An automated femoral condyle reaming device and method

Abstract

This invention provides an automated femoral condyle grinding device and method. The device includes: an articular surface grinding mechanism for grinding the articular surfaces of the workpiece; an intercondylar grinding mechanism for grinding the intercondylar region of the workpiece; a workpiece adjustment mechanism for adjusting the position of the workpiece held by a robotic arm, ensuring the workpiece fits against a positioning reference surface; the end of the robotic arm can be selectively fitted with a first or second clamp; the robotic arm moves the gripped workpiece to the articular surface grinding mechanism for grinding the articular surfaces; the robotic arm can be replaced with the second clamp from a clamp magazine and move the workpiece to the intercondylar grinding mechanism for grinding the intercondylar region. This invention automates the grinding of the workpiece, solving the problems of slow grinding efficiency and unstable grinding quality caused by existing manual grinding of the femoral condyle.

Description

Technical Field

[0001] This invention relates to the field of polishing technology, and more specifically, to an automated femoral condyle polishing device and polishing method. Background Technology

[0002] Currently, the grinding and polishing process for femoral condyles involves roughing the blank part using a machining center, followed by manual grinding with three layers of sandpaper. Due to the high requirements for product dimensions and appearance, this process demands a certain level of experience from the grinding workers. Furthermore, it suffers from slow grinding efficiency and inconsistent grinding quality. In addition, the poor working environment in grinding workshops, with excessive dust, easily leads to occupational diseases, resulting in fewer people willing to enter the grinding industry and making it difficult for companies to recruit workers. Summary of the Invention

[0003] In view of this, the present invention proposes an automated femoral condyle grinding device and grinding method, aiming to solve the problems of slow grinding efficiency and unstable grinding quality caused by existing manual grinding of the femoral condyle.

[0004] On one hand, this invention proposes an automated femoral condyle grinding device, which includes: a frame for support; an articular surface grinding mechanism mounted on the frame for grinding the articular surfaces of the workpiece to be ground; an intercondylar grinding mechanism mounted on the frame for grinding the intercondylar region of the workpiece to be ground; a workpiece adjustment mechanism mounted on the top of the frame for adjusting the position of the workpiece held by the robotic arm, so that the workpiece is in contact with the positioning reference surface; and a robotic arm mounted on the frame, the end of which can be selectively fitted with a first clamp or... The second clamp is used to laterally hold the workpiece to be ground, exposing the joint surfaces of the workpiece. The robot arm moves the gripped workpiece to the joint surface grinding mechanism to grind the joint surfaces of the workpiece and places the workpiece on the transfer table. The robot arm can be replaced with the second clamp from the clamp magazine to grip the workpiece to be ground on the transfer table in a forward manner, exposing the intercondyles of the workpiece and moving the workpiece to the intercondyle grinding mechanism to grind the intercondyles of the workpiece. The ground workpiece is then placed on the material rack.

[0005] Furthermore, in the aforementioned automated femoral condyle grinding equipment, the articular surface grinding mechanism includes: an articular surface floating assembly; an articular surface grinding belt rotatably mounted on the articular surface floating assembly, wherein the articular surface grinding belt is connected to a grinding drive assembly for driving the articular surface grinding belt to rotate; and a belt adjusting assembly disposed on the inner side of the articular surface grinding belt and on the power output end of the articular surface floating assembly, for adjusting the position of the abrasive belt by pushing it outward from the inner side, so that the grinding section of the abrasive belt has an arc-shaped structure, to achieve a smooth grinding effect. The joint surfaces of the workpiece to be ground are ground, and the abrasive belt floats with the power output end of the joint surface floating assembly to maintain constant force contact with the workpiece to complete the grinding. A tensioning assembly is set on the power output end of the joint surface floating assembly to adjust the tension of the abrasive belt. A correction assembly is set on the power output end of the tensioning assembly, and the abrasive belt is wound around the power output end of the correction assembly. The correction assembly moves with the tensioning assembly to adjust the tension of the abrasive belt and correct any deviation of the abrasive belt.

