CN213054139U

CN213054139U - Polishing robot

Info

Publication number: CN213054139U
Application number: CN202021975288.1U
Authority: CN
Inventors: 谭林林
Original assignee: Xi'an Bangpu Industrial Automation Co ltd
Current assignee: Xi'an Bangpu Industrial Automation Co ltd
Priority date: 2020-09-11
Filing date: 2020-09-11
Publication date: 2021-04-27
Anticipated expiration: 2030-09-11

Abstract

The utility model relates to an industrial robot application, more specifically the burnishing and polishing robot that says so, including unable adjustment base, elevating system, slide mechanism, drive mechanism and the subassembly of polishing, the utility model discloses well wheel of polishing can use the gear pole to rotate as the axle to the wheel of polishing can keep away from or be close to the gear pole, and the wheel of polishing can also rise or descend, and the wheel of polishing can also use the rotation post axis to rotate about the axle, and the robot of being convenient for can multi-direction multi-angle removal adjustment wheel of polishing to satisfy the different requirements of polishing of different objects. The fixed base comprises a bottom plate and a supporting seat, the lower end of the supporting seat is fixedly connected to the bottom plate, the lifting mechanism comprises a fixed rod, a lifting plate, a rotating column, a holding rod I, a supporting plate, an air cylinder and an air cylinder rod, the lower end of the fixed rod is fixedly connected to the rotating column, the rotating column is rotatably connected to the supporting seat, the holding rod I is arranged on the rotating column, the supporting plate is fixedly connected to the upper end of the rotating column, and the air cylinder is fixedly connected to the upper end of.

Description

Polishing robot

Technical Field

The utility model relates to an industrial robot application, more specifically the burnishing and polishing robot that says so.

Background

The utility model discloses a polishing robot, including machine base, machine body and operation panel, be equipped with the external control button on the machine base, be equipped with the support frame on the machine base and set up the display on the support frame, machine base top is equipped with the operation panel, be equipped with harmonic speed reducer ware, horizontal rotation axle, work piece, tow chain and Y axle motion slip table on the operation panel, the work piece with the harmonic speed reducer ware sets up the both sides at horizontal rotation axle respectively, be equipped with Y axle guide rail on the Y axle motion slip table, the operation panel top is equipped with machine body, machine body includes X axle module, Y axle module, Z axle module and machine mechanism, X axle module includes X axle sensor, X axle motor, X axle lead screw, X axle guide rail and X axle motion slip table. The device has the advantages of high precision and convenient operation, and has the defect that the grinding wheel can not be moved and adjusted in multiple directions and angles to meet different grinding requirements of different objects.

SUMMERY OF THE UTILITY MODEL

The utility model provides a burnishing and polishing robot, its beneficial effect be the robot can multi-direction multi-angle removal adjustment wheel position of polishing, the position that does not need the adjustment piece of polishing just can carry out a plurality of positions to the piece of polishing and polish, the wheel of polishing can also polish to the curved surface piece of polishing.

The utility model relates to an industrial robot application, more specifically the burnishing and polishing robot that says so, including unable adjustment base, elevating system, slide mechanism, drive mechanism and the subassembly of polishing, the utility model discloses well wheel of polishing can use the gear pole to rotate as the axle to the wheel of polishing can keep away from or be close to the gear pole, and the wheel of polishing can also rise or descend, and the wheel of polishing can also use the rotation post axis to rotate about the axle, and the robot of being convenient for can multi-direction multi-angle removal adjustment wheel of polishing to satisfy the different requirements of polishing of different objects.

The polishing machine is characterized in that a lifting mechanism is connected to the fixed base in a sliding mode, the sliding mechanism is fixedly connected to the lifting mechanism, a transmission mechanism is connected to the lifting mechanism in a sliding mode, the lower end of the transmission mechanism is fixedly connected to the upper end of the sliding mechanism, and a polishing assembly is connected to the transmission mechanism in a rotating mode.

The fixed base comprises a bottom plate and a supporting seat, and the lower end of the supporting seat is fixedly connected to the bottom plate.

