large footprint, low efficiency of process connection, and the impact of repeated positioning errors on processing accuracy; the other is an "integrated" solution that integrates grooving and grinding functions into one machine.

[0003] However, existing integrated equipment still has significant shortcomings in practical applications. First, in order to simplify the structure, the grooving head and grinding head on the equipment are usually rigidly connected or have only limited unidirectional offset capability. This structure determines that the grinding head can only passively follow the grooving head to make translational movements, and its movement trajectory is a simple copy of the grooving head's trajectory. Therefore, existing equipment can only effectively process straight or regular polygonal grooves. When facing the increasingly demanded complex curved decorative grooves (such as arcs, wavy patterns, meander patterns, etc.), the grinding head cannot accurately enter the curved grooves already processed by the grooving head, resulting in misalignment, missed grinding, or interference in the grinding process, affecting the surface quality of the final product. Summary of the Invention

[0004] In view of this, the purpose of the present invention is to solve the above-mentioned problems.

[0005] To achieve the above technical objectives, this invention provides an integrated automated grooving and sanding device for wooden doors: It includes an equipment frame, a servo slide group, a grooving head, and a grinding mechanism. The grooving head and the grinding mechanism are jointly installed at the output end of the Y-axis slide of the servo slide group. The grinding mechanism includes a compensation component and a grinding component, wherein the compensation component is installed between the output end of the Y-axis slide and the grinding component; The compensation component includes a drive mechanism for driving the grinding component to perform position compensation in the horizontal plane; The grinding assembly includes a grinding motor, an output shaft, and a centrifugal hammer. The grinding motor is connected to the output shaft and the centrifugal hammer; the centrifugal hammer is configured to convert the centrifugal force generated by the rotation of the grinding motor into an axial clamping force on the output shaft.

[0006] Preferably, the drive mechanism includes: The connecting bracket is fixed to the output end of the Y-axis slide table; A connecting arm, one end of which is rotatably connected to the connecting frame; The first stepper motor is connected to the connecting arm drive. An extension arm is slidably connected to a connecting arm, and the grinding assembly is mounted at the end of the extension arm; The second stepper motor is connected to the extension arm via a drive mechanism.

[0007] Preferably, the connecting arm is provided with an arc-shaped rack; the first stepper motor drives an angle adjustment gear that meshes with the arc-shaped rack.

[0008] Preferably, the arc-shaped end of the connecting arm is also slidably connected to the connecting frame via an arc-shaped guide rail.

[0009] Preferably, the side of the extension arm is provided with a toothed groove; the second stepper motor drives an extension adjustment gear that meshes with the toothed groove.

[0010] Preferably, the rotation axis of the extended adjusting gear coincides with the rotation axis of the connecting arm.

[0011] Preferably, the centrifugal hammer includes a rotating drum driven by the grinding motor and pressure balls and pressure rollers disposed within the rotating drum; The inner wall of the drum is evenly distributed with radial grooves, and the pressure balls are slidably connected to the radial grooves; the pressure roller is composed of multi-lobed fan-shaped blocks, and the pressure balls are distributed on the outer side of the pressure roller.

[0012] Preferably, a pull seat is sleeved at the top end of the output shaft, which is slidably connected to a fixed seat via a guide rod. The guide rod is fixed to the surface of the fixed seat, and a spring is provided between the pull seat and the guide rod. The pressure ball abuts against the upper surface of the traction seat.

[0013] Preferably, it also includes a recovery tube, the adsorption end of which is fixed to the output end of the Y-axis slide and set near the grooving head.

[0014] Prior to this, it also includes an analysis module that communicates with the electronic control system. The analysis module is used to analyze the workpiece material based on the characteristics of the adsorption airflow in the recovery tube or the collected debris image information, and outputs a feedback signal for adjusting the speed of the grinding motor.

[0015] As can be seen from the above technical solutions, this application has the following beneficial effects: 1. By directly mounting the grooving head and the grinding mechanism on the Y-axis slide output end of the same servo slide group, grooving and grinding can be performed continuously under the same clamping and positioning, eliminating the time loss and repeated positioning error caused by workpiece transfer. 2. The compensation component enables the grinding head to have a two-dimensional compensation capability independent of the grooving head in the horizontal plane, so that the grinding point always falls on the center line of the arbitrarily shaped groove just processed by the grooving head, which can adapt to the integrated work of grooving and grinding of complex planar curved decorative grooves. 3. By incorporating a centrifugal hammer, the rotational motion of the grinding motor generates axial pressure, allowing the operator or intelligent control system to linearly control the grinding force simply by adjusting the motor speed. When dealing with materials of different hardness, the system can correspondingly increase or decrease the speed to automatically obtain the appropriate grinding pressure, fundamentally avoiding over-grinding or under-grinding caused by fixed parameters, thus improving the stability and adaptability of surface treatment quality. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0017] Figure 1 A schematic diagram of the overall structure of an integrated automated grooving and sanding equipment for wooden doors provided by the present invention; Figure 2 This invention provides a cross-sectional structural schematic diagram of an integrated automated grooving and sanding device for wooden doors. Figure 3 A schematic diagram of the overall structure of the servo slide group of an integrated automated grooving and sanding equipment for wooden doors provided by the present invention; Figure 4 A schematic diagram of the overall structure of the sanding mechanism of an integrated automated grooving and sanding equipment for wooden doors provided by the present invention; Figure 5 A cross-sectional view of the sanding mechanism of an integrated automated grooving and sanding equipment for wooden doors provided by the present invention; Figure 6 A schematic diagram of the overall structure of the compensation component of an integrated automated grooving and sanding equipment for wooden doors provided by the present invention; Figure 7 This invention provides a cross-sectional view of the compensation component of an integrated automated grooving and sanding equipment for wooden doors. Figure 8 A cross-sectional view of the sanding component of an integrated automated grooving and sanding equipment for wooden doors provided by the present invention; Figure 9 This is an exploded structural diagram of the sanding component of an integrated automated grooving and sanding equipment for wooden doors provided by the present invention. Attached image description: 10. Servo slide group; 11. X-axis slide; 12. Z-axis slide; 13. Y-axis slide; 20. Grooving machine head; 30. Grinding mechanism; 31. Compensation component; 311. Connecting frame; 312. Connecting arm; 3121. Angle adjusting gear; 3122. Arc rack; 3123. Arc guide rail; 313. Extension arm; 3131. Extension adjusting gear; 314. Connecting seat; 32. Grinding component; 321. Fixed seat; 3211. Guide rod; 3212. Spring; 322. Sleeve; 3221. Driven bevel gear; 3222. Transmission bevel gear; 323. Output shaft; 324. Pulling seat; 325. Centrifugal hammer; 3251. Drum; 3252. Pressure ball; 3253. Pressure roller; 326. Grinding motor; 3261. Transmission gear set; 33. First stepper motor; 34. Second stepper motor; 40. Recycling tube. Detailed Implementation

[0019] The following description is exemplary in nature and is not intended to limit the scope, application, or use of this disclosure. It should be understood that in all these figures, the same or similar reference numerals indicate the same or similar parts and features. The figures are merely schematic representations of the concept and principles of embodiments of this disclosure and do not necessarily show the specific dimensions and scale of the various embodiments of this disclosure. Certain details or structures of embodiments of this disclosure may be exaggerated in particular portions of certain figures.

[0020] Example 1, see Figures 1-9 As shown, an automated grooving and sanding integrated equipment for wooden doors includes an equipment frame, a workpiece conveying unit, a positioning unit, a servo slide group 10, a grooving head 20, a sanding mechanism 30, and an electrical control system. The servo slide group 10 is installed above the equipment frame to drive the grooving head 20 and the sanding mechanism 30 to achieve three-dimensional movement. A workpiece conveying and positioning unit is set below the equipment frame. The electrical control system is communicatively connected to the workpiece conveying unit, the positioning unit, the servo slide group 10, the grooving head 20, and the sanding mechanism 30 to coordinate the automatic operation of each unit. Specifically, the electronic control system includes a hardware control layer and a software logic layer. The hardware control layer can use a programmable logic controller, an industrial computer, or a dedicated motion controller as the main controller, and is configured with corresponding servo drivers, stepper drivers, and human-machine interfaces. The software logic layer is configured to execute the following automatic control process: First, it controls the workpiece conveying unit and the positioning unit to complete the loading and clamping of the workpiece. Then, according to the preset processing path, the main controller calculates and generates control commands to drive the linkage of each axis of the servo slide group 10, so that the grooving head 20 and the grinding mechanism 30 mounted on it move in coordination along a predetermined trajectory to complete the grooving operation and the subsequent grinding operation in sequence.

[0021] In this embodiment, the workpiece is a panel workpiece made of wood or wood composite material, such as a cabinet door or room door; the workpiece conveying unit and positioning unit can be implemented using mature automatic conveying and clamping technologies in the field, such as, but not limited to, roller conveyor lines or chain conveyor lines combined with pneumatic or electric clamps; the specific structure of the servo slide group 10 can adopt conventional configurations such as gantry type or cantilever type, and its linear drive can be achieved by servo motor combined with ball screw pair or linear module; these are all common technical means that can be selected by those skilled in the art according to actual needs, and will not be described in detail here.

[0022] See Figure 1 and Figure 3 As shown, the three-dimensional spatial coordinates in this embodiment are defined based on the workpiece conveying direction. Specifically, the workpiece conveying direction is the X-axis, the direction perpendicular to the X-axis is the Z-axis, and the direction perpendicular to the horizontal plane formed by the X-axis and Z-axis is the Y-axis. Correspondingly, the servo slide group 10 includes an X-axis slide 11, a Z-axis slide 12, and a Y-axis slide 13. The X-axis slide 11 is mounted on the equipment frame, the Z-axis slide 12 is fixedly connected to the output end of the X-axis slide 11 and slidably connected to the equipment frame, and the Y-axis slide 13 is fixedly installed on the output end of the Z-axis slide 12. The grooving head 20 and the grinding mechanism 30 are jointly installed on the output end of the Y-axis slide 13. That is, through the cooperation of the X-axis slide 11, the Z-axis slide 12, and the Y-axis slide 13, the grooving head 20 and the grinding mechanism 30 can move synchronously in the X, Y, and Z-axis directions.

[0023] Specifically, the grooving head 20 is used to perform grooving operations, which can adopt milling or cutting methods commonly used in the field, without specific limitations. The grinding mechanism 30 includes a compensation component 31 and a grinding component 32. The compensation component 31 is installed at the output end of the Y-axis slide 13 and is used to dynamically adjust the position of the grinding component 32 in the X-axis and Z-axis directions to compensate for the grinding point offset caused by the complexity of the grooving path. It can also dynamically adjust the relative position of the grinding component 32 and the grooving head 20 in the machining plane.

[0024] Specifically, when processing decorative grooves with zigzag or complex orientations, such as square or meander patterns, the feed direction of the grooving head 20 needs to be changed. If the grinding component 32 and the grooving head 20 are only rigidly connected or simply follow each other, when the grooving head 20 turns its direction, the grinding component 32 will move to the surface of the original workpiece that has not been grooved, causing the grinding process to fail. In this embodiment, by the intervention of the compensation component 31, the processing point of the grinding component 32 is always dynamically maintained behind the grooved channel, that is, relative to the instantaneous feed direction of the grooving head 20, thereby ensuring the process sequence of grooving first and then grinding.

[0025] More specifically, the compensation component 31 includes a connecting frame 311, a connecting arm 312, an extension arm 313, and a connecting seat 314; the connecting frame 311 is L-shaped, with one side fixed to the output end of the Y-axis slide table 13; one end of the connecting arm 312 is rotatably connected to the lower surface of the connecting frame 311 via the connecting seat 314, that is, the connecting seat 314 is fixed to the bottom of the connecting frame 311, and the connecting arm 312 is sleeved on the connecting seat 314 and rotatably connected to the connecting seat 314; the other end of the connecting arm 312 is arc-shaped, and the center of the arc is perpendicular to the center of the connecting arm 312. The rotating shafts are concentric; an arc-shaped rack 3122 is fixed to the arc-shaped end of the connecting arm 312, and the arc-shaped rack 3122 meshes with an angle adjusting gear 3121; the extension arm 313 is slidably connected to the lower surface of the connecting arm 312; the side of the extension arm 313 is evenly provided with toothed grooves along its length direction, and the middle part of the connecting seat 314 is rotatably connected to the extension adjusting gear 3131, which meshes with the toothed grooves; both the angle adjusting gear 3121 and the extension adjusting gear 3131 are rotatably connected to the connecting frame 311 through shafts.

[0026] For further details, please refer to [link / reference]. Figure 6 As shown, in order to improve the rotational stability of the connecting arm 312, the arc-shaped end of the connecting arm 312 is slidably connected to the connecting frame 311 through the arc-shaped guide rail 3123, forming a stable arc-shaped trajectory constraint.

[0027] The compensation component 31 also includes a first stepper motor 33 and a second stepper motor 34. The first stepper motor 33 and the second stepper motor 34 are used to drive the angle adjustment gear 3121 and the extension adjustment gear 3131, respectively. The connection method between the second stepper motor 34 and the extension adjustment gear 3131 is the same as the connection method between the first stepper motor 33 and the angle adjustment gear 3121. Specifically, both the first stepper motor 33 and the second stepper motor 34 are fixed on the connecting frame 311. The output end of the first stepper motor 33 drives the angle adjustment gear 3121 through a worm gear mechanism. By controlling the forward and reverse rotation of the first stepper motor 33, the connecting arm 312 can be driven to swing around its hinge point with the connecting frame 311, thereby changing the projected position of the grinding assembly 32 in the Z-axis direction. The output end of the second stepper motor 34 drives the extension adjustment gear 3131 through another worm gear mechanism. By controlling the forward and reverse rotation of the second stepper motor 34, the extension adjustment gear 3131 can be used to move the tooth groove, thereby driving the extension arm 313 to extend or retract relative to the connecting arm 312, adjusting the position of the grinding assembly 32 in the X-axis direction.

[0028] The meshing drive shaft of the extension adjustment gear 3131 has its axis coincident with the rotation axis of the connecting arm 312; this ensures that no matter what angle the connecting arm 312 swings to, the tooth grooves on the side of the extension adjustment gear 3131 and the extension arm 313 always maintain correct meshing, without requiring the second stepper motor 34 itself to swing with the connecting arm 312, resulting in a simple and reliable structure.

[0029] The grinding assembly 32 is installed at the end of the extension arm 313 and is used to perform grinding operations. The grinding assembly 32 includes a fixed base 321, a sleeve 322, an output shaft 323, and a grinding motor 326. The fixed base 321 is fixed to the end of the extension arm 313; the sleeve 322 is rotatably connected to the fixed base 321 through a bearing; the grinding motor 326 is fixed on the fixed base 321, and a transmission gear set 3261 is fixed to the output end of the grinding motor 326; a driven gear is sleeved at the end of the sleeve 322. The driven bevel gear 3221 meshes with the transmission bevel gear 3222, and the transmission bevel gear 3222 is connected to the grinding motor 326 through the transmission gear set 3261; the output shaft 323 is slidably connected to the sleeve 322 through a spline or keyway, so that the sleeve 322 can drive the output shaft 323 to rotate, while allowing the output shaft 323 to slide relative to it along its axial direction, i.e., the Y-axis direction, thereby controlling the grinding pressure; the bottom end of the output shaft 323 is used to install grinding tools, such as grinding discs or grinding heads.

[0030] Furthermore, it also includes a centrifugal hammer (325), which is used to convert the rotational motion of the grinding motor 326 into axial pressure on the output shaft 323, so that the grinding pressure changes with the rotational speed of the grinding motor 326, that is, the greater the rotational speed of the grinding motor 326, the greater the grinding pressure. Specifically, the centrifugal hammer (325) includes a traction seat 324, a centrifugal hammer 325, a guide rod 3211, and a spring 3212. The top of the output shaft 323 is T-shaped. The traction seat 324 is sleeved on the top of the output shaft 323. There are multiple guide rods 3211, and all of them are fixed on the fixed seat 321. The spring 3212 is sleeved on the guide rod 3211. The traction seat 324 and the guide rod 3211 are slidably connected. The centrifugal hammer 325 includes a drum 3251. The drum 3251 is evenly provided with multiple radial grooves around its circumference. Each groove is provided with a slidable pressure ball 3252. The inner sides of all the pressure balls 3252 jointly support an annular pressure roller 3253 surrounded by multiple fan-shaped blocks. The outer surface of the pressure ball 3252 abuts against the upper surface of the traction seat 324.

[0031] In this embodiment, a housing is fixed to the upper surface of the fixed base 321. The housing is used to protect the traction base 324 and the centrifugal hammer 325, and also serves as the mounting base. The grinding motor 326 is fixed to the housing. The transmission gear set 3261, the transmission bevel gear 3222, and the rotating drum 3251 are all rotatably connected to the housing. The transmission gear set 3261 includes at least three meshing parallel gears. The three parallel gears are respectively fixed to the output shaft of the grinding motor 326, and are connected and fixed to the transmission bevel gear 3222 and the rotating drum 3251 through the shaft.

[0032] For example, after the grinding motor 326 starts, it drives two paths simultaneously through the transmission gear set 3261: one path drives the driven bevel gear 3221 to rotate through the transmission bevel gear 3222, which in turn drives the sleeve 322 and the output shaft 323 to rotate, causing the grinding tool to rotate at high speed; the other path drives the drum 3251 to rotate at high speed. When the drum 3251 rotates, it generates centrifugal force, which drives the pressure roller 3253 to expand outward and apply pressure to the pressure ball 3252. The pressure ball 3252 also moves outward along the radial groove due to centrifugal force, applying downward axial pressure to the pull seat 324, so that the grinding tool at the bottom of the output shaft 323 presses against the workpiece surface with a certain pressure. The higher the speed, the greater the centrifugal force, and the grinding pressure also increases linearly, thereby realizing the control of the grinding force by adjusting the speed of the grinding motor 326.

[0033] Example 2: Based on the above examples, an automated grooving and sanding integrated equipment for wooden doors further includes a recovery pipe 40. The adsorption end of the recovery pipe 40 is fixed to the output end of the Y-axis slide table 13 and moves synchronously with the grooving head 20 to promptly suck up the debris generated during grooving. The other end of the recovery pipe 40 is connected to a central dust collection device. Optionally, in some embodiments, the electronic control system integrates an analysis module, which is a monitoring unit based on airflow sensing. By setting flow sensors and differential pressure sensors in the pipeline of the recovery pipe 40 or near the adsorption end, the speed and pressure changes of the adsorption airflow are monitored in real time. Since the debris of different materials (such as hardwood, softwood, particleboard) differs in density, particle size and production amount, these differences will cause corresponding changes in the characteristic parameters of the adsorption airflow, such as flow rate and pressure drop. The analysis module has a built-in or connected algorithm unit that is pre-trained or configured with mapping relationships or empirical models that relate different airflow characteristics to material types. By analyzing the real-time collected airflow data, the analysis module can indirectly infer the material hardness or density characteristics of the current processing area and send this material information as a feedback signal to the main controller of the electronic control system.

[0034] In another alternative implementation, the analysis module is a machine vision-based monitoring unit; it includes a high-speed industrial camera and an image processing unit positioned near the slotted area or the adsorption port of the recovery pipe 40; the image processing unit performs real-time analysis on the acquired debris images, extracts visual features such as the shape, size, color or texture of the debris, and compares them with a pre-stored material feature library to determine the type or state of the current processed material.

[0035] The main controller of the electronic control system receives material feedback information from the analysis module and combines it with the preset process database to generate or dynamically adjust the speed control command sent to the grinding motor 326. For example, when the analysis module reports that the current material hardness is high, the main controller can increase the speed setting value of the grinding motor 326 to increase the grinding pressure; conversely, it can decrease the speed. The specific speed adjustment amount, adjustment curve, or precise correspondence with the material signal can be determined and optimized by those skilled in the art through conventional experiments or experience based on different workpiece materials, grinding tool characteristics, and target surface roughness.

[0036] Working principle: After the wooden door is conveyed and fixed, the control system generates the movement path of the grooving head 20 according to the preset decorative groove pattern. At the same time, based on the initial fixed distance between the grooving head 20 and the output end of the sanding component 32, the ideal following path of the sanding component 32 is generated.

[0037] When processing begins, the servo slide group 10 drives the grooving head 20 to move along the planned path to perform grooving; at the same time, the control system calculates the position of the grooving head 20 in real time; if the grooving path deviates in the Z direction, the control system instructs the first step motor 33 of the compensation component 31 to move, and drives the connecting arm 312 to swing at the corresponding angle through the angle adjustment gear 3121 and the arc rack 3122, so that the grinding component 32 compensates for the deviation in the Z direction; If the distance requirement between the output ends of the grooving head 20 and the grinding component 32 in the X direction changes due to the curvature of the path, the control system instructs the second stepper motor 34 to move, driving the extension arm 313 to extend and retract, and finely adjusting the position of the grinding component 32 in the X direction. Through the coordination of these two sets of movements, it is ensured that when processing any curve, the grinding component 32 can always be accurately located on the groove trajectory already opened by the grooving head 20, creating conditions for synchronous grinding. The sanding assembly 32 follows the grooving head 20 into the grooved channel. The control system can dynamically adjust the speed of the sanding motor 326 according to the material prediction information or preset process parameters. When the speed increases, the centrifugal pressure increases and the sanding force is enhanced, which is suitable for areas with higher hardness. When the speed decreases, the sanding force is weakened, which is suitable for soft or easily over-sanded areas. This process realizes variable pressure adaptive fine sanding at a constant sanding depth, which improves the consistency of surface treatment quality of decorative grooves for wooden doors of different materials.

[0038] The exemplary implementation of the solution proposed in this disclosure has been described in detail above with reference to preferred embodiments. However, those skilled in the art will understand that various modifications and alterations can be made to the above specific embodiments without departing from the spirit of this disclosure, and various combinations can be made to the various technical features and structures proposed in this disclosure without exceeding the protection scope of this disclosure, which is determined by the appended claims.

Claims

1. An integrated automated grooving and sanding machine for wooden doors, comprising a machine frame, a servo slide group (10), a grooving head (20), and a sanding mechanism (30), characterized in that: The grooving head (20) and the grinding mechanism (30) are jointly installed at the output end of the Y-axis slide (13) of the servo slide group (10); The grinding mechanism (30) includes a compensation component (31) and a grinding component (32), wherein the compensation component (31) is installed between the output end of the Y-axis slide (13) and the grinding component (32); The compensation component (31) includes a drive mechanism for driving the grinding component (32) to perform position compensation in the horizontal plane; The grinding assembly (32) includes a grinding motor (326), an output shaft (323), and a centrifugal hammer (325). The grinding motor (326) is connected to the output shaft (323) and the centrifugal hammer (325) in a drive connection; the centrifugal hammer (325) is configured to convert the centrifugal force generated by the rotation of the grinding motor (326) into an axial clamping force on the output shaft (323).

2. The wood door automatic slotting and polishing integrated equipment according to claim 1, characterized in that, The drive mechanism includes: The connecting bracket (311) is fixed to the output end of the Y-axis slide (13); A connecting arm (312) is rotatably connected at one end to the connecting frame (311); The first stepper motor (33) is connected to the connecting arm (312) via a transmission; An extension arm (313) is slidably connected to a connecting arm (312), and the grinding assembly (32) is mounted at the end of the extension arm (313); The second stepper motor (34) is connected to the extension arm (313) via a transmission.

3. The wood door automatic slotting and polishing integrated equipment according to claim 2, characterized in that, The connecting arm (312) is provided with an arc-shaped rack (3122); the first stepper motor (33) drives an angle adjustment gear (3121) that meshes with the arc-shaped rack (3122).

4. The integrated automated grooving and sanding equipment for wooden doors according to claim 3, characterized in that, The arc-shaped end of the connecting arm (312) is also slidably connected to the connecting frame (311) via an arc-shaped guide rail (3123).

5. The integrated automated grooving and sanding equipment for wooden doors according to claim 2, characterized in that, The side of the extension arm (313) is provided with a toothed groove; the second stepper motor (34) drives an extension adjustment gear (3131) that meshes with the toothed groove.

6. The integrated automated grooving and sanding equipment for wooden doors according to claim 5, characterized in that, The rotation axis of the extended adjusting gear (3131) coincides with the rotation axis of the connecting arm (312).

7. The integrated automated grooving and sanding equipment for wooden doors according to claim 1, characterized in that, The centrifugal hammer (325) includes a drum (3251) driven by the grinding motor (326) and a pressure ball (3252) and a pressure roller (3253) disposed in the drum (3251). The inner wall of the drum (3251) is uniformly distributed with radial grooves, and the pressure ball (3252) is slidably connected to the radial groove; the pressure roller (3253) is composed of multi-lobed fan-shaped blocks, and the pressure ball (3252) is distributed on the outside of the pressure roller (3253).

8. The integrated automated grooving and sanding equipment for wooden doors according to claim 7, characterized in that, The top end of the output shaft (323) is fitted with a traction seat (324), which is slidably connected to the fixed seat (321) via a guide rod (3211). The guide rod (3211) is fixed to the surface of the fixed seat (321), and a spring (3212) is provided between the traction seat (324) and the guide rod (3211). The pressure ball (3252) abuts against the upper surface of the traction seat (324).

9. The integrated automated grooving and sanding equipment for wooden doors according to claim 1, characterized in that, It also includes a recovery tube (40), whose adsorption end is fixed to the output end of the Y-axis slide (13) and set near the grooving head (20).

10. The integrated automated grooving and sanding equipment for wooden doors according to claim 9, characterized in that, It also includes an analysis module that communicates with the electronic control system. The analysis module is used to analyze the workpiece material based on the characteristics of the adsorption airflow of the recovery pipe (40) or the collected debris image information, and outputs a feedback signal for adjusting the speed of the grinding motor (326).

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