[0006] Furthermore, in the aforementioned automated femoral condyle grinding equipment, the tensioning component includes: a linear guide rail for guiding; and a correction mounting bracket, which is movable along the length of the linear guide rail. The correction mounting bracket is connected to a tensioning drive component for driving the correction mounting bracket to move along the length of the linear guide rail, thereby causing the correction component to move synchronously, which in turn causes the articular surface grinding abrasive belt wrapped around the correction component to move, thus adjusting the tension of the articular surface grinding abrasive belt.

[0007] Furthermore, in the aforementioned automated femoral condyle grinding equipment, the correction component includes: a correction bearing seat; a correction bracket rotatably mounted on the correction bearing seat, with one end of the correction bracket connected to a correction drive for driving the correction bracket to rotate; a correction wheel rotatably mounted at the other end of the correction bracket, with the outer wall of the correction wheel in abutting contact with the inner wall of the articular surface grinding belt, the correction wheel deflecting with the correction bracket to correct the offset of the articular surface grinding belt; a correction sensor for detecting the offset during the rotation of the articular surface grinding belt; and a correction controller connected to the correction sensor for acquiring the offset during the rotation of the articular surface grinding belt and controlling the correction drive based on the offset during the rotation of the articular surface grinding belt to control the deflection of the correction bracket and the correction wheel, thereby correcting the offset of the articular surface grinding belt.

[0008] Furthermore, in the aforementioned automated femoral condyle grinding equipment, the intercondylar grinding mechanism includes: a first floating grinding module, a second floating grinding module, and a third floating grinding module; wherein the first floating grinding module, the second floating grinding module, and the third floating grinding module are arranged vertically at intervals, the first floating grinding module is used to grind the intercondylar plane of the workpiece to be ground, the second floating grinding module is used to grind the intercondylar corner of the workpiece to be ground, and the third floating grinding module is used to grind the intercondylar crossbeam of the workpiece to be ground.

[0009] Furthermore, in the aforementioned automated femoral condyle grinding equipment, the first floating grinding module includes: a first floating component and an abrasive belt grinding component; wherein, the abrasive belt grinding component is disposed on the power output end of the first floating component, and the first floating component is used to drive the abrasive belt grinding component to float, so that the power output end of the abrasive belt grinding component maintains constant force contact with the workpiece to be ground to complete the grinding of the intercondylar plane; and / or, the second floating grinding module includes: a second floating component and a grinding head grinding component; wherein, the grinding head grinding component is disposed on the second floating component. On the power output end, the second floating component is used to drive the grinding head assembly to float, so that the power output end of the grinding head assembly maintains constant force contact with the workpiece to be ground to complete the grinding of the intercondylar angle; and / or, the third floating grinding module includes: a third floating component and a wheel grinding component; wherein, the wheel grinding component is disposed on the power output end of the third floating component, and the third floating component is used to drive the wheel grinding component to float, so that the power output end of the wheel grinding component maintains constant force contact with the workpiece to be ground to complete the grinding of the intercondylar crossbeam.

[0010] Furthermore, in the aforementioned automated femoral condyle grinding equipment, the belt grinding assembly includes: a grinding mounting frame; a tensioning guide rail, mounted on the grinding mounting frame for guiding; a tensioning support frame, movably mounted on the tensioning guide rail along its length, and connected to an adjusting drive component for driving the tensioning support frame to move along the length of the tensioning guide rail, thereby switching the tension and looseness of the grinding belt and facilitating belt replacement; a drive wheel, rotatably mounted on the tensioning support frame; and two or three sanding gun rods mounted on the same plane, all located on one side of the drive wheel, one of which... The sanding gun rod is arranged along the floating direction of the first floating assembly, and one or two sanding gun rods are arranged perpendicular to the floating direction of the joint surface floating assembly where the grinding mounting bracket is located. Each sanding gun rod has an end support wheel at its end away from the power wheel. An intercondylar plane grinding belt is wound around the outer periphery of the power wheel, each sanding gun rod, and each driven wheel. An auxiliary roller is provided between the power wheel and the two sanding gun rods to guide the trajectory of the intercondylar plane grinding belt during rotation, enabling the belt to rotate along the power wheel and each sanding gun rod, thereby achieving grinding of the intercondylar plane through the intercondylar plane grinding belt at the sanding gun rod.

