A polishing device for a tubular component of a drone and a polishing process thereof

Abstract

The application relates to the technical field of unmanned aerial vehicle production, and discloses a polishing device for tubular parts of unmanned aerial vehicles and a polishing process thereof. The polishing device comprises a base, a vertical rod driven by a first motor is rotatably installed on the base, a first supporting plate is fixedly installed on the vertical rod, a second supporting plate which rotates synchronously with the vertical rod is slidably installed on the vertical rod, a second threaded cylinder for moving the second supporting plate is arranged on the base, and a first telescopic rod is fixedly installed on the end of the vertical rod. The first supporting plate and the second supporting plate support the parts, forming surface contact or long line contact, avoiding deformation of the pipe due to the concentration of clamping force and improving the supporting rigidity, improving the quality of subsequent polishing of the tubular parts, and automatically centering the tubular parts by the first supporting plate and the second supporting plate in radial direction, reducing the time for artificial alignment positioning.

Description

Technical Field

[0001] This invention relates to the field of drone manufacturing technology, specifically to a grinding device and grinding process for tubular components of drones. Background Technology

[0002] Unmanned aerial vehicles (UAVs) are unmanned aircraft controlled by radio remote control equipment and their own program control devices, or operated autonomously by onboard computers, either completely or intermittently.

[0003] Currently, among the tubular components of drones, there are tapered tubular components. During processing, the outer wall of the component needs to be ground. The traditional method is to use a clamping device to hold the end of the component, and then use a grinding device to grind the surface of the component. However, because the end of the component is held by the clamping device, the grinding device cannot grind the clamped section of the component. To address the above technical problem, the patent with publication number CN118081501A uses a first airbag and a second airbag to support the tubular component inside before grinding. However, during the grinding process, the grinding component will exert a force on the tubular component. Since the first airbag and the second airbag are both flexible components, when the tubular component is subjected to a force, it will be transmitted to the first airbag and the second airbag, causing the first airbag and the second airbag to deform. This will cause the tubular component to shake and shift, making it impossible to perform the grinding operation stably and reducing the grinding quality. Summary of the Invention

[0004] The purpose of this invention is to address the shortcomings of existing technologies by providing a grinding device for tubular parts, thereby achieving high grinding quality and stability.

[0005] The objective of this invention can be achieved through the following technical solutions: A grinding device for tubular components of a drone includes a base, on which a vertical rod driven by a first motor is rotatably mounted. A first support plate is fixedly mounted on the vertical rod, and a second support plate that rotates synchronously with the vertical rod is slidably mounted on the vertical rod. A second threaded cylinder that pushes the second support plate to move is provided on the base. A first telescopic rod is fixedly mounted at the end of the vertical rod, and a top plate is fixedly mounted at the end of the first telescopic rod. Multiple sets of connecting plates are rotatably connected to the top plate. Multiple sets of first pressure plates corresponding to the connecting plates are rotatably mounted at the end of the vertical rod away from the base. The first pressure plates are rotatably connected to the corresponding connecting plates. A first roller is rotatably mounted on the top plate. A power plate that cooperates with the first roller to push the top plate downward is provided on the base. A second vertical plate is fixedly installed on the base, a second electric telescopic rod is fixedly installed on the second vertical plate, a movable frame is fixedly installed at the output end of the second electric telescopic rod, a base plate is rotatably installed inside the movable frame, a first movable plate is slidably installed on the base plate, and a servo module for driving the first movable plate to move is provided on the base plate, a second motor is fixedly installed on the base plate, a grinding disc is fixedly installed at the output end of the second motor, and a threaded rod for driving the base plate to rotate is rotatably installed on the movable frame.

[0006] As a further embodiment of the present invention: both the first support plate and the second support plate are circular, the diameter of the second support plate is larger than the diameter of the first support plate, a limiting plate is fixedly installed on the vertical rod, and the limiting plate is slidably connected to the second support plate.

[0007] As a further embodiment of the present invention: a first vertical plate is fixedly installed on the base, a first electric telescopic rod is fixedly installed on the first vertical plate, a power plate is fixedly installed at the output end of the first electric telescopic rod, the power plate is triangular and the surface of the power plate that contacts the first roller has an angle with the horizontal plane.

[0008] As a further embodiment of the present invention: a first threaded cylinder is rotatably mounted on the base, the first threaded cylinder is coaxially arranged with the vertical rod, a second threaded cylinder is threadedly connected to the first threaded cylinder, and a worm gear driven by a third motor is rotatably mounted on the base, the worm gear meshing with a worm wheel fixedly mounted on the first threaded cylinder.

[0009] As a further aspect of the present invention: two sets of limiting rings are fixedly installed on the second threaded cylinder, and multiple sets of second telescopic rods are fixedly installed on the limiting rings near the base, with the end of the second telescopic rod away from the limiting rings being fixedly connected to the base.

[0010] As a further aspect of the present invention: multiple sets of support plates arranged in a circular array around the vertical rod are fixedly installed on the second support plate, and two sets of second rollers are rotatably installed on the support plates, with the second rollers respectively rolling into contact with the limiting rings on the corresponding sides.

[0011] As a further embodiment of the present invention: a second movable plate is slidably installed on the horizontal end of the movable frame near the base, a third telescopic rod is fixedly installed on the second movable plate, one end of the third telescopic rod away from the base is rotatably connected to the end of the base plate, the other end of the base plate is rotatably connected to the horizontal end of the movable frame away from the base, and a threaded rod is threadedly connected to the second movable plate and drives the second movable plate to move.

[0012] As a further embodiment of the present invention: a connecting sleeve is fixedly installed at the end of the worm gear, a retaining plate is slidably installed inside the connecting sleeve, a connecting cylinder is fixedly installed on the retaining plate, and the connecting cylinder and the threaded rod are fixedly connected by a fixing screw.

[0013] As a further embodiment of the present invention: a third electric telescopic rod is fixedly installed on the first movable plate, and a mounting frame is fixedly installed on the output end of the third electric telescopic rod. Two sets of third movable plates are slidably installed on the mounting frame. A third roller is rotatably installed on the end of the third movable plate away from the first movable plate. A second spring is fixedly connected to the end of the third movable plate located in the mounting frame. A second pressure plate is connected to the end of the second spring. The second pressure plate is used in conjunction with a pressure sensor fixedly installed in the mounting frame.

[0014] The present invention also provides a grinding process, which is applied to the grinding device for the tubular parts of a UAV described above, and includes the following steps: Step S1: Based on the taper of the tubular part, the second support plate is moved to the set position by the second threaded cylinder, and then the tubular part can be sleeved on the vertical rod, and the tubular part is supported by the first support plate and the second support plate. Step S2: The power plate moves towards the top plate. After the power plate contacts the first roller, it pushes the top plate downward. When the top plate moves downward, it pushes the first pressure plate to rotate until the first pressure plate contacts the top of the tubular part synchronously. The tubular part is pressed and fixed on the first support plate and the second support plate. Step S3: Based on the inclination angle of the outer surface of the tubular part, the substrate is rotated by the threaded rod to make the substrate parallel to the outer surface of the tubular part. The moving frame is moved closer to the tubular part by the second electric telescopic rod until the grinding disc contacts the surface of the tubular part. Step S4: Simultaneously start the first motor and the second motor. The first motor drives the tubular part to rotate, and the second motor drives the grinding disc to rotate. The grinding disc grinds the outer surface of the tubular part. The servo module drives the first moving plate to move along the substrate so that the grinding disc can grind the outer surface of the tubular part. Step S5: After grinding is completed, the moving frame moves in the opposite direction, the grinding disc disengages from the tubular part, the power plate moves in the opposite direction to disengage from the first roller, and the top plate moves upward under the action of the first spring to release the pressure of the first pressure plate on the tubular part. Then the tubular part can be removed and replaced.

[0015] The beneficial effects of this invention are: (1) In this invention, the parts are supported by the first support plate and the second support plate, and the parts are pressed and fixed by the first pressure plate. The line connecting the first support plate and the second support plate is parallel to the generatrix of the inner wall of the parts, forming a surface contact or long line contact, which avoids the deformation of the pipe due to the concentration of clamping force and provides good support rigidity. It is not easy to shake during processing, which improves the quality of subsequent grinding of the tubular parts. At the same time, the first support plate and the second support plate are radially attached to the inner wall of the tubular parts for automatic centering, reducing the time for manual alignment and positioning. When the same batch of tubular parts is processed repeatedly, there is no need to adjust the position of the first support plate and the second support plate, which enables rapid replacement of parts, reduces processing interval time, and improves processing efficiency.

[0016] (2) In this invention, when the position of the second support plate is adjusted, the tilt angle of the substrate changes synchronously to be parallel to the outer surface of the new part, thereby adapting to the processing requirements of different parts. When the position of the second support plate is changed for processing different parts, the tilt angle of the substrate can be adjusted synchronously, so that the positioning support adjustment of the part and the tilt angle of the grinding component are adjusted synchronously according to the part. The operator only needs to adjust the position of the second support plate, and the tilt angle of the substrate will automatically follow, reducing the step of adjusting the angle separately, improving work efficiency, and reducing the error of adjusting separately, ensuring that the grinding component can make stable contact with the outer surface of the tubular part, and further improving the grinding quality.

[0017] (3) In this invention, the readings of two sets of pressure sensors indirectly reflect whether the substrate is parallel to the surface of the tubular part, thereby realizing the detection of the substrate tilt angle, and the tubular part or the substrate can be adjusted according to the detection results to ensure that the grinding disc can make stable contact with the surface of the tubular part, and further ensure the grinding quality of the tubular part. Attached Figure Description

[0018] The invention will now be further described with reference to the accompanying drawings.

[0019] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0020] Figure 2 This is a cross-sectional structural diagram of the present invention.

[0021] Figure 3 This is a schematic diagram of the structure of the first threaded cylinder in this invention.

[0022] Figure 4 This is a schematic diagram of the structure of the movable frame in this invention.

[0023] Figure 5 This is the front view of the movable frame in this invention.

[0024] Figure 6 yes Figure 2 Enlarged schematic diagram of point A1 in the middle.

[0025] Figure 7 yes Figure 5 Enlarged diagram of point A2 in the middle.

[0026] In the diagram: 1. Base; 2. Vertical rod; 3. First support plate; 4. Second support plate; 5. Limiting plate; 6. First motor; 7. Telescopic rod; 8. First spring; 9. Top plate; 10. Connecting plate; 11. First pressure plate; 12. First roller; 13. First vertical plate; 14. First electric telescopic rod; 15. Power plate; 16. First threaded cylinder; 17. Second threaded cylinder; 18. Support plate; 19. Second roller; 20. Limiting ring; 21. Second telescopic rod; 22. Second vertical plate; 23. Second electric telescopic rod. 24. Telescopic rod; 25. Moving frame; 26. Base plate; 27. Servo module; 28. First moving plate; 29. ​​Second motor; 30. Grinding disc; 31. Second moving plate; 32. Third telescopic rod; 33. Threaded rod; 34. Connecting cylinder; 35. Clamping plate; 36. Worm gear; 37. Third motor; 38. Worm wheel; 39. Connecting sleeve; 40. Third electric telescopic rod; 41. Mounting bracket; 42. Third moving plate; 43. Third roller; 44. Second spring; 45. Second pressure plate; 46. Pressure sensor. Detailed Implementation

[0027] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0028] Please see Figures 1-7As shown, this invention is a grinding device for tubular parts of a drone, including a base 1. A vertical rod 2 driven by a first motor 6 is rotatably mounted on the base 1. A first support plate 3 is fixedly mounted on the vertical rod 2. A second support plate 4, which rotates synchronously with the vertical rod 2, is slidably mounted on the vertical rod 2. Both the first support plate 3 and the second support plate 4 are circular, with the diameter of the second support plate 4 being larger than the diameter of the first support plate 3. A limit plate 5 is fixedly mounted on the vertical rod 2 and is slidably connected to the second support plate 4. A second threaded cylinder 17, which pushes the second support plate 4, is provided on the base 1. A first telescopic rod 7 is fixedly mounted at the end of the vertical rod 2, and a top... The top plate 9 is rotatably connected to multiple sets of connecting plates 10. The end of the vertical rod 2 away from the base 1 is rotatably installed with multiple sets of first pressure plates 11 corresponding to the connecting plates 10. The first pressure plates 11 are rotatably connected to the corresponding connecting plates 10. The top plate 9 is rotatably installed with a first roller 12. The base 1 is provided with a power plate 15 that cooperates with the first roller 12 to push the top plate 9 downward. The base 1 is fixedly installed with a first vertical plate 13. The first vertical plate 13 is fixedly installed with a first electric telescopic rod 14. The power plate 15 is fixedly installed at the output end of the first electric telescopic rod 14. The power plate 15 is triangular and the surface of the power plate 15 that contacts the first roller 12 has an angle with the horizontal plane.

[0029] A second vertical plate 22 is fixedly installed on the base 1. A second electric telescopic rod 23 is fixedly installed on the second vertical plate 22. A movable frame 24 is fixedly installed at the output end of the second electric telescopic rod 23. A base plate 25 is rotatably installed inside the movable frame 24. A first movable plate 27 is slidably installed on the base plate 25. A servo module 26 that drives the first movable plate 27 to move is provided on the base plate 25. A second motor 28 is fixedly installed on the base plate 25. A grinding disc 29 is fixedly installed at the output end of the second motor 28. A threaded rod 32 that drives the base plate 25 to rotate is rotatably installed on the movable frame 24.

[0030] In practical application, in this embodiment, initially, the first spring 8 is at its original length, the top plate 9 is away from the vertical rod 2, and the first pressure plate 11 is nearly vertical. Based on the taper of the tubular part, the second threaded cylinder 17 moves the second support plate 4 to a set position, making the line connecting the sides of the first support plate 3 and the second support plate 4 parallel to the inner wall of the tubular part. Then, the tubular part can be fitted onto the vertical rod 2. After the tubular part is placed downwards, its inner wall simultaneously contacts the first support plate 3 and the second support plate 4. The first support plate 3 and the second support plate 4 then support the tubular part... The component is supported, and then the first electric telescopic rod 14 drives the power plate 15 to move closer to the top plate 9. After the power plate 15 contacts the first roller 12, since the surface of the power plate 15 and the first roller 12 in contact with the horizontal plane is set at an angle, the power plate 15 continues to move and pushes the top plate 9 to move downward and compress the first spring 8. When the top plate 9 moves downward, it pushes the first pressure plate 11 to rotate through the connecting plate 10 until the first pressure plate 11 contacts the top of the tubular part synchronously. At this time, the tubular part can be pressed and fixed on the first support plate 3 and the second support plate 4.

[0031] Based on the inclination angle of the outer surface of the tubular part, the threaded rod 32 drives the base plate 25 to rotate, making the base plate 25 parallel to the outer surface of the tubular part. The second electric telescopic rod 23 drives the moving frame 24 to move closer to the tubular part until the grinding disc 29 contacts the surface of the tubular part. At the same time, the first motor 6 and the second motor 28 are started. The first motor 6 drives the vertical rod 2 to rotate slowly. The vertical rod 2 drives the tubular part to rotate synchronously through the first pressure plate 11, the first support plate 3 and the second support plate 4. The second motor 28 drives the grinding disc 29 to rotate. The grinding disc 29 can grind the outer surface of the tubular part. The first moving plate 27 is driven by the servo module 26 to move along the base plate 25, so that the grinding disc 29 can move along the surface of the tubular part, thereby achieving full grinding of the outer surface of the tubular part. After grinding, the moving frame 24 moves in the opposite direction, the grinding disc 29 is disengaged from the tubular part, the power plate 15 moves in the opposite direction to disengage from the first roller 12, and the top plate 9 moves upward under the action of the first spring 8 to release the pressure of the first pressure plate 11 on the tubular part. Then the tubular part can be removed and replaced.

[0032] The parts are supported by the first support plate 3 and the second support plate 4, and pressed and fixed by the first pressure plate 11. The line connecting the first support plate 3 and the second support plate 4 is parallel to the generatrix of the inner wall of the parts, forming a surface contact or long line contact. This avoids deformation of the tubular parts due to concentrated clamping force and provides good support rigidity, making it less prone to shaking during processing and improving the quality of subsequent grinding of the tubular parts. At the same time, the first support plate 3 and the second support plate 4 are radially attached to the inner wall of the tubular parts for automatic centering, reducing the time for manual alignment and positioning. When the same batch of tubular parts is processed repeatedly, there is no need to adjust the position of the first support plate 3 and the second support plate 4, which enables quick part replacement, reduces processing interval time, and improves processing efficiency.

[0033] Please see Figures 1-3 As shown, the present invention is a grinding device for tubular parts of a drone. A first threaded cylinder 16 is rotatably mounted on the base 1. The first threaded cylinder 16 is coaxially arranged with the vertical rod 2. A second threaded cylinder 17 is threadedly connected to the first threaded cylinder 16. A worm gear 35 driven by a third motor 36 is rotatably mounted on the base 1. The worm gear 35 meshes with a worm wheel 37 fixedly mounted on the first threaded cylinder 16.

[0034] Specifically, two sets of limiting rings 20 are fixedly installed on the second threaded cylinder 17, and multiple sets of second telescopic rods 21 are fixedly installed on the limiting rings 20 near the base 1. The end of the second telescopic rod 21 away from the limiting rings 20 is fixedly connected to the base 1.

[0035] Specifically, multiple sets of support plates 18 arranged in a circular array around the vertical rod 2 are fixedly installed on the second support plate 4. Two sets of second rollers 19 are rotatably installed on the support plates 18, and the second rollers 19 respectively roll into contact with the corresponding limiting rings 20.

[0036] In practical application, the third motor 36 drives the worm 35 to rotate, and the worm 35 drives the first threaded cylinder 16 to rotate through the meshing worm wheel 37. When the first threaded cylinder 16 rotates, it drives the second threaded cylinder 17 to move up or down through the thread. When the second threaded cylinder 17 moves, it drives the second support plate 4 to move synchronously through the limit ring 20, the support plate 18, and the second roller 19. This avoids unnecessary movement of the second support plate 4, ensures the stability of the distance between the first support plate 3 and the second support plate 4, and ensures the positioning accuracy of the tubular parts. At the same time, the second roller 19 reduces friction and improves the service life of the equipment.

[0037] Please see Figures 1-7As shown, the present invention is a grinding device for tubular parts of a drone. A second moving plate 30 is slidably installed on the horizontal end of the moving frame 24 near the base 1. A third telescopic rod 31 is fixedly installed on the second moving plate 30. One end of the third telescopic rod 31 away from the base 1 is rotatably connected to the end of the base plate 25. The other end of the base plate 25 is rotatably connected to the horizontal end of the moving frame 24 away from the base 1. A threaded rod 32 is threadedly connected to the second moving plate 30 and drives the second moving plate 30 to move.

[0038] Specifically, a connecting sleeve 38 is fixedly installed at the end of the worm gear 35, a retaining plate 34 is slidably installed inside the connecting sleeve 38, a connecting cylinder 33 is fixedly installed on the retaining plate 34, and the connecting cylinder 33 is fixedly connected to the threaded rod 32 by a fixing screw.

[0039] Specifically, a third electric telescopic rod 39 is fixedly installed on the first movable plate 27. A mounting frame 40 is fixedly installed on the output end of the third electric telescopic rod 39. Two sets of third movable plates 41 are slidably installed on the mounting frame 40. A third roller 42 is rotatably installed on the end of the third movable plate 41 away from the first movable plate 27. A second spring 43 is fixedly connected to the end of the third movable plate 41 located inside the mounting frame 40. A second pressure plate 44 is connected to the end of the second spring 43. The second pressure plate 44 is used in conjunction with a pressure sensor 45 fixedly installed inside the mounting frame 40.

[0040] In practical application, when the worm gear 35 rotates, it drives the connecting sleeve 38 to rotate synchronously. The connecting sleeve 38 drives the internal clamping plate 34 to rotate. The clamping plate 34 drives the threaded rod 32 to rotate synchronously through the connecting cylinder 33. When the threaded rod 32 rotates, it drives the second moving plate 30 to move. The second moving plate 30 drives the lower end of the base plate 25 to move through the third telescopic rod 31, thereby causing the base plate 25 to rotate. That is, when the position of the second support plate 4 is adjusted, the tilt angle of the base plate 25 changes synchronously to be parallel to the outer surface of the new part, thereby adapting to the processing requirements of different parts. When the position of the second support plate 4 is changed for processing different parts, the tilt angle of the base plate 25 can be adjusted synchronously, so that the positioning support adjustment of the part and the tilt angle of the grinding component are adjusted synchronously according to the part. The operator only needs to adjust the position of the second support plate 4, and the tilt angle of the base plate 25 will automatically follow, reducing the step of adjusting the angle separately, improving work efficiency, and reducing the error of adjusting separately. This ensures that the grinding component can make stable contact with the outer surface of the tubular part, further improving the grinding quality.

[0041] When the moving frame 24 moves toward the tubular part, the clamping plate 34 can move within the connecting sleeve 38. The third roller 42 first contacts the outer surface of the tubular part. As the moving frame 24 moves, pressure is generated on the corresponding pressure sensor 45 through the third moving plate 41, the second spring 43, and the second pressure plate 44. If the readings of the two sets of pressure sensors 45 are the same, it means that the substrate 25 is parallel to the outer surface of the tubular part and can be polished. At this time, the third electric telescopic rod 39 retracts to disengage the third roller 42 from the surface of the tubular part, and subsequent polishing can be performed.

[0042] If the readings of the two sets of pressure sensors 45 are different, it indicates that the substrate 25 is not parallel to the outer surface of the tubular part. At this time, check whether all the first pressure plates 11 are in contact with the end of the tubular part. If there are first pressure plates 11 that are not in contact, it indicates that there is a problem with the placement of the tubular part. After adjustment, re-fix the tubular part. If they are in contact, it indicates that there is no problem with the positioning of the tubular part. It is necessary to adjust the tilt angle of the substrate 25. At this time, release the fixing of the connecting cylinder 33 and the threaded rod 32 and rotate the threaded rod 32 alone to adjust the tilt angle of the substrate 25 until the readings of the two sets of pressure sensors 45 are the same. Then fix the connecting cylinder 33 and the threaded rod 32 again with the fixing screw. The readings of the two sets of pressure sensors 45 indirectly reflect whether the substrate 25 is parallel to the surface of the tubular part, thereby realizing the detection of the tilt angle of the substrate 25. Based on the detection results, the tubular part or the substrate 25 can be adjusted to ensure that the grinding disc 29 can make stable contact with the surface of the tubular part, and further ensure the grinding quality of the tubular part.

[0043] Please see Figures 1-4 As shown, this invention is a grinding process applied to the grinding device for a tubular component of a drone described above, comprising the following steps: Step S1: Based on the taper of the tubular part, the second threaded cylinder 17 drives the second support plate 4 to move to the set position, and then the tubular part can be sleeved on the vertical rod 2, and the tubular part is supported by the first support plate 3 and the second support plate 4. Step S2: The power plate 15 moves towards the top plate 9. After the power plate 15 contacts the first roller 12, it pushes the top plate 9 to move downward. When the top plate 9 moves downward, it pushes the first pressure plate 11 to rotate until the first pressure plate 11 contacts the top of the tubular part synchronously. The tubular part is pressed and fixed on the first support plate 3 and the second support plate 4. Step S3: Based on the inclination angle of the outer surface of the tubular part, the threaded rod 32 drives the base plate 25 to rotate so that the base plate 25 is parallel to the outer surface of the tubular part. The second electric telescopic rod 23 drives the moving frame 24 to move closer to the tubular part until the grinding disc 29 contacts the surface of the tubular part. Step S4: Simultaneously start the first motor 6 and the second motor 28. The first motor 6 drives the tubular part to rotate, and the second motor 28 drives the grinding disc 29 to rotate. The outer surface of the tubular part is ground by the grinding disc 29. The first moving plate 27 is moved along the base plate 25 by the servo module 26 so that the grinding disc 29 can fully grind the outer surface of the tubular part. Step S5: After grinding is completed, the moving frame 24 moves in the opposite direction, the grinding disc 29 disengages from the tubular part, the power plate 15 moves in the opposite direction to disengage from the first roller 12, and the top plate 9 moves upward under the action of the first spring 8 to release the pressure of the first pressure plate 11 on the tubular part. Then the tubular part can be removed and replaced.

Claims

1. A grinding device for tubular components of unmanned aerial vehicles, comprising a base (1), characterized in that, A vertical rod (2) driven by a first motor (6) is rotatably mounted on the base (1). A first support plate (3) is fixedly mounted on the vertical rod (2). A second support plate (4) that rotates synchronously with the vertical rod (2) is slidably mounted on the vertical rod (2). A second threaded cylinder (17) that pushes the second support plate (4) to move is provided on the base (1). A first telescopic rod (7) is fixedly mounted at the end of the vertical rod (2). A top plate (9) is fixedly mounted at the end of the first telescopic rod (7). Multiple sets of connecting plates (10) are rotatably connected to the top plate (9). Multiple sets of first pressure plates (11) that are distributed corresponding to the connecting plates (10) are rotatably mounted at the end of the vertical rod (2) away from the base (1). The first pressure plates (11) are rotatably connected to the corresponding connecting plates (10). A first roller (12) is rotatably mounted on the top plate (9). A power plate (15) that cooperates with the first roller (12) to push the top plate (9) to move downward is provided on the base (1). A second vertical plate (22) is fixedly installed on the base (1). A second electric telescopic rod (23) is fixedly installed on the second vertical plate (22). A movable frame (24) is fixedly installed at the output end of the second electric telescopic rod (23). A base plate (25) is rotatably installed inside the movable frame (24). A first movable plate (27) is slidably installed on the base plate (25). A servo module (26) that drives the first movable plate (27) to move is provided on the base plate (25). A second motor (28) is fixedly installed on the base plate (25). A grinding disc (29) is fixedly installed at the output end of the second motor (28). A threaded rod (32) that drives the base plate (25) to rotate is rotatably installed on the movable frame (24).

2. The grinding device for tubular components of a drone according to claim 1, characterized in that, Both the first support plate (3) and the second support plate (4) are circular. The diameter of the second support plate (4) is larger than that of the first support plate (3). A limit plate (5) is fixedly installed on the vertical rod (2). The limit plate (5) and the second support plate (4) are slidably connected.

3. The grinding device for tubular components of a drone according to claim 1, characterized in that, A first vertical plate (13) is fixedly installed on the base (1), and a first electric telescopic rod (14) is fixedly installed on the first vertical plate (13). A power plate (15) is fixedly installed at the output end of the first electric telescopic rod (14). The power plate (15) is triangular and the surface of the power plate (15) in contact with the first roller (12) has an angle with the horizontal plane.

4. The grinding device for tubular components of a drone according to claim 1, characterized in that, A first threaded cylinder (16) is rotatably mounted on the base (1). The first threaded cylinder (16) is coaxially arranged with the vertical rod (2). A second threaded cylinder (17) is threadedly connected to the first threaded cylinder (16). A worm (35) driven by a third motor (36) is rotatably mounted on the base (1). The worm (35) meshes with a worm wheel (37) fixedly mounted on the first threaded cylinder (16).

5. The grinding device for tubular components of a drone according to claim 4, characterized in that, Two sets of limiting rings (20) are fixedly installed on the second threaded cylinder (17). Multiple sets of second telescopic rods (21) are fixedly installed on the limiting rings (20) near the base (1). The end of the second telescopic rod (21) away from the limiting rings (20) is fixedly connected to the base (1).

6. The grinding device for tubular components of a drone according to claim 5, characterized in that, Multiple sets of support plates (18) arranged in a circular array around the vertical rod (2) are fixedly installed on the second support plate (4). Two sets of second rollers (19) are rotatably installed on the support plate (18). The second rollers (19) respectively roll into contact with the corresponding limiting rings (20).

7. The grinding device for tubular components of a drone according to claim 4, characterized in that, The second moving plate (30) is slidably installed on the horizontal end of the moving frame (24) near the base (1). A third telescopic rod (31) is fixedly installed on the second moving plate (30). One end of the third telescopic rod (31) away from the base (1) is rotatably connected to the end of the base plate (25). The other end of the base plate (25) is rotatably connected to the horizontal end of the moving frame (24) away from the base (1). The threaded rod (32) is threadedly connected to the second moving plate (30) and drives the second moving plate (30) to move.

8. The grinding device for tubular components of a drone according to claim 7, characterized in that, A connecting sleeve (38) is fixedly installed at the end of the worm (35). A clamping plate (34) is slidably installed inside the connecting sleeve (38). A connecting cylinder (33) is fixedly installed on the clamping plate (34). The connecting cylinder (33) is fixedly connected to the threaded rod (32) by a fixing screw.

9. A grinding device for tubular components of a drone according to claim 1, characterized in that, A third electric telescopic rod (39) is fixedly installed on the first movable plate (27). A mounting frame (40) is fixedly installed on the output end of the third electric telescopic rod (39). Two sets of third movable plates (41) are slidably installed on the mounting frame (40). A third roller (42) is rotatably installed on the end of the third movable plate (41) away from the first movable plate (27). A second spring (43) is fixedly connected to the end of the third movable plate (41) located in the mounting frame (40). A second pressure plate (44) is connected to the end of the second spring (43). The second pressure plate (44) is used in conjunction with a pressure sensor (45) fixedly installed in the mounting frame (40).

10. A polishing process, characterized in that, A grinding apparatus for a tubular component of a drone as described in any one of claims 1-9, comprising the following steps: Step S1: Based on the taper of the tubular part, the second support plate (4) is moved to the set position by the second threaded cylinder (17), and then the tubular part can be sleeved on the vertical rod (2), and the tubular part is supported by the first support plate (3) and the second support plate (4). Step S2: The power plate (15) moves towards the top plate (9). After the power plate (15) contacts the first roller (12), it pushes the top plate (9) downward. When the top plate (9) moves downward, it pushes the first pressure plate (11) to rotate until the first pressure plate (11) contacts the top of the tubular part synchronously. The tubular part is pressed and fixed on the first support plate (3) and the second support plate (4). Step S3: Based on the inclination angle of the outer surface of the tubular part, the base plate (25) is rotated by the threaded rod (32) so that the base plate (25) is parallel to the outer surface of the tubular part. The moving frame (24) is moved closer to the tubular part by the second electric telescopic rod (23) until the grinding disc (29) contacts the surface of the tubular part. Step S4: Simultaneously start the first motor (6) and the second motor (28). The first motor (6) drives the tubular part to rotate, and the second motor (28) drives the grinding disc (29) to rotate. The outer surface of the tubular part is ground by the grinding disc (29). The first moving plate (27) is driven by the servo module (26) to move along the base plate (25) so that the grinding disc (29) can fully grind the outer surface of the tubular part. Step S5: After grinding, the moving frame (24) moves in the opposite direction, the grinding disc (29) is separated from the tubular part, the power plate (15) moves in the opposite direction to separate from the first roller (12), and under the action of the first spring (8), the top plate (9) moves upward to release the first pressure plate (11) from pressing and fixing the tubular part, and then the tubular part can be removed for replacement.

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