Elevating system includes dead lever, lifter plate, rotation post, holding rod I, backup pad, cylinder and cylinder pole, and dead lever lower extreme fixed connection rotates the post and rotates to be connected in the supporting seat on rotating the post, is provided with holding rod I on the post, and backup pad fixed connection rotates post upper end, and backup pad upper end fixedly connected with cylinder is provided with the cylinder pole on the cylinder, cylinder pole upper end fixedly connected with lifter plate, lifter plate sliding connection is on the dead lever.

Slide mechanism includes telescopic link, fixed plate, slider, holding rod II and restriction board I, and fixed plate rear end fixed connection has the slider on the fixed plate on the dead lever, slider right-hand member fixedly connected with holding rod II, and two I bilateral symmetry fixed connections of restriction board are on the slider, slider upper end fixedly connected with telescopic link.

Drive mechanism includes gear, restriction board II, slide, L shaped plate and servo motor I, and two II bilateral symmetry fixed connections of restriction board are on the slide, and slide sliding connection is on the lifter plate, telescopic link upper end fixed connection on the slide, and L shaped plate lower extreme fixed connection is on the slide, L shaped plate upper end fixedly connected with servo motor I, fixedly connected with gear on the output shaft of servo motor I.

The grinding assembly comprises a gear rod, an electric telescopic rod, a connecting plate, a servo motor II, a grinding wheel and a limiting ring, the rear end of the gear rod is connected to the L-shaped plate in a rotating mode, the two limiting rings are fixedly connected to the gear rod, the electric telescopic rod is fixedly connected to the left end of the gear rod, the connecting plate is fixedly connected to the left end of the electric telescopic rod, the servo motor II is fixedly connected to the front end of the connecting plate, the grinding wheel is fixedly connected to an output shaft of the servo motor II, and the gear rod is meshed with.

The utility model relates to a burnishing and polishing robot's beneficial effect does:

the utility model relates to a burnishing and polishing robot, the utility model discloses well robot can multi-direction multi-angle removal adjustment wheel position of polishing, and the position that does not need the adjustment piece of polishing just can carry out a plurality of positions to the piece of polishing and polish, and the wheel of polishing can also polish to the curved surface piece of polishing.

Drawings

The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

Fig. 1 is a schematic view of the overall structure of a grinding and polishing robot of the present invention;

fig. 2 is a schematic view of the overall structure of a polishing robot of the present invention;

FIG. 3 is a schematic structural view of the fixing base;

FIG. 4 is a first schematic structural diagram of the lifting mechanism;

FIG. 5 is a second schematic structural view of the lifting mechanism;

FIG. 6 is a first schematic structural diagram of a sliding mechanism;

FIG. 7 is a second schematic structural view of the sliding mechanism;

FIG. 8 is a schematic structural view of the transmission mechanism;

FIG. 9 is a first schematic structural view of a grinding assembly;

fig. 10 is a schematic structural diagram of a second grinding assembly.

In the figure: a fixed base 1; a bottom plate 1-1; 1-2 parts of a supporting seat; a lifting mechanism 2; fixing a rod 2-1; 2-2 of a lifting plate; 2-3 of a rotating column; 2-4 of a holding rod; 2-5 of a support plate; 2-6 of cylinders; cylinder rods 2-7; a slide mechanism 3; 3-1 of a telescopic rod; a fixing plate 3-2; 3-3 of a slide block; 3-4 of a holding rod; 3-5 of a limiting plate; a transmission mechanism 4; gear 4-1; a limiting plate II 4-2; 4-3 of a sliding plate; an L-shaped plate 4-4; 4-5 of a servo motor; a grinding component 5; a gear lever 5-1; 5-2 parts of an electric telescopic rod; 5-3 of a connecting plate; a servo motor II 5-4; grinding wheel 5-5; and 5-6 of a limiting ring.

Detailed Description

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

The first embodiment is as follows:

the embodiment is described below with reference to fig. 1-10, the utility model relates to the field of industrial robot application, more specifically to a grinding and polishing robot, which comprises a fixed base 1, a lifting mechanism 2, a sliding mechanism 3, a transmission mechanism 4 and a grinding component 5, the grinding wheel 5-5 of the utility model can rotate around a gear rod 5-1 as an axis, the grinding wheel 5-5 can be far away from or close to the gear rod 5-1, the grinding wheel 5-5 can also ascend or descend, the grinding wheel 5-5 can also rotate left and right by taking the axis of the rotating column 2-3 as a shaft, so that the robot can move and adjust the grinding wheel 5-5 in multiple directions and angles, the polishing wheel 5-5 can rotate by taking the gear rod 5-1 as an axis so as to meet different polishing requirements of different objects, and can polish a plurality of positions of the objects.

Sliding connection has elevating system 2 on

unable adjustment base

1, and 3 fixed connection of slide mechanism are on elevating system 2, and fixedly connected with slide mechanism 3 is gone up to elevating

system

2, and 4 sliding connection of drive mechanism are on elevating

system

2, and 4 lower extreme fixed connection of drive mechanism are in 3 upper ends of slide mechanism, rotate on the drive mechanism 4 and are connected with polishing subassembly 5.

The second embodiment is as follows:

referring to fig. 1-10, the fixing base 1 includes a bottom plate 1-1 and a supporting seat 1-2, and the lower end of the supporting seat 1-2 is fixedly connected to the bottom plate 1-1. The bottom plate 1-1 is used for supporting and fixing the supporting seat 1-2, and the supporting seat 1-2 is used for allowing the rotating column 2-3 to rotate in the supporting seat.

The third concrete implementation mode:

referring to fig. 1-10, the lifting mechanism 2 comprises a fixed rod 2-1, a lifting plate 2-2, and a rotating column 2-3, the device comprises a holding rod I2-4, a supporting plate 2-5, an air cylinder 2-6 and an air cylinder rod 2-7, wherein the lower end of a fixing rod 2-1 is fixedly connected to a rotating column 2-3, the rotating column 2-3 is rotatably connected to a supporting seat 1-2, the holding rod I2-4 is arranged on the rotating column 2-3, the supporting plate 2-5 is fixedly connected to the upper end of the rotating column 2-3, the air cylinder 2-6 is fixedly connected to the upper end of the supporting plate 2-5, the air cylinder rod 2-7 is arranged on the air cylinder 2-6, a lifting plate 2-2 is fixedly connected to the upper end of the air cylinder rod 2-7, and the lifting plate 2-2 is slidably connected. The cylinder 2-6 drives the cylinder rod 2-7 to ascend or descend, and the cylinder rod 2-7 drives the lifting plate 2-2 to ascend or descend; the holding rod I2-4 is rotated, the holding rod I2-4 drives the rotating column 2-3 to rotate in the supporting seat 1-2, the rotating column 2-3 drives the fixing rod 2-1 to rotate, and the fixing rod 2-1 drives the lifting plate 2-2 to rotate.

The fourth concrete implementation mode:

the embodiment is described below with reference to fig. 1 to 10, the sliding mechanism 3 includes a telescopic rod 3-1, a fixed plate 3-2, a sliding block 3-3, a holding rod ii 3-4 and limiting plates i 3-5, the rear end of the fixed plate 3-2 is fixedly connected to the fixed rod 2-1, the sliding block 3-3 is slidably connected to the fixed plate 3-2, the holding rod ii 3-4 is fixedly connected to the right end of the sliding block 3-3, the two limiting plates i 3-5 are fixedly connected to the sliding block 3-3 in a bilateral symmetry manner, and the telescopic rod 3-1 is fixedly connected to the upper end of the sliding block 3-3. When the sliding plate 4-3 ascends or descends, the sliding plate 4-3 drives the telescopic rod 3-1 to extend or shorten; the holding rod II 3-4 is moved forwards or backwards, the holding rod II 3-4 drives the sliding block 3-3 to move forwards or backwards, and the sliding block 3-3 drives the telescopic rod 3-1 to move forwards or backwards.

The fifth concrete implementation mode:

the embodiment is described below with reference to fig. 1-10, the transmission mechanism 4 includes a gear 4-1, two limiting plates ii 4-2, a sliding plate 4-3, an L-shaped plate 4-4, and a servo motor i 4-5, the two limiting plates ii 4-2 are fixed on the sliding plate 4-3 in bilateral symmetry, the sliding plate 4-3 is connected on the lifting plate 2-2 in a sliding manner, the upper end of the telescopic rod 3-1 is fixed on the sliding plate 4-3, the lower end of the L-shaped plate 4-4 is fixed on the sliding plate 4-3, the upper end of the L-shaped plate 4-4 is fixedly connected with the servo motor i 4-5, and the output shaft of the servo motor i 4-5 is fixedly connected with the gear 4-. When the lifting plate 2-2 ascends or descends, the lifting plate 2-2 drives the two limiting plates II 4-2 and the sliding plate 4-3 to ascend or descend, and the sliding plate 4-3 drives the L-shaped plate 4-4 to ascend or descend; when the telescopic rod 3-1 moves forwards or backwards, the telescopic rod 3-1 drives the sliding plate 4-3 and the two limiting plates II 4-2 to move forwards or backwards, and the sliding plate 4-3 drives the L-shaped plate 4-4 to move forwards or backwards; an output shaft of the servo motor I4-5 drives the gear 4-1 to rotate; when the lifting plate 2-2 rotates, the lifting plate 2-2 rotates to drive the two limiting plates II 4-2 and the sliding plate 4-3 to rotate, the sliding plate 4-3 drives the L-shaped plate 4-4 to rotate, and the two limiting plates II 4-2 are used for preventing the sliding plate 4-3 from being separated from the lifting plate 2-2.

The sixth specific implementation mode:

referring to fig. 1-10, the grinding assembly 5 comprises a gear rod 5-1, an electric telescopic rod 5-2, and a connecting plate 5-3, the grinding wheel device comprises servo motors II 5-4, grinding wheels 5-5 and limiting rings 5-6, the rear end of a gear rod 5-1 is rotatably connected to an L-shaped plate 4-4, the two limiting rings 5-6 are fixedly connected to the gear rod 5-1, the left end of the gear rod 5-1 is fixedly connected with an electric telescopic rod 5-2, the left end of the electric telescopic rod 5-2 is fixedly connected with a connecting plate 5-3, the front end of the connecting plate 5-3 is fixedly connected with the servo motors II 5-4, an output shaft of the servo motors II 5-4 is fixedly connected with the grinding wheels 5-5, and the gear rod 5-1 is meshed with a gear 4-1. When the L-shaped plate 4-4 ascends or descends, the L-shaped plate 4-4 drives the gear rod 5-1 to ascend or descend, the gear rod 5-1 drives the electric telescopic rod 5-2 and the connecting plate 5-3 to ascend or descend, and the connecting plate 5-3 drives the servo motor II 5-4 and the grinding wheel 5-5 to ascend or descend so as to adjust the height of the grinding wheel 5-5; when the L-shaped plate 4-4 moves forwards or backwards, the L-shaped plate 4-4 drives the gear rod 5-1 to move forwards or backwards, the gear rod 5-1 drives the electric telescopic rod 5-2 and the connecting plate 5-3 to move forwards or backwards, and the connecting plate 5-3 drives the servo motor II 5-4 and the grinding wheel 5-5 to move forwards or backwards, so that the front and back positions of the grinding wheel 5-5 are adjusted; when the gear 4-1 rotates, the gear 4-1 drives the gear rod 5-1 to rotate, the gear rod 5-1 drives the electric telescopic rod 5-2 and the connecting plate 5-3 to rotate along the axis of the gear rod 5-1, the connecting plate 5-3 drives the servo motor II 5-4 and the grinding wheel 5-5 to rotate along the axis of the gear rod 5-1, and further the position of the grinding wheel 5-5 is adjusted so that the grinding wheel 5-5 can grind a plurality of positions of an object without adjusting the position of the object; the electric telescopic rod 5-2 can be extended or shortened, the electric telescopic rod 5-2 drives the connecting plate 5-3 to move leftwards or rightwards, the connecting plate 5-3 drives the servo motor II 5-4 and the grinding wheel 5-5 to move leftwards or rightwards, and the grinding wheel 5-5 carries out position fine adjustment on the grinding wheel; when the L-shaped plate 4-4 rotates, the L-shaped plate 4-4 rotates to drive the gear rod 5-1 to rotate, the gear rod 5-1 drives the electric telescopic rod 5-2 and the connecting plate 5-3 to rotate, the connecting plate 5-3 drives the servo motor II 5-4 and the polishing wheel 5-5 to rotate, the angle of the polishing wheel 5-5 is adjusted, a curved object is polished conveniently, and the two limiting rings 5-6 are used for preventing the gear rod 5-1 from being separated from the L-shaped plate 4-4.

The utility model discloses a theory of operation: the bottom plate 1-1 is used for supporting and fixing the supporting seat 1-2, and the supporting seat 1-2 is used for allowing the rotating column 2-3 to rotate in the supporting seat. The cylinder 2-6 drives the cylinder rod 2-7 to ascend or descend, and the cylinder rod 2-7 drives the lifting plate 2-2 to ascend or descend; the holding rod I2-4 is rotated, the holding rod I2-4 drives the rotating column 2-3 to rotate in the supporting seat 1-2, the rotating column 2-3 drives the fixing rod 2-1 to rotate, and the fixing rod 2-1 drives the lifting plate 2-2 to rotate. When the sliding plate 4-3 ascends or descends, the sliding plate 4-3 drives the telescopic rod 3-1 to extend or shorten; the holding rod II 3-4 is moved forwards or backwards, the holding rod II 3-4 drives the sliding block 3-3 to move forwards or backwards, and the sliding block 3-3 drives the telescopic rod 3-1 to move forwards or backwards. When the lifting plate 2-2 ascends or descends, the lifting plate 2-2 drives the two limiting plates II 4-2 and the sliding plate 4-3 to ascend or descend, and the sliding plate 4-3 drives the L-shaped plate 4-4 to ascend or descend; when the telescopic rod 3-1 moves forwards or backwards, the telescopic rod 3-1 drives the sliding plate 4-3 and the two limiting plates II 4-2 to move forwards or backwards, and the sliding plate 4-3 drives the L-shaped plate 4-4 to move forwards or backwards; an output shaft of the servo motor I4-5 drives the gear 4-1 to rotate; when the lifting plate 2-2 rotates, the lifting plate 2-2 rotates to drive the two limiting plates II 4-2 and the sliding plate 4-3 to rotate, the sliding plate 4-3 drives the L-shaped plate 4-4 to rotate, and the two limiting plates II 4-2 are used for preventing the sliding plate 4-3 from being separated from the lifting plate 2-2. When the L-shaped plate 4-4 ascends or descends, the L-shaped plate 4-4 drives the gear rod 5-1 to ascend or descend, the gear rod 5-1 drives the electric telescopic rod 5-2 and the connecting plate 5-3 to ascend or descend, and the connecting plate 5-3 drives the servo motor II 5-4 and the grinding wheel 5-5 to ascend or descend so as to adjust the height of the grinding wheel 5-5; when the L-shaped plate 4-4 moves forwards or backwards, the L-shaped plate 4-4 drives the gear rod 5-1 to move forwards or backwards, the gear rod 5-1 drives the electric telescopic rod 5-2 and the connecting plate 5-3 to move forwards or backwards, and the connecting plate 5-3 drives the servo motor II 5-4 and the grinding wheel 5-5 to move forwards or backwards, so that the front and back positions of the grinding wheel 5-5 are adjusted; when the gear 4-1 rotates, the gear 4-1 drives the gear rod 5-1 to rotate, the gear rod 5-1 drives the electric telescopic rod 5-2 and the connecting plate 5-3 to rotate along the axis of the gear rod 5-1, the connecting plate 5-3 drives the servo motor II 5-4 and the grinding wheel 5-5 to rotate along the axis of the gear rod 5-1, and further the position of the grinding wheel 5-5 is adjusted so that the grinding wheel 5-5 can grind a plurality of positions of an object without adjusting the position of the object; the electric telescopic rod 5-2 can be extended or shortened, the electric telescopic rod 5-2 drives the connecting plate 5-3 to move leftwards or rightwards, the connecting plate 5-3 drives the servo motor II 5-4 and the grinding wheel 5-5 to move leftwards or rightwards, and the grinding wheel 5-5 carries out position fine adjustment on the grinding wheel; when the L-shaped plate 4-4 rotates, the L-shaped plate 4-4 rotates to drive the gear rod 5-1 to rotate, the gear rod 5-1 drives the electric telescopic rod 5-2 and the connecting plate 5-3 to rotate, the connecting plate 5-3 drives the servo motor II 5-4 and the polishing wheel 5-5 to rotate, the angle of the polishing wheel 5-5 is adjusted, a curved object is polished conveniently, and the two limiting rings 5-6 are used for preventing the gear rod 5-1 from being separated from the L-shaped plate 4-4.

Of course, the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and the changes, modifications, additions or replacements made by those skilled in the art within the scope of the present invention also belong to the protection scope of the present invention.

Claims

1. The utility model provides a burnishing and polishing robot, includes unable adjustment base (1), elevating system (2), slide mechanism (3), drive mechanism (4) and subassembly (5) of polishing, its characterized in that: sliding connection has elevating system (2) on unable adjustment base (1), and sliding mechanism (3) fixed connection is on elevating system (2), fixedly connected with sliding mechanism (3) on elevating system (2), and drive mechanism (4) sliding connection is on elevating system (2), and drive mechanism (4) lower extreme fixed connection is in sliding mechanism (3) upper end, rotates on drive mechanism (4) and is connected with subassembly (5) of polishing.

2. The sanding and polishing robot of claim 1, wherein: the fixed base (1) comprises a bottom plate (1-1) and a supporting seat (1-2), and the lower end of the supporting seat (1-2) is fixedly connected to the bottom plate (1-1).

3. The sanding and polishing robot of claim 2, wherein: the lifting mechanism (2) comprises a fixed rod (2-1), a lifting plate (2-2), a rotating column (2-3), a holding rod I (2-4), a supporting plate (2-5), an air cylinder (2-6) and an air cylinder rod (2-7), the lower end of the fixed rod (2-1) is fixedly connected to the rotating column (2-3), the rotating column (2-3) is rotatably connected to the inside of the supporting seat (1-2), the holding rod I (2-4) is arranged on the rotating column (2-3), the supporting plate (2-5) is fixedly connected to the upper end of the rotating column (2-3), the air cylinder (2-6) is fixedly connected to the upper end of the supporting plate (2-5), the air cylinder rod (2-7) is arranged on the air cylinder (2-6), the lifting plate (2-2) is fixedly connected to the upper end of the air cylinder rod (, the lifting plate (2-2) is connected on the fixed rod (2-1) in a sliding way.

4. A grinding and polishing robot as set forth in claim 3, wherein: the sliding mechanism (3) comprises a telescopic rod (3-1), a fixing plate (3-2), a sliding block (3-3), a holding rod II (3-4) and limiting plates I (3-5), the rear end of the fixing plate (3-2) is fixedly connected onto the fixing rod (2-1), the sliding block (3-3) is connected onto the fixing plate (3-2) in a sliding mode, the holding rod II (3-4) is fixedly connected to the right end of the sliding block (3-3), the two limiting plates I (3-5) are fixedly connected onto the sliding block (3-3) in a bilateral symmetry mode, and the telescopic rod (3-1) is fixedly connected to the upper end of the sliding block (3-3).

5. The sanding and polishing robot of claim 4, wherein: the transmission mechanism (4) comprises a gear (4-1), two limiting plates II (4-2), a sliding plate (4-3), an L-shaped plate (4-4) and a servo motor I (4-5), the two limiting plates II (4-2) are bilaterally and symmetrically fixedly connected to the sliding plate (4-3), the sliding plate (4-3) is slidably connected to the lifting plate (2-2), the upper end of the telescopic rod (3-1) is fixedly connected to the sliding plate (4-3), the lower end of the L-shaped plate (4-4) is fixedly connected to the sliding plate (4-3), the upper end of the L-shaped plate (4-4) is fixedly connected with the servo motor I (4-5), and the output shaft of the servo motor I (4-5) is fixedly connected with the gear (4-1).

6. The sanding and polishing robot of claim 5, wherein: the polishing component (5) comprises a gear rod (5-1), an electric telescopic rod (5-2), a connecting plate (5-3), a servo motor II (5-4), a polishing wheel (5-5) and limiting rings (5-6), the rear end of the gear rod (5-1) is rotatably connected to an L-shaped plate (4-4), the two limiting rings (5-6) are fixedly connected to the gear rod (5-1), the left end of the gear rod (5-1) is fixedly connected with the electric telescopic rod (5-2), the left end of the electric telescopic rod (5-2) is fixedly connected with the connecting plate (5-3), the front end of the connecting plate (5-3) is fixedly connected with the servo motor II (5-4), and the output shaft of the servo motor II (5-4) is fixedly connected with the polishing wheel (5-5), the gear rod (5-1) is meshed with the gear (4-1).