[0011] Furthermore, in the aforementioned automated femoral condyle grinding equipment, the workpiece adjustment mechanism includes: a mounting base; a forward pushing component, disposed on the mounting base, for applying a forward thrust from the upper part of the workpiece to be ground to the workpiece to be ground, so that the workpiece to be ground is in contact with the positioning reference surface of the fixture; and a lateral pushing component, for applying a lateral thrust sequentially from the workpiece to be ground to the workpiece to be ground, so that the workpiece to be ground is in contact with the positioning reference surface of the fixture.

[0012] Furthermore, in the aforementioned automated femoral condyle grinding equipment, the detection mechanism includes: a mounting frame; a position adjustment mechanism connected to the mounting frame in a position-adjustable manner, used to press against the femoral condyle to be measured at the measurement position, and to adjust its position under the action of the femoral condyle to be measured, so that the reference surface of the femoral condyle to be measured can drive the position adjustment mechanism to move along the mounting direction of the mounting frame until the reference surface of the femoral condyle to be measured moves to a preset reference position; and a displacement sensor disposed on the mounting frame, used to obtain the distance between the preset measurement position fixed relative to the mounting frame and the position adjustment mechanism.

[0013] Furthermore, this invention also proposes a method for grinding the femoral condyle, comprising the following steps: a loading step, in which several workpieces to be ground are positioned and fixed on a loading tray of a material rack; a preliminary clamping step, in which a first clamp pre-installed on a robotic arm is used to laterally clamp the workpieces to be ground on the loading tray, exposing the articular surfaces of the workpieces to be ground, and the clamped workpieces to be ground are moved to a workpiece adjustment position, and the workpiece position of the clamp on the robotic arm is adjusted by a workpiece adjustment mechanism, so that the workpieces to be ground are in contact with the positioning reference surface of the first clamp; and an articular surface grinding step, in which the robotic arm drives the first clamp and the workpieces to be ground held to the articular surface grinding position, and the articular surface grinding mechanism is used to grind the workpieces. The workpiece's joint surfaces are ground; in the fixture replacement step, the first fixture at the end of the robot arm is replaced, placed in the fixture box, and the second fixture is installed at the end of the robot arm; in the re-clamping step, the second fixture pre-installed on the robot arm is used to clamp the workpiece to be ground in a forward orientation, so that the intercondyles of the workpiece to be ground are exposed, and the clamped workpiece to be ground is moved to the workpiece adjustment position. The workpiece position of the fixture on the robot arm is adjusted by the workpiece adjustment mechanism so that the workpiece to be ground is in contact with the positioning reference surface of the second fixture; in the intercondyle grinding step, the robot arm drives the second fixture and the workpiece to be ground held to the intercondyle grinding position, and the intercondyle grinding mechanism grinds the intercondyles of the workpiece to be ground.

[0014] The automated femoral condyle grinding equipment and method provided by this invention uses a first clamp mounted on a robotic arm to laterally grip the workpiece, exposing the articular surfaces of the workpiece. The robotic arm moves the gripped workpiece to the articular surface grinding mechanism for grinding the articular surfaces, and then places the workpiece on a transfer table. The robotic arm then changes to a second clamp from the clamp magazine to grip the workpiece on the transfer table, exposing the intercondylar region of the workpiece. The robotic arm then moves the workpiece to the intercondylar grinding mechanism for grinding the intercondylar region, and finally places the ground workpiece on a rack, completing the automated grinding process. This solves the problems of slow grinding efficiency and unstable grinding quality caused by existing manual grinding of the femoral condyle. Furthermore, this equipment also has the following advantages: First, it fills the market gap for automated grinding equipment for this type of workpiece.

[0015] Secondly, it has a high degree of automation, with all grinding processes completed by machines, which improves work efficiency and ensures high-quality and stable grinding precision.

[0016] Third, it only requires manual loading and unloading of materials and operation of equipment, which greatly reduces the labor intensity of workers and improves the working environment.

[0017] Fourth, the equipment is highly versatile and easy to switch production. It can automatically grind workpieces of the same shape but different sizes simply by changing the feeding tray.

[0018] Fifth, it is equipped with dust removal and explosion-proof facilities, ensuring high safety. Attached Figure Description

[0019] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings: Figure 1 This is a schematic diagram of the structure of the automated femoral condyle grinding equipment provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of another orientation of the automated femoral condyle grinding device provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the internal structure of the automated femoral condyle grinding device provided in an embodiment of the present invention; Figure 4 This is another schematic diagram of the internal structure of the automated femoral condyle grinding device provided in an embodiment of the present invention; Figure 5 This is a schematic diagram of the automated femoral condyle grinding device provided in an embodiment of the present invention from another perspective. Figure 6 This is a schematic diagram of the second clamping structure provided in an embodiment of the present invention; Figure 7 This is a schematic diagram of the first clamping state provided in an embodiment of the present invention; Figure 8 A front view of the first clamp provided in an embodiment of the present invention; Figure 9 A side view of the first clamp provided in an embodiment of the present invention; Figure 10 This is a schematic diagram of the joint surface grinding mechanism provided in an embodiment of the present invention; Figure 11 This is a schematic diagram of the structure of the grinding drive assembly provided in an embodiment of the present invention; Figure 12 This is a schematic diagram of the structure of the sanding belt positioning assembly provided in an embodiment of the present invention; Figure 13 This is a schematic diagram of the tensioning assembly provided in an embodiment of the present invention; Figure 14 This is a schematic diagram of the structure of the first floating polishing module provided in an embodiment of the present invention; Figure 15This is a schematic diagram of the structure of the first floating component provided in an embodiment of the present invention; Figure 16 This is a schematic diagram of the structure of the second floating polishing module provided in an embodiment of the present invention; Figure 17 This is a schematic diagram of the structure of the third floating polishing module provided in an embodiment of the present invention; Figure 18 This is a schematic diagram of the workpiece adjustment mechanism provided in an embodiment of the present invention; Figure 19 A side view of the detection mechanism provided in an embodiment of the present invention; Figure 20 Another side view of the detection mechanism provided in an embodiment of the present invention; Figure 21 This is a schematic diagram of the detection principle of the detection mechanism provided in an embodiment of the present invention; Figure 22 A flowchart illustrating the femoral condyle grinding method provided in an embodiment of the present invention; Explanation of reference numerals in the attached drawings: 1-Frame, 11-Foot cup, 12-Material rack, 121-Material rack body, 122-Loading tray, 123-Unloading tray, 13-Tool magazine, 14-Clamp magazine, 141-Clamp mounting bracket, 142-Clamp placement box, 15-Transfer platform, 16-Dust hopper, 17-Exhaust duct, 2-Articulated surface grinding mechanism, 21-Articulated surface floating assembly, 22-Articulated surface grinding sanding belt, 23-Grinding drive assembly, 231-Grinding drive shaft, 232-Grinding drive bearing seat, 24-Sanding belt adjusting assembly, 241-Mounting bracket, 242-Adjusting telescopic drive component, 243-Adjusting wheel, 244-Intermediate wheel side bracket, 245-Intermediate wheel bearing seat, 246-Dust cover, 25-Tensioning assembly, 251-Linear... 252-Guide rail, 253-Correction mounting bracket, 26-Tensioning drive component, 26-Correction assembly, 261-Correction bearing seat, 262-Correction bracket, 263-Correction wheel, 264-Correction drive component, 2641-Correction drive motor, 2642-Correction reducer, 265-Rotary joint, 266-Correction sensor, 267-Correction device bracket, 27-Support plate, 28-Driving wheel, 29-Driven wheel, 3-Intercontinental grinding mechanism, 31-Floating grinding bracket, 32-First floating grinding module, 321-First floating assembly, 3211-Mounting support, 3212-Floating guide rail, 3213-Floating drive component, 3214-Floating plate, 3215-Position sensor, 3216-Bellbell dust cover, 322-Sand With grinding components, 3221-Grinding mounting bracket, 32211-Grinding support base plate, 32212-Guide rail mounting bracket, 3222-Tensioning support bracket, 32221-Hinge plate, 32222-Fixed support plate, 32223-Rotating shaft, 32224-Adjusting component, 3223-Drive wheel, 3224-Grinding gun rod, 3225-Intercondylar surface grinding belt, 3226-End support wheel, 3227-Adjusting drive component, 3228-Auxiliary roller, 3229-Grinding belt drive component, 32210-Bug cover, 33-Second floating grinding module, 331-Second floating assembly, 332-Grinding head assembly, 3321-Electric grinding shaft, 3322-Grinding tool holder, 3323-Grinding head, 3324-Electric main... 34-Shaft fixing block, 34-Third floating grinding module, 341-Third floating component, 342-Wheel grinding component, 3421-Rotating grinding shaft, 3422-Wheel drive component, 3423-Grinding wheel, 3424-Wheel grinding bearing seat, 3425-Pressure plate, 4-Workpiece adjustment mechanism, 41-Mounting base, 42-Forward pushing component, 421-Guide column, 422-Force application plate, 43-Side pushing component, 5-Manipulator, 51-First clamp, 511-Mounting body, 512-Fixing clamping block, 5121-Clamping hole, 5122-Sliding groove, 5123-Support mounting groove, 5124-Column locking hole, 5125-Leaning hole, 513-Clamping sliding block, 514-Clamping drive component, 5141-Air pipe connector515-Quick change disc, 516-Floating joint, 517-Step pin; 52-Second clamp, 6-Detection mechanism, 61-Mounting bracket, 612-L-shaped frame, 611-Measuring support plate, 62-Position adjustment mechanism, 621-Guide rail mounting plate, 622-Measuring guide rail, 623-Measuring moving plate, 6231-Sliding sleeve, 624-Measuring front contact plate, 625-Measuring cover, 63-Displacement sensor, 64-Reset mechanism, 641-Guide shaft, 642-Measuring reset spring, 7-Dustproof room, 71-Operating door and window, 72-Explosion relief plate, 73-Touch screen, 74-Button, 75-Tricolor light, 76-Electrical control cabinet, 77-Chiller, 8-Workpiece to be ground, 81-Articular surface, 82-Intercondyle, 9-Pneumatic system, 91-Solenoid valve, 92-Air source treatment element. Detailed Implementation

[0020] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the disclosure to those skilled in the art. It should be noted that, unless otherwise specified, embodiments and features described herein are combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0021] Equipment Example: See Figures 1 to 5 The figure illustrates a preferred structure of the automated femoral condyle grinding device provided in an embodiment of the present invention. As shown, the automated femoral condyle grinding device includes: a frame 1, an articular surface grinding mechanism 2, an intercondylar grinding mechanism 3, a workpiece adjustment mechanism 4, a robotic arm 5, a detection mechanism 6, and a dustproof chamber 7; wherein, The frame 1 serves a supporting function, providing stability to the equipment. The bottom of the frame 1 is equipped with feet 11 for adjusting its levelