Large closing cylinder part inner wall polishing automatic equipment

Abstract

This invention relates to an automated grinding equipment for the inner wall of large tapered cylindrical components, belonging to the technical field of industrial automation processing equipment. It solves the problems of low efficiency, poor processing accuracy, and inconsistent processing quality in existing large cylindrical component grinding technologies. The automated grinding equipment for the inner wall of large tapered cylindrical components includes a transfer AGV, a vision system, a dust removal system, and a grinding host. The grinding host includes a host base and a moving system, a telescopic assembly, a planar rotating arm system, and a grinding spindle system mounted on the host base. The telescopic assembly includes a front beam, a rear beam, and a telescopic beam. The rear end of the telescopic beam is hinged to the upper surface of the rear beam via a rear beam ball joint system. The front end of the telescopic beam passes through a front beam ball joint sleeve fixed to the upper surface of the front beam and is hinged to the front beam via a bearing or sliding assembly inside the front beam ball joint sleeve. The front and rear beams are respectively connected to the moving system. This achieves high-quality automated grinding of the inner wall of large tapered cylindrical components.

Description

Technical Field

[0001] This invention relates to the field of industrial automated processing equipment technology, and in particular to an automated equipment for grinding the inner wall of large constricted cylindrical parts. Background Technology

[0002] Cylindrical products require grinding of both inner and outer surfaces during manufacturing due to process requirements or processing quality issues. Grinding the inner wall of large cylindrical components is a crucial process in manufacturing, particularly in aerospace, automotive, and energy equipment industries, where extremely high requirements are placed on the smoothness, precision, and wear resistance of the inner wall of large cylindrical components. Currently, grinding the inner wall of large cylindrical components is primarily done manually, which results in poor working conditions, low efficiency, and inconsistent precision and uniformity.

[0003] Therefore, using automated grinding methods to meet the grinding needs of workpieces of different specifications is the current development trend for grinding the inner walls of cylindrical parts. While some automated grinding equipment exists on the market, most are specialized grinding machines and cannot adapt to different inner diameters of cylindrical parts. Summary of the Invention

[0004] Based on the above analysis, the present invention aims to provide an automated grinding equipment for the inner wall of large cylindrical parts, in order to solve at least one of the following problems: low grinding efficiency, poor processing accuracy, poor consistency of processing quality, and inaccessibility of some areas in existing large cylindrical parts grinding equipment.

[0005] On one hand, embodiments of the present invention provide an automated equipment for grinding the inner wall of large constricted cylindrical parts, including a transfer AGV 1-3, a vision system 1-5, a dust removal system 1-6, and a grinding host 1-7; The grinding host 1-7 includes a host base 2 and a moving system, telescopic component, planar rotating arm system 2-10 and grinding spindle system 2-11 installed on the host base 2; The telescopic assembly includes a front beam, a rear beam, and a telescopic beam 2-7. The rear end of the telescopic beam 2-7 is hinged to the upper surface of the rear beam via a rear beam ball joint system 2-6. The front end of the telescopic beam 2-7 passes through a front beam ball joint sleeve 2-9 fixed to the upper surface of the front beam and is hinged to the front beam via a bearing or sliding assembly inside the front beam ball joint sleeve 2-9. The front beam and the rear beam are respectively connected to the moving system.

[0006] Furthermore, the moving system includes a rear beam moving system and a front beam moving system; The rear beam moving system includes a rear beam X-direction moving system 2-2, a rear beam Y-direction moving system 2-1, and a rear beam Z-direction moving system 2-5; The rear beam X-direction moving system 2-2 includes an X-direction slide rail installed on the upper surface of the main unit base and a rear beam X-direction moving base slidably connected to the X-direction slide rail; The rear beam Y-axis moving system 2-1 includes a rear beam Y-axis slide rail installed on the upper surface of the rear beam X-axis moving base; the lower end of the rear beam Z-axis moving system 2-5 is slidably connected to the rear beam Y-axis slide rail, and the upper end is fixedly connected to the rear beam. The front beam moving system includes a front beam Y-axis moving system 2-3 and a front beam Z-axis moving system 2-8; the front beam Y-axis moving system 2-3 includes a front beam Y-axis slide rail mounted on the upper surface of the main unit base; the lower end of the front beam Z-axis moving system 2-8 is slidably connected to the front beam Y-axis slide rail, and the upper end is fixedly connected to the front beam.

[0007] Furthermore, the planar rotating arm system 2-10 includes a first rotating arm and a second rotating arm that are hinged to each other. The other end of the first rotating arm is hinged to the front end face of the telescopic beam 2-7, and the other end of the second rotating arm is connected to the grinding spindle system 2-11. The planar rotating arm system 2-10 also includes a laser ranging system.

[0008] Preferably, the grinding host 1-7 also includes a tool magazine 2-4 installed on the front end face of the host base 2, located in front of the front beam moving system, and arranged in the Z or Y direction.

[0009] For example, the dust removal system 1-6 includes a collection system, a ventilation system, and a purification system; the collection system includes an air inlet and a dust hood connected to the air inlet via a dust suction pipe; the ventilation system includes a fan; and the purification system includes a filter cartridge, an air outlet, and a dust collection drawer.

[0010] Specifically, the transfer AGV 1-3 includes a vehicle body and a drive unit, a guide unit, and a transfer unit installed on the vehicle body.

[0011] Furthermore, the automated grinding equipment also includes a control system 1-1, which collects, analyzes, and interlocks data from the transfer AGV 1-3, vision system 1-5, dust removal system 1-6, and grinding host 1-7; the automated grinding equipment also includes a safety fence 1-2.

[0012] On the other hand, embodiments of the present invention also provide an automated grinding method for the inner wall of large constricted cylindrical parts, which uses the aforementioned automated equipment for grinding and is controlled by a control system, including the following steps: Step 1: The AGV carrying the cylindrical workpiece enters the grinding area surrounded by the safety fence. After it is in place and fixed, the vision system is turned on to take pictures of the workpiece and calculate the posture of the workpiece. The results are compared with the design value to determine the amount of grinding in different areas. Step 2: Based on the calculation results in Step 1, the grinding host adjusts the initial angle and position of the grinding spindle and grinding head through the moving system. Step 3: The grinding head enters the workpiece and measures the distance to the inner wall of the cylinder using a laser ranging system. Based on the measured value, the planar rotating arm system is driven to readjust the angle and position of the grinding head to perform precise grinding on the workpiece. At the same time, the dust removal system is automatically activated. Step 4: Driven by the telescopic beam, the grinding spindle moves at a constant speed along the workpiece axis and repeats the operations of Step 2 and Step 3 until the grinding of the inner wall of the workpiece is completed. Step 5: Remove the workpiece from the grinding machine, restart the vision system to take pictures and measure the workpiece, and compare them with the design values ​​to determine whether the grinding accuracy is qualified. Step 6: Qualified workpieces are transported out of the safety fence by a transfer AGV.

[0013] Preferably, during step 4, the first and second rotating arms are driven by the planar rotating arm system to rotate to the tool magazine to automatically change the grinding head according to different grinding requirements.

[0014] It should be noted that the angle position adjustment methods of the grinding spindle and grinding head in step 2 include: the rear beam Y-axis moving system 2-1 and the front beam Y-axis moving system 2-3 move synchronously, causing the telescopic beam 2-7 to move along the Y-axis; the rear beam Z-axis moving system 2-5 and the front beam Z-axis moving system 2-8 move synchronously, causing the telescopic beam 2-7 to move along the Z-axis; the rear beam X-axis moving system 2-2 drives the rear beam to move forward and backward, causing the telescopic beam 2-7 to move along the X-axis; the rear beam Y-axis moving system 2-1 and the front beam Y-axis moving system 2-3 move asynchronously, causing the telescopic beam 2-7 to deflect; the rear beam Z-axis moving system 2-5 and the front beam Z-axis moving system 2-8 move asynchronously, causing the telescopic beam 2-7 to deflect.

[0015] Compared with the prior art, the present invention can achieve at least one of the following beneficial effects: 1. This invention achieves automated grinding of the inner wall of large constricted cylindrical parts by interlocking and controlling the transfer AGV, vision system, dust removal system and grinding host through an integrated control system; the transfer AGV significantly improves the efficiency and safety of workpiece handling, and further enhances the automation level of the entire production process; at the same time, the high-precision measurement capability of the vision system can accurately capture the posture and size of the workpiece, thereby ensuring the accuracy of the grinding operation and significantly improving the grinding quality and consistency of the inner wall surface of the workpiece.

[0016] 2. This invention, by setting up a planar rotary arm system with three degrees of automation, enables the grinding spindle and grinding head to flexibly adjust their angles and positions. At the same time, the planar rotary arm system is equipped with a laser rangefinder system, which drives the planar rotary arm system based on the measured values ​​to achieve precise grinding, thereby further improving the accuracy and automation level of grinding.

[0017] 3. The automated grinding equipment for the inner wall of large cylindrical parts provided by the present invention enables the telescopic beam and grinding spindle to move precisely in the X, Y, and Z directions through the coordinated work of the moving system and telescopic components during the grinding process, thereby achieving overall coverage of the inner wall of the workpiece and adapting to the grinding needs of the inner walls of cylindrical parts of different shapes and sizes.

[0018] 4. This invention improves the efficiency of grinding operations and reduces downtime caused by changing grinding heads by setting a tool library with multiple grinding heads on the front face of the main unit base and driving the first and second rotating arms to rotate and move the grinding spindle system through a planar rotating arm system.

[0019] 5. By setting up a dust removal system, the present invention automatically turns on when the grinding spindle is working, and promptly sucks away the grinding dust, so as to achieve simultaneous grinding and dust removal, effectively control dust, prevent environmental pollution, and protect the operating environment and personnel health.

[0020] In this invention, the above-described technical solutions can be combined with each other to achieve more preferred combinations. Other features and advantages of this invention will be set forth in the following description, and some advantages may become apparent from the description or be learned by practicing the invention. The objects and other advantages of this invention can be realized and obtained from what is particularly pointed out in the description and drawings. Attached Figure Description

[0021] The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Throughout the drawings, the same reference numerals denote the same parts.

[0022] Figure 1 This is a schematic diagram of the automated equipment for grinding the inner wall of the cylindrical component according to the present invention; Figure 2 This is a schematic diagram of the grinding host of the present invention.

[0023] Figure label: 1-1, Control system; 1-2, Safety fence; 1-3, Transfer AGV; 1-4, Workpiece; 1-5, Vision system; 1-6, Dust removal system; 1-7, Grinding main unit; 2, Main unit base; 2-1, Rear beam Y-axis movement system; 2-2, Rear beam X-axis movement system; 2-3, Front beam Y-axis movement system; 2-4, Tool magazine; 2-5, Rear beam Z-axis movement system; 2-6, Rear beam ball joint system; 2-7, Telescopic beam; 2-8, Front beam Z-axis movement system; 2-9, Front beam ball joint sleeve; 2-10, Planar rotating arm system; 2-11, Grinding spindle system. Detailed Implementation

[0024] Preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which form part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not intended to limit the scope of the present invention.

[0025] On one hand, a specific embodiment of the present invention discloses an automated equipment for grinding the inner wall of a large constricted cylindrical component, such as... Figure 1 , Figure 2 As shown, it includes transfer AGV 1-3, vision system 1-5, dust removal system 1-6 and grinding host 1-7; The grinding host 1-7 includes a host base 2 and a moving system, telescopic component, planar rotating arm system 2-10 and grinding spindle system 2-11 installed on the host base 2; The telescopic assembly includes a front beam, a rear beam, and a telescopic beam 2-7. The rear end of the telescopic beam 2-7 is hinged to the upper surface of the rear beam via a rear beam ball joint system 2-6. The front end of the telescopic beam 2-7 passes through a front beam ball joint sleeve 2-9 fixed to the upper surface of the front beam and is hinged to the front beam via a bearing or sliding assembly inside the front beam ball joint sleeve 2-9. The front beam and the rear beam are respectively connected to the moving system.

[0026] Using AGVs for transfer can improve the efficiency and safety of workpiece handling, reduce the risks and labor intensity of manual handling, and increase the automation level of the production process; the vision system can accurately measure the posture and size of the workpiece and compare it with the design value to ensure the accuracy of the grinding operation and improve product quality and consistency; the dust removal system can collect the dust generated during the grinding process in a timely manner, protect the health of operators, reduce environmental pollution, and meet environmental protection requirements.

[0027] Furthermore, the moving system includes a rear beam moving system and a front beam moving system; The rear beam moving system includes a rear beam X-direction moving system 2-2, a rear beam Y-direction moving system 2-1, and a rear beam Z-direction moving system 2-5; The rear beam X-direction moving system 2-2 includes an X-direction slide rail installed on the upper surface of the main unit base and a rear beam X-direction moving base slidably connected to the X-direction slide rail; The rear beam Y-axis moving system 2-1 includes a rear beam Y-axis slide rail installed on the upper surface of the rear beam X-axis moving base; the lower end of the rear beam Z-axis moving system 2-5 is slidably connected to the rear beam Y-axis slide rail, and the upper end is fixedly connected to the rear beam. The front beam moving system includes a front beam Y-axis moving system 2-3 and a front beam Z-axis moving system 2-8; the front beam Y-axis moving system 2-3 includes a front beam Y-axis slide rail mounted on the upper surface of the main unit base; the lower end of the front beam Z-axis moving system 2-8 is slidably connected to the front beam Y-axis slide rail, and the upper end is fixedly connected to the front beam.

[0028] Through the coordinated operation of the moving system and telescopic components, it can adapt to the grinding needs of the inner walls of cylinders of different shapes and sizes.

[0029] Specifically, the planar rotating arm system 2-10 includes a first rotating arm and a second rotating arm that are hinged to each other. The other end of the first rotating arm is hinged to the front end face of the telescopic beam 2-7, and the other end of the second rotating arm is connected to the grinding spindle system 2-11.

[0030] The planar swivel arm system 2-10 includes three degrees of automation, located at the head of the telescopic beam 2-7, the head of the first swivel arm, and the head of the second swivel arm, respectively.

[0031] Preferably, the planar rotating arm system 2-10 further includes a laser ranging system. The laser ranging system measures the distance to the inner wall of the cylinder and drives the planar rotating arm system based on the measured value to achieve accurate grinding by the grinding head.

[0032] The planar rotating arm system allows the grinding head to be flexibly adjusted in angle and position for precise grinding, while the laser rangefinder system further improves the accuracy and automation of grinding.

[0033] Furthermore, the grinding host 1-7 also includes a tool magazine 2-4 installed on the front end face of the host base 2, located in front of the front beam moving system and arranged in the Z or Y direction; the tool magazine 2-4 includes multiple grinding heads, and the planar rotating arm system drives the first rotating arm and the second rotating arm to rotate and move the grinding spindle system to the tool magazine, realizing automatic replacement of grinding heads, improving the efficiency of grinding operations and reducing downtime caused by replacing grinding heads.

[0034] Specifically, the types of grinding heads include diamond grinding heads, alumina grinding heads, flap wheels, and black diamond grinding wheels.

[0035] Furthermore, the dust removal system 1-6 includes a collection system, a ventilation system, and a purification system; the collection system includes an air intake and a dust hood connected to the air intake via a dust suction pipe; the ventilation system includes a fan; and the purification system includes a filter cartridge, an air outlet, and a dust collection drawer.

[0036] When in use, the fan starts to generate suction. After the dust hood collects the dust, it enters the filter cartridge through the suction pipe and the air suction pipe to filter the dust particles. Clean air is then discharged from the air outlet, and the dust is collected in the dust collection drawer.

[0037] The dust hood is delivered to the rear of the grinding spindle system 2-11 via the dust suction pipe. The dust removal system 1-6 automatically opens when the grinding spindle system is working, which can promptly absorb the grinding dust, so that grinding and dust removal can be carried out simultaneously to prevent environmental pollution.

[0038] For example, the transfer AGV 1-3 includes a vehicle body and a drive unit, a guide unit, and a transfer unit mounted on the vehicle body.

[0039] It should be noted that the automated grinding equipment also includes a control system 1-1, which collects, analyzes and interlocks data from the transfer AGV 1-3, vision system 1-5, dust removal system 1-6 and grinding host 1-7.

[0040] Preferably, the automated grinding equipment also includes safety fences 1-2. This provides physical isolation for the grinding area and improves the safety of the work site.

[0041] On the other hand, a specific embodiment of the present invention also discloses an automated grinding method for the inner wall of a large constricted cylindrical component, which includes the following steps through interlocking control of a control system: Step 1: The AGV carrying the cylindrical workpiece enters the grinding area surrounded by the safety fence. After it is in place and fixed, the vision system is turned on to take pictures of the workpiece and calculate the posture of the workpiece. The results are compared with the design value to determine the amount of grinding in different areas. Step 2: Based on the calculation results in Step 1, the grinding host adjusts the initial angle and position of the grinding spindle and grinding head through the moving system. Step 3: The grinding head enters the workpiece and measures the distance to the inner wall of the cylinder using a laser ranging system. Based on the measured value, the planar rotating arm system is driven to readjust the angle and position of the grinding head to perform precise grinding on the workpiece. At the same time, the dust removal system is automatically activated. Step 4: Driven by the telescopic beam, the grinding spindle moves at a constant speed along the workpiece axis and repeats the operations of Step 2 and Step 3 until the grinding of the inner wall of the workpiece is completed. Step 5: Remove the workpiece from the grinding machine, restart the vision system to take pictures and measure the workpiece, and compare them with the design values ​​to determine whether the grinding accuracy is qualified. Step 6: Qualified workpieces are transported out of the safety fence by a transfer AGV.

[0042] Preferably, during step 4, the first and second rotating arms are driven by the planar rotating arm system to rotate to the tool magazine to automatically change the grinding head according to different grinding requirements.

[0043] Specifically, the angle position adjustment methods for the grinding spindle and grinding head in step 2 include: the rear beam Y-axis moving system 2-1 and the front beam Y-axis moving system 2-3 moving synchronously, causing the telescopic beam 2-7 to move along the Y-axis; the rear beam Z-axis moving system 2-5 and the front beam Z-axis moving system 2-8 moving synchronously, causing the telescopic beam 2-7 to move along the Z-axis; the rear beam X-axis moving system 2-2 driving the rear beam to move forward and backward, causing the telescopic beam 2-7 to move along the X-axis; the rear beam Y-axis moving system 2-1 and the front beam Y-axis moving system 2-3 moving asynchronously, causing the telescopic beam 2-7 to deflect; and the rear beam Z-axis moving system 2-5 and the front beam Z-axis moving system 2-8 moving asynchronously, causing the telescopic beam 2-7 to deflect.

[0044] Preferably, in step 3, the grinding depth is precisely controlled to not exceed 0.5mm to prevent over-grinding and ensure the processing quality of the product.

[0045] For example, in step 4, the grinding spindle travels along the workpiece axis at a suitable speed to ensure the uniformity and efficiency of grinding.

[0046] In summary, this invention achieves automated grinding of the inner wall of large constricted cylindrical parts by interlocking and controlling the transfer AGV, vision system, dust removal system, and grinding host through an integrated control system. The use of the transfer AGV significantly improves the efficiency and safety of workpiece handling, further enhancing the automation level of the entire production process. At the same time, the high-precision measurement capability of the vision system can accurately capture the posture and size of the workpiece, thereby ensuring the accuracy of the grinding operation and significantly improving the grinding quality and consistency of the inner wall surface of the workpiece.

[0047] The following describes the automated equipment and grinding method for grinding the inner wall of large constricted cylindrical parts according to the present invention, with reference to specific embodiments. Example

[0048] This embodiment provides an automated grinding equipment and grinding method for the inner wall of large constricted workpieces 1-4.

[0049] The dimensions of workpieces 1-4 are: diameter 1.2-2.0m, length 2-7m.

[0050] The automated grinding equipment includes: a control system 1-1, a safety fence 1-2, a transfer AGV 1-3, a vision system 1-5, a dust removal system 1-6, and a grinding host 1-7; the control system 1-1 collects, analyzes, and interlocks the data of the transfer AGV 1-3, the vision system 1-5, the dust removal system 1-6, and the grinding host 1-7.

[0051] The grinding main unit 1-7 includes a main unit base 2 and a moving system, telescopic components, a flat rotating arm system 2-10, a grinding spindle system 2-11, and a tool library 2-4 installed on the front end face of the main unit base 2.

[0052] The telescopic assembly includes a front beam, a rear beam, and a telescopic beam 2-7. The rear end of the telescopic beam 2-7 is hinged to the upper surface of the rear beam via a rear beam ball joint system 2-6. The front end of the telescopic beam 2-7 passes through a front beam ball joint sleeve 2-9 fixed to the upper surface of the front beam and is hinged to the front beam via a bearing or sliding assembly inside the front beam ball joint sleeve 2-9. The front beam and the rear beam are respectively connected to the moving system.

[0053] The moving system includes a rear beam moving system and a front beam moving system; the rear beam moving system includes a rear beam X-direction moving system 2-2, a rear beam Y-direction moving system 2-1, and a rear beam Z-direction moving system 2-5; the rear beam X-direction moving system 2-2 includes an X-direction slide rail mounted on the upper surface of the main unit base and a rear beam X-direction moving base slidably connected to the X-direction slide rail; the rear beam Y-direction moving system 2-1 includes a rear beam Y-direction slide rail mounted on the upper surface of the rear beam X-direction moving base; the lower end of the rear beam Z-direction moving system 2-5 is slidably connected to the rear beam Y-direction slide rail, and the upper end is fixedly connected to the rear beam; the front beam moving system includes a front beam Y-direction moving system 2-3 and a front beam Z-direction moving system 2-8; the front beam Y-direction moving system 2-3 includes a front beam Y-direction slide rail mounted on the upper surface of the main unit base; the lower end of the front beam Z-direction moving system 2-8 is slidably connected to the front beam Y-direction slide rail, and the upper end is fixedly connected to the front beam.

[0054] The planar rotating arm system 2-10 includes a first rotating arm and a second rotating arm that are hinged to each other. The other end of the first rotating arm is hinged to the front end face of the telescopic beam 2-7, and the other end of the second rotating arm is connected to the grinding spindle system 2-11. The planar rotating arm system 2-10 also includes a laser ranging system.

[0055] The dust removal system 1-6 includes a collection system, a ventilation system, and a purification system. The collection system includes an air intake and a dust hood connected to the air intake via a suction pipe. The dust hood delivers the dust to the rear of the grinding spindle system 2-11 via the suction pipe. The ventilation system includes a fan, and the purification system includes a filter cartridge, an air outlet, and a dust collection drawer. In use, the fan starts to generate suction. After the dust hood collects the dust, it passes through the suction pipe and the air intake pipe into the filter cartridge to filter the dust particles. Clean air is then discharged from the air outlet, and the dust is collected in the dust collection drawer.

[0056] The automated polishing method includes the following steps: Step 1: The AGV carrying the cylindrical workpiece enters the grinding area surrounded by the safety fence. After it is in place and fixed, the vision system is turned on to take pictures of the workpiece and calculate the posture of the workpiece. The results are compared with the design value to determine the amount of grinding in different areas. Step 2: Based on the calculation results in Step 1, the grinding host adjusts the initial angle and position of the grinding spindle and grinding head through the moving system. Step 3: The grinding head enters the workpiece and measures the distance to the inner wall of the cylinder using a laser ranging system. Based on the measured value, the planar rotating arm system is driven to readjust the angle and position of the grinding head to perform precise grinding on the workpiece. The grinding depth does not exceed 0.5mm, and the dust removal system is automatically activated at the same time. Step 4: Driven by the telescopic beam, the grinding spindle moves at a constant speed along the workpiece axis and repeats the operations of Step 2 and Step 3 until the grinding of the inner wall of the workpiece is completed. Step 5: Remove the workpiece from the grinding machine, restart the vision system to take pictures and measure the workpiece, and compare them with the design values ​​to determine whether the grinding accuracy is qualified. Step 6: Qualified workpieces are transported out of the safety fence by a transfer AGV.

[0057] To achieve automated grinding of the inner wall of large constricted cylindrical parts and ensure consistent grinding of the inner wall surface.

[0058] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A large-scale automatic equipment for polishing the inner wall of a closing tube, characterized in that, Includes transfer AGV (1-3), vision system (1-5), dust removal system (1-6) and grinding host (1-7). The grinding host (1-7) includes a host base (2) and a moving system, telescopic component, planar rotating arm system (2-10) and grinding spindle system (2-11) mounted on the host base (2). The telescopic assembly includes a front beam, a rear beam, and a telescopic beam (2-7). The rear end of the telescopic beam (2-7) is hinged to the upper surface of the rear beam via a rear beam ball joint system (2-6). The front end of the telescopic beam (2-7) passes through a front beam ball joint sleeve (2-9) fixed to the upper surface of the front beam and is hinged to the front beam via a bearing or sliding assembly inside the front beam ball joint sleeve (2-9). The front beam and the rear beam are respectively connected to the moving system.

2. The automated equipment according to claim 1, characterized in that, The moving system includes a rear beam moving system and a front beam moving system; The rear beam moving system includes a rear beam X-direction moving system (2-2), a rear beam Y-direction moving system (2-1), and a rear beam Z-direction moving system (2-5). The rear beam X-axis moving system (2-2) includes an X-axis slide rail mounted on the upper surface of the main unit base and a rear beam X-axis moving base slidably connected to the X-axis slide rail; the rear beam Y-axis moving system (2-1) includes a rear beam Y-axis slide rail mounted on the upper surface of the rear beam X-axis moving base; the lower end of the rear beam Z-axis moving system (2-5) is slidably connected to the rear beam Y-axis slide rail, and the upper end is fixedly connected to the rear beam; the front beam moving system includes a front beam Y-axis moving system (2-3) and a front beam Z-axis moving system (2-8). The front beam Y-axis moving system (2-3) includes a front beam Y-axis slide rail mounted on the upper surface of the main unit base; the lower end of the front beam Z-axis moving system (2-8) is slidably connected to the front beam Y-axis slide rail, and the upper end is fixedly connected to the front beam.

3. The automated equipment according to claim 1, characterized in that, The planar rotating arm system (2-10) includes a first rotating arm and a second rotating arm that are hinged to each other. The other end of the first rotating arm is hinged to the front end face of the telescopic beam (2-7), and the other end of the second rotating arm is connected to the grinding spindle system (2-11). The planar rotating arm system (2-10) also includes a laser ranging system.

4. The automated equipment according to claim 1, characterized in that, The grinding host (1-7) also includes a tool library (2-4) installed on the front end face of the host base (2), located in front of the front beam moving system, and arranged in the Z or Y direction.

5. The automated equipment according to claim 1, characterized in that, The dust removal system (1-6) includes a collection system, a ventilation system, and a purification system; the collection system includes an air inlet and a dust hood connected to the air inlet via a dust suction pipe; the ventilation system includes a fan; and the purification system includes a filter cartridge, an air outlet, and a dust collection drawer.

6. The automated equipment according to claim 1, characterized in that, The transfer AGV (1-3) includes a vehicle body and a drive unit, a guide unit, and a transfer unit installed on the vehicle body.

7. The automated equipment according to claim 1, characterized in that, The automated grinding equipment also includes a control system (1-1), which collects, analyzes and interlocks data on the transfer AGV (1-3), vision system (1-5), dust removal system (1-6) and grinding host (1-7); the automated grinding equipment also includes a safety fence (1-2).

8. An automated grinding method for the inner wall of a large constricted cylindrical component, characterized in that, Polishing is performed using the automated equipment described in any one of claims 1 to 7, with interlocking control of the control system, comprising the following steps: Step 1: The AGV carrying the cylindrical workpiece enters the grinding area surrounded by the safety fence. After it is in place and fixed, the vision system is turned on to take pictures of the workpiece and calculate the posture of the workpiece. The results are compared with the design value to determine the amount of grinding in different areas. Step 2: Based on the calculation results in Step 1, the grinding host adjusts the initial angle and position of the grinding spindle and grinding head through the moving system. Step 3: The grinding head enters the workpiece and measures the distance to the inner wall of the cylinder using a laser ranging system. Based on the measured value, the planar rotating arm system is driven to readjust the angle and position of the grinding head to perform precise grinding on the workpiece. At the same time, the dust removal system is automatically activated. Step 4: Driven by the telescopic beam, the grinding spindle moves at a constant speed along the workpiece axis and repeats the operations of Step 2 and Step 3 until the grinding of the inner wall of the workpiece is completed. Step 5: Remove the workpiece from the grinding machine, restart the vision system to take pictures and measure the workpiece, and compare them with the design values ​​to determine whether the grinding accuracy is qualified. Step 6: Qualified workpieces are transported out of the safety fence by a transfer AGV.

9. The polishing method according to claim 8, characterized in that, During step 4, depending on the different grinding requirements, the planar rotating arm system drives the first and second rotating arms to rotate to the tool magazine to automatically change the grinding head.

10. The polishing method according to claim 8, characterized in that, The angle position adjustment methods for the grinding spindle and grinding head in step 2 include: the rear beam Y-axis moving system (2-1) and the front beam Y-axis moving system (2-3) move synchronously, causing the telescopic beam (2-7) to move along the Y-axis; the rear beam Z-axis moving system (2-5) and the front beam Z-axis moving system (2-8) move synchronously, causing the telescopic beam (2-7) to move along the Z-axis; the rear beam X-axis moving system (2-2) drives the rear beam to move forward and backward, causing the telescopic beam (2-7) to move along the X-axis; the rear beam Y-axis moving system (2-1) and the front beam Y-axis moving system (2-3) move asynchronously, causing the telescopic beam (2-7) to deflect; the rear beam Z-axis moving system (2-5) and the front beam Z-axis moving system (2-8) move asynchronously, causing the telescopic beam (2-7) to deflect.

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