Polishing device

Abstract

The utility model provides a grinding device. The grinding device comprises a grinding material, a machine head, a machine head mounting plate, a floating assembly, a sensor and a controller, the grinding material is used for grinding a workpiece, the machine head clamps the grinding material, the machine head mounting plate is provided with a through hole, the machine head is mounted in the through hole, and the floating assembly is mounted on the machine head mounting plate and used for moving in the first direction to adjust the grinding force of the grinding material for grinding the workpiece. When the abrasive grinds the workpiece, the sensor detects the magnitude of force applied by the abrasive to the workpiece, the controller controls the floating assembly to move in the first direction according to the magnitude of the force, then the grinding force of the abrasive to grind the workpiece is adjusted, and the first direction is the height direction between the floating assembly and the machine head. The movement of the floating assembly is controlled through the controller according to the detected force, so that the grinding force of the grinding material for grinding the workpiece is controlled, the time for debugging the grinding device is shortened, the production efficiency is improved, different workpieces can be ground, and the universality of the grinding device is improved.

Description

Technical Field

[0001] The present application relates to the field of mechanical technology, and in particular to a grinding device. Background Art

[0002] At present, grinding of various workpieces is a common technical means, and the demand for grinding devices is gradually increasing. Designing a grinding device that meets the processing requirements has also become a problem that needs to be solved. However, the current grinding device cannot adjust the force applied by the grinding device during the grinding operation in the welding factory, and the grinding device can only apply a single grinding pressure to the workpiece, which requires the staff to adjust the grinding force of the grinding device during the grinding process, increasing the debugging time of the grinding device and reducing production efficiency. The grinding pressure cannot be adjusted according to the different workpieces, so it cannot grind different workpieces well, reducing the versatility of the grinding device. Utility Model Content

[0003] The embodiments of the present application provide a grinding device that can solve at least part of the above-mentioned technical problems.

[0004] The present application provides a grinding device, comprising:

[0005] an abrasive material, wherein the abrasive material is used for grinding a workpiece;

[0006] A machine head, the machine head clamping the abrasive;

[0007] A machine head mounting plate, wherein the machine head mounting plate is provided with a through hole, and the machine head is mounted in the through hole;

[0008] A floating assembly, the floating assembly is mounted on the head mounting plate and is used to move along a first direction and to adjust the grinding force of the abrasive grinding the workpiece;

[0009] A sensor, used for detecting the magnitude of the force applied by the abrasive to the workpiece when the abrasive is grinding the workpiece;

[0010] A controller controls the floating assembly to move along the first direction according to the magnitude of the force, thereby adjusting the grinding force of the abrasive grinding the workpiece; wherein the first direction is the height direction between the floating assembly and the machine head.

[0011] The present application provides a grinding device. The grinding device includes an abrasive, a machine head, a machine head mounting plate, a floating assembly, a sensor and a controller. The abrasive is used to grind a workpiece. The machine head clamps the abrasive. The machine head mounting plate is provided with a through hole. The machine head is mounted on the through hole. The floating assembly is mounted on the machine head mounting plate and is used to move along a first direction to adjust the grinding force of the abrasive grinding the workpiece. The sensor is used to detect the magnitude of the force applied by the abrasive to the workpiece when the abrasive grinds the workpiece. The controller is used to control the floating assembly to move along the first direction according to the magnitude of the force, thereby adjusting the grinding force of the abrasive grinding the workpiece, wherein the first direction is the height direction between the floating assembly and the machine head. The present application controls the movement of the floating assembly according to the magnitude of the detected force by the controller to control the grinding force of the abrasive grinding the workpiece, thereby reducing the time for debugging the grinding device, improving production efficiency, and can also grind different workpieces, thereby improving the versatility of the grinding device. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0013] Figure 1 It is a schematic block diagram of the structure of the grinding device in the embodiment of the present application.

[0014] Figure 2 It is a schematic diagram of the three-dimensional structure of the grinding device in the embodiment of the present application.

[0015] Figure 3 It is a schematic three-dimensional structure diagram of a part of the structure of the grinding device in the embodiment of the present application.

[0016] Figure 4 It is a three-dimensional exploded view of a part of the structure of the grinding device in the embodiment of the present application.

[0017] Figure 5 It is a schematic diagram of the three-dimensional structure of the floating assembly in the embodiment of the present application.

[0018] Figure 6 It is a schematic three-dimensional structure diagram of a part of the structure of the grinding device in the embodiment of the present application in another direction.

[0019] Figure Number:

[0020] Grinding device - 100;

[0021] Abrasive-1; center rod-111; machine head-2; machine head housing-21; rotating part-22; clamping member-23; machine head mounting plate-3; first machine head mounting plate-31; second machine head mounting plate-32; floating assembly-4; fixed mounting plate-41; piston hole-411; guide hole-412; cylinder-42; cylinder body-421; piston rod-422; first air inlet-423; floating mounting plate-43; bearing-44; guide rod-45; first direction-46; sensor-5; controller-6; protective cover-7; air motor-8; second air inlet-81; air outlet-82;

[0022] Casing-9; first side-91; second side-92; second opening-921; air connector mounting plate-93; first air hole-931; air hole plate-94; air outlet hole-941; top plate-10; muffler-11; air connector-12; second air hole-121; third air hole-122; connecting part-13; mechanical arm-14; nut-15; through hole-16; air pipe-17. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0024] In the description of the embodiments of the present application, it should be understood that the orientation or positional relationship indicated by the terms "upper" and "lower" is based on the orientation or positional relationship shown in the accompanying drawings. The term "connection" in this application, unless otherwise specified, mainly refers to a physical structural connection, and may also include meanings such as direct connection or indirect connection when specified. The terms "first" and "second" in the specification and claims of this application and the drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the term "includes" and any variations thereof are intended to cover non-exclusive inclusions.

[0025] See also Figure 1-Figure 3 , Figure 1 is a schematic block diagram of the structure of the grinding device 100 in the embodiment of the present application, Figure 2 is a schematic diagram of the three-dimensional structure of the grinding device 100 in the embodiment of the present application, Figure 3The present invention is a three-dimensional structural diagram of a part of the structure of a grinding device 100 in an embodiment of the present application. The grinding device 100 includes an abrasive 1, a machine head 2, a machine head mounting plate 3, a floating assembly 4, a sensor 5 and a controller 6. The abrasive 1 is used to grind a workpiece. The machine head 2 clamps the abrasive 1. The machine head mounting plate 3 is provided with a through hole 16. The machine head 2 is mounted on the through hole 16. The floating assembly 4 is mounted on the machine head mounting plate 3 and is used to move along a first direction 46 to adjust the grinding force of the abrasive 1 grinding the workpiece. The sensor 5 is used to detect the magnitude of the force applied by the abrasive 1 to the workpiece when the abrasive 1 grinds the workpiece. The controller 6 is used to control the floating assembly 4 to move along the first direction 46 according to the magnitude of the force, thereby adjusting the grinding force of the abrasive 1 grinding the workpiece. The first direction 46 is the height direction between the floating assembly 4 and the machine head 2.

[0026] Thus, the controller 6 controls the floating assembly 4 to move along the first direction 46 according to the magnitude of the detected force, so as to control the grinding force of the abrasive 1 on the workpiece, thereby reducing the time for debugging the grinding device 100, improving production efficiency, and being able to grind different workpieces, thereby improving the versatility of the grinding device 100.

[0027] As mentioned above, friction will be generated between the various accessories in the grinding device 100, which will cause the force (i.e., grinding force) applied by the abrasive 1 (which can also be regarded as the grinding device 100) to the workpiece to deviate from the pre-set force. If the yield rate and grinding effect of the workpiece are to be guaranteed, the grinding force of the grinding device 100 needs to be adjusted. In addition, the grinding force of the grinding device 100 when grinding different workpieces can be set in the controller 6, that is, the magnitude of the force applied by the grinding device 100 to different workpieces can be set, so that different workpieces can be ground better and more efficiently.

[0028] It is understandable that the workpiece may be but is not limited to a white body of a car after welding, and the abrasive 1 may be made of but is not limited to Figure 3 The circular abrasive tool is not limited here.

[0029] Please also read Figure 4 and Figure 5 , Figure 4 is a three-dimensional exploded view of a part of the structure of the grinding device 100 in the embodiment of the present application, Figure 5 FIG. 4 is a schematic diagram of a three-dimensional structure of a floating assembly 4 in an embodiment of the present application. Figure 4 and Figure 5As shown, the floating assembly 4 includes a floating mounting plate 43, a fixed mounting plate 41 and a plurality of cylinders 42, the floating mounting plate 43 is mounted on the machine head mounting plate 3, the fixed mounting plate 41 is provided with a plurality of piston holes 411, the plurality of piston holes 411 are arranged at intervals along the circumference of the fixed mounting plate 41, the plurality of cylinder bodies 421 of the plurality of cylinders 42 are mounted on the fixed mounting plate 41, the plurality of piston rods 422 of the plurality of cylinders 42 respectively pass through the plurality of piston holes 411 and are mounted on the floating mounting plate 43, the plurality of piston rods 422 move along the first direction 46, and are used to drive the floating mounting plate 43 to move along the first direction 46, so as to drive the abrasive 1 to move along the first direction 46.

[0030] Thus, the plurality of piston rods 422 move along the first direction 46 to control the movement of the floating mounting plate 43 , thereby controlling the grinding force of the abrasive 1 on the workpiece, thereby improving the controllability of the floating assembly 4 .

[0031] In some embodiments, the floating component 4 is provided with three piston holes 411 and three cylinders 42, and the three piston holes 411 and the three cylinders 42 are arranged at intervals of 120° along the circumference of the fixed mounting plate 41, and the stability of the triangle is utilized to keep the floating mounting plate 43 in a horizontal state during the movement.

[0032] It is understandable that the multiple piston rods 422 can be installed on the floating mounting plate 43 by means of nuts 15 or welding, and the multiple cylinder bodies 421 can be installed on the fixed mounting plate 41 by means of welding, etc., which is not limited here.

[0033] In some embodiments, the floating assembly 4 also includes a plurality of bearings 44 and a plurality of guide rods 45. The fixed mounting plate 41 is provided with a plurality of guide holes 412. The plurality of guide holes 412 are arranged at intervals along the circumference of the fixed mounting plate 41. The plurality of bearings 44 are respectively installed in the plurality of guide holes 412. One ends of the plurality of guide rods 45 respectively pass through the plurality of bearings 44 and are installed on the floating mounting plate 43. The plurality of guide rods 45 move along the first direction 46 under the action of the plurality of cylinders 42.

[0034] Thus, under the action of the multiple cylinders 42, the multiple guide rods 45 passively move along the first direction 46 in the multiple bearings 44, and the guide rods 45 make the floating component 4 move linearly along the first direction 46, avoiding the displacement of the floating mounting plate 43, limiting the spatial freedom of the floating mounting plate 43, and improving the stability of the movement of the floating component 4.

[0035] In some embodiments, the floating assembly 4 is provided with three guide holes 412 and three guide rods 45, and the three guide holes 412 and the three guide rods 45 are arranged at intervals of 120° along the circumference of the fixed mounting plate 41, and the stability of the triangle is used to keep the floating mounting plate 43 in a horizontal state during the movement. The diameter of one end of the guide rod 45 is larger than the diameter of the other end of the guide rod 45, so that when the multiple guide rods 45 move to the maximum limit along with the multiple piston rods 422, the guide rods 45 are stuck on the bearing 44.

[0036] In some embodiments, Figure 5 As shown, the side wall height of the plurality of guide holes 412 is higher than the side height of the fixed mounting plate 41 so as to better and more stably mount the bearing 44 .

[0037] In some embodiments, Figure 4 and Figure 5 As shown, through holes 16 are provided at the middle positions of the fixed mounting plate 41 and the floating mounting plate 43 , so that the machine head 2 can pass through the fixed mounting plate 41 and the floating mounting plate 43 .

[0038] Please also read Figure 6 , Figure 6 Schematic diagram of the three-dimensional structure of the grinding device 100 in another direction in the embodiment of the present application. Figure 5 and Figure 6 As shown, the grinding device 100 also includes a protective cover 7, which is telescopically installed between the fixed mounting plate 41 and the floating mounting plate 43, wherein one side of the protective cover 7 is installed on a side of the fixed mounting plate 41 close to the floating mounting plate 43, and the other side of the protective cover 7 is installed on a side of the floating mounting plate 43 close to the fixed mounting plate 41.

[0039] Thus, the protective cover 7 can wrap the parts of the plurality of guide rods 45 and the plurality of piston rods 422 exposed to the air to isolate the metal powder generated during the grinding process, thereby effectively extending the service life of the grinding device 100. The protective cover 7 is made of an organic soft material, so the protective cover 7 can be extended and retracted with the movement of the floating mounting plate 43 to better protect the grinding device 100.

[0040] In some embodiments, Figure 4 and Figure 6As shown, the head mounting plate 3 includes a first head mounting plate 31 and a second head mounting plate 32, and the first head mounting plate 31 and the second head mounting plate 32 can be clamped on the head 2 to form a head mounting plate 3, thereby fixing the head 2. The area occupied by the first head mounting plate 31 and the second head mounting plate 32 can be set as needed, which is not limited here.

[0041] In some embodiments, Figure 6 As shown, the inner ring of the floating mounting plate 43 is used to fix the multiple piston rods 422 and the multiple guide rods 45, and the outer ring is the flange surface for mounting the protective cover 7. The through holes 16 on the floating mounting plate 43 and the fixed mounting plate 41 can be installed with nuts 15 and other fixing parts to fix the accessories through the nuts 15.

[0042] In some embodiments, Figure 4 and Figure 6 As shown, the machine head 2 includes a machine head shell 21 and a rotating part 22, the rotating part 22 is mounted inside the machine head shell 21, the rotating part 22 includes a clamping member 23, the clamping member 23 is arranged inside the rotating part 22, the abrasive 1 includes a center rod 111, the center rod 111 is arranged at the center position of the abrasive 1, the clamping member 23 is used to clamp the center rod 111, so that the machine head 2 clamps the abrasive 1, and the controller 6 is also used to control the clamping member 23 to clamp or release the center rod 111, so that the machine head 2 switches the abrasive 1.

[0043] Thus, the controller 6 controls the clamping member 23 to clamp or release the center rod 111, so that the grinding device 100 can switch different abrasives 1 as needed to be compatible with different grinding conditions.

[0044] In some implementations, the clamping member 23 may be a pneumatic clamp or an electric clamp.

[0045] In some embodiments, Figure 4 As shown, the grinding device 100 also includes a housing 9 and a top plate 10, the housing 9 includes a first side 91 and a second side 92, the first side 91 is provided with a first opening (not shown in the figure), the fixed mounting plate 41 is installed on the first side 91, the multiple cylinders 42 enter the interior of the housing 9 through the first opening, the second side 92 is provided with a second opening 921, and the top plate 10 is installed on the second side 92 to close the second opening 921.

[0046] Therefore, the second opening 921 facilitates assembly of various components inside the housing 9 , and the top plate 10 closes the second opening 921 to prevent metal powder from entering the housing 9 through the second opening 921 during the grinding process, thereby extending the service life of the grinding device 100 .

[0047] In some embodiments, Figure 4 As shown, the top plate 10 is mounted on the second side 92 through a flange surface around the second opening 921 .

[0048] In some embodiments, Figure 4 As shown, the housing 9 also includes an air joint mounting plate 93, and the grinding device 100 also includes an air joint 12, wherein the air joint 12 is mounted on the air joint mounting plate 93, and the air joint mounting plate 93 is provided with a first air hole 931, and the air joint 12 is provided with a second air hole 121 and a third air hole 122, and the first air hole 931 is connected to the second air hole 121 so that the gas flows from the air joint 12 into the housing 9.

[0049] Thus, the gas joint 12 provides a passage for gas to enter the interior of the housing 9 , facilitating the movement of the floating assembly 4 .

[0050] In some embodiments, the gas connector 12 includes a right-angle gas connector and a baffle gas connector, one end of the baffle gas connector is installed on the gas connector mounting plate 93, and the right-angle gas connector is installed on the other end of the baffle gas connector to connect to the gas.

[0051] In some embodiments, Figure 4 As shown, the housing 9 further includes an air hole plate 94 , which is installed on one side of the housing 9 . The air hole plate 94 is provided with a plurality of air outlet holes 941 , and the gas inside the housing 9 flows out of the housing 9 through the plurality of air outlet holes 941 .

[0052] Therefore, the excess gas in the housing 9 is discharged through the air hole plate 94 to avoid excessive gas in the housing 9 and generate a large gas pressure, thereby damaging the housing 9 or even the grinding device 100.

[0053] In some embodiments, Figure 4As shown, the grinding device 100 also includes an air pipe 17, the multiple cylinders 42 include multiple first air inlets 423, and the multiple first air inlets 423 are connected to the first air hole 931 through the air pipe 17 to connect to the second air hole 121 of the air connector 12. The grinding device 100 also includes an air supply mechanism (not shown in the figure), which is arranged outside the housing 9 and adjacent to the housing 9. The air supply mechanism is connected to the third air hole 122 of the air connector 12 through the air pipe 17, and a valve is arranged at the connection between the air supply mechanism and the air pipe 17. The controller 6 is also used to control the flow rate of gas flowing out of the valve to control the grinding force of the abrasive 1 grinding the workpiece.

[0054] Thus, the air supply mechanism and the housing 9 are combined together through the air pipe 17 to provide an air path so that the air supply mechanism can provide gas to the multiple cylinders 42; and the controller 6 controls the flow rate of gas flowing out of the valve according to the magnitude of the force applied by the workpiece to the abrasive 1, so as to control the movement of the multiple piston rods 422, and further control the grinding force of the abrasive 1 grinding the workpiece, thereby improving the versatility of the grinding device 100. Among them, the gas pressures of different flow rates are different, and different gas pressures will cause the lengths of the movement paths of the multiple cylinders 42 along the first direction 46 to be different, thereby causing the forces applied by the grinding device 100 to the workpiece to be different, that is, the grinding force of the abrasive 1 grinding the workpiece to be different.

[0055] It can be understood that the valve can be but is not limited to an electric proportional valve, which is not limited here.

[0056] like Figure 4 As shown, Figure 4 The air pipe 17 is provided with three branches to connect the three first air inlets 423 respectively.

[0057] In some embodiments, Figure 1 As shown, the grinding device 100 also includes a connecting part 13 and a mechanical arm 14, the connecting part 13 is installed on the housing 9, the mechanical arm 14 is connected to the connecting part 13, and the controller 6 controls the movement of the mechanical arm 14 to control the grinding angle and grinding position when the abrasive 1 grinds the workpiece.

[0058] Thus, by controlling the robot arm 14 through the controller 6 to adjust the grinding angle and grinding position of the grinding device 100, it can be suitable for complex grinding environments and grinding workpieces, better cope with the complex spatial structure in the workpiece, and improve the versatility of the grinding device 100.

[0059] In some embodiments, the sensor 5 is installed in the connecting portion 13 .

[0060] In some other embodiments, the sensor 5 is installed in the floating mounting plate 43 .

[0061] In some embodiments, Figure 1 and Figure 4 As shown, one end of the connection part 13 is mounted on the housing 9 by bolts, and the other end of the connection part 13 is provided with a flange surface, and the mechanical arm 14 is connected to the connection part 13 by the flange surface.

[0062] In some embodiments, the grinding device 100 also includes a motor, which is installed on a side of the machine head 2 close to the floating assembly 4. The motor is used to drive the machine head 2 and the abrasive 1 to rotate to grind the workpiece during rotation. The controller 6 is also used to control the rotation speed of the motor to control the grinding speed of the abrasive 1 grinding the workpiece.

[0063] Therefore, the controller 6 controls the rotation speed of the motor to better control the grinding speed of the abrasive 1, thereby improving the applicability and versatility of the grinding device 100 and making the grinding device 100 more intelligent.

[0064] In some embodiments, the motor is connected to the head 2 via threads.

[0065] In some embodiments, Figure 4 As shown, the motor is an air motor 8, which includes a second air inlet 81 and an air outlet 82. The second air inlet 81 is used to input gas to drive the air motor 8 to rotate, so that the air motor 8 drives the machine head 2 to rotate. The grinding device 100 also includes a muffler 11, which is installed at the air outlet 82.

[0066] Thus, the air motor 8 can be driven by gas together with the multiple cylinders 42 without the need for other driving sources, further simplifying the structure of the grinding device 100 and saving energy; and the setting of the muffler 11 can reduce the noise of the gas discharged by the air motor 8 and reduce noise pollution.

[0067] As mentioned above, the air motor 8, the machine head 2, the multiple air cylinders 42 and the multiple guide rods 45 are arranged relatively dispersedly and independently, and when the grinding device 100 fails, each accessory can be quickly replaced.

[0068] In some embodiments, the muffler 11 is disposed outside the housing 9 , and the muffler 11 is connected to the air outlet 82 via the air pipe 17 to reduce noise and silence the gas exhausted from the air motor 8 .

[0069] In some embodiments, Figure 4 As shown, the grinding device 100 includes two air joints 12, and the two air joints 12 are installed on the air joint mounting plate 93. The air joint mounting plate 93 is provided with two first air holes 931, and each air joint 12 is provided with a second air hole 121 and a third air hole 122. The two first air holes 931 are respectively connected to the two second air holes 121, so that the gas flows from the two air joints 12 into the housing 9.

[0070] Thus, the two gas joints 12 provide a passage for gas to enter the interior of the housing 9 , facilitating the movement of the floating assembly 4 and the gas motor 8 .

[0071] In some embodiments, Figure 4 As shown, the multiple first air inlets 423 are connected to one of the two air connectors 12 through the air pipe 17, and the second air inlet 81 is connected to the other of the two air connectors 12 through the air pipe 17. The grinding device 100 also includes an air supply mechanism, which is respectively connected to the two air connectors 12 through the air pipe 17, and two valves (not shown in the figure) are arranged at the two connection points between the air supply mechanism and the air pipe 17. The controller 6 is also used to control the flow rate of gas flowing out of the two valves, so as to control the grinding force of the abrasive 1 grinding the workpiece, and the grinding speed of the abrasive 1 grinding the workpiece.

[0072] Thus, the air supply mechanism and the housing 9 are combined together through the air pipe 17 to provide an air path, so that the air supply mechanism can provide gas to the multiple cylinders 42 and the air motor 8; and the controller 6 controls the flow rate of gas out of the valve according to the force applied by the workpiece to the abrasive 1, so as to control the movement of the multiple piston rods 422, further control the grinding force of the abrasive 1 on the workpiece, reduce debugging time, improve production efficiency, and can also control the grinding speed of the abrasive 1 on the workpiece as needed, thereby improving the versatility and flexibility of use of the grinding device 100.

[0073] In some embodiments, the motor includes a rotating shaft (not shown in the figure), and the rotating shaft is connected to the rotating part 22 to drive the abrasive 1 to rotate when the rotating shaft rotates.

[0074] Thus, the rotating shaft drives the rotating part 22 to rotate, so as to drive the abrasive 1 to rotate, thereby avoiding friction between the machine head 2 and the machine head mounting plate 3 .

[0075] The above description is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application; in the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A grinding device, characterized in that: include: an abrasive material, wherein the abrasive material is used for grinding a workpiece; A machine head, the machine head clamping the abrasive; A machine head mounting plate, wherein the machine head mounting plate is provided with a through hole, and the machine head is mounted in the through hole; A floating assembly, the floating assembly is mounted on the head mounting plate and is used to move along a first direction and to adjust the grinding force of the abrasive grinding the workpiece; A sensor, used for detecting the magnitude of the force applied by the abrasive to the workpiece when the abrasive is grinding the workpiece; A controller controls the floating assembly to move along the first direction according to the magnitude of the force, thereby adjusting the grinding force of the abrasive grinding the workpiece; wherein the first direction is the height direction between the floating assembly and the machine head.

2. The grinding device according to claim 1, characterized in that: The floating assembly includes a floating mounting plate, a fixed mounting plate and a plurality of cylinders. The floating mounting plate is mounted on the machine head mounting plate. The fixed mounting plate is provided with a plurality of piston holes. The plurality of piston holes are arranged at intervals along the circumference of the fixed mounting plate. The plurality of cylinder bodies of the plurality of cylinders are mounted on the fixed mounting plate. The plurality of piston rods of the plurality of cylinders respectively pass through the plurality of piston holes and are mounted on the floating mounting plate. The plurality of piston rods move along the first direction to drive the floating mounting plate to move along the first direction, so as to drive the abrasive to move along the first direction.

3. The grinding device according to claim 2, characterized in that: The floating assembly also includes multiple bearings and multiple guide rods. The fixed mounting plate is provided with multiple guide holes, and the multiple guide holes are arranged at intervals along the circumference of the fixed mounting plate. Multiple bearings are installed in the multiple guide holes. One ends of the multiple guide rods pass through the multiple bearings respectively and are installed on the floating mounting plate. The multiple guide rods move along the first direction under the action of the multiple cylinders.

4. The grinding device according to claim 2, characterized in that: The grinding device also includes a protective cover, which is telescopically installed between the fixed mounting plate and the floating mounting plate, wherein one side of the protective cover is installed on a side of the fixed mounting plate close to the floating mounting plate, and the other side of the protective cover is installed on a side of the floating mounting plate close to the fixed mounting plate.

5. The grinding device according to claim 2, characterized in that: The grinding device also includes a motor, which is installed on a side of the machine head close to the floating assembly. The motor is used to drive the machine head and the abrasive to rotate when rotating to grind the workpiece. The controller is also used to control the rotation speed of the motor to control the grinding speed of the abrasive grinding the workpiece.

6. The grinding device according to claim 5, characterized in that: The grinding device also includes a casing and a top plate. The casing includes a first side and a second side. The first side is provided with a first opening. The fixed mounting plate is installed on the first side. The multiple cylinders enter the interior of the casing through the first opening. The second side is provided with a second opening. The top plate is installed on the second side to close the second opening.

7. The grinding device according to claim 6, characterized in that: The housing also includes an air joint mounting plate, and the polishing device also includes an air joint, the air joint is mounted on the air joint mounting plate, the air joint mounting plate is provided with a first air hole, the air joint is provided with a second air hole and a third air hole, the first air hole is connected to the second air hole, so that the gas flows from the air joint into the housing.

8. The grinding device according to claim 7, characterized in that: The grinding device also includes an air pipe, the multiple cylinders include multiple first air inlets, the multiple first air inlets are connected to the first air hole through the air pipe to connect to the second air hole of the air joint, the grinding device also includes an air supply mechanism, the air supply mechanism is arranged outside the casing and adjacent to the casing, the air supply mechanism is connected to the third air hole of the air joint through the air pipe, and a valve is arranged at the connection between the air supply mechanism and the air pipe, and the controller is also used to control the flow rate of gas flowing out of the valve to control the grinding force of the abrasive grinding the workpiece.

9. The grinding device according to claim 6, characterized in that: The motor is an air motor, which includes a second air inlet and an air outlet. The second air inlet is used to input gas to drive the air motor to rotate, so that the air motor drives the machine head to rotate. The grinding device also includes a muffler, which is installed at the air outlet.

10. The grinding device according to claim 9, characterized in that: The housing includes an air joint mounting plate, and the polishing device also includes two air joints, the two air joints are mounted on the air joint mounting plate, the air joint mounting plate is provided with two first air holes, each air joint is provided with a second air hole and a third air hole, the two first air holes are respectively connected to the two second air holes, so that the gas flows from the two air joints into the housing.

11. The grinding device according to claim 10, characterized in that: The grinding device also includes an air pipe, and the multiple cylinders include multiple first air inlets, and the multiple first air inlets are connected to one of the two air joints through the air pipe, and the second air inlet is connected to the other of the two air joints through the air pipe. The grinding device also includes an air supply mechanism, and the air supply mechanism is respectively connected to the two air joints through the air pipe, and two valves are arranged at the two connection points between the air supply mechanism and the air pipe. The controller is also used to control the flow rate of gas flowing out of the two valves, so as to control the grinding force of the abrasive grinding the workpiece, and the grinding speed of the abrasive grinding the workpiece.

12. The grinding device according to claim 5, characterized in that: The machine head includes a machine head shell and a rotating part, the rotating part is mounted inside the machine head shell, the rotating part includes a clamping member, the clamping member is arranged inside the rotating part, the abrasive includes a center rod, the center rod is arranged at the center position of the abrasive, the clamping member is used to clamp the center rod so that the machine head clamps the abrasive, and the controller is also used to control the clamping member to clamp or release the center rod so that the machine head switches the abrasive.

13. The grinding device according to claim 12, characterized in that: The motor includes a rotating shaft connected to the rotating part so as to drive the abrasive to rotate when the rotating shaft rotates.

14. The grinding device according to claim 6, characterized in that: The grinding device also includes a connecting part and a mechanical arm, wherein the connecting part is mounted on the housing, and the mechanical arm is connected to the connecting part. The controller controls the movement of the mechanical arm to control the grinding angle and grinding position when the abrasive grinds the workpiece.

15. The grinding device according to claim 7 or 10, characterized in that: The housing further comprises an air hole plate, which is installed on one side of the housing. The air hole plate is provided with a plurality of air outlet holes, and the gas inside the housing flows out of the housing through the plurality of air outlet holes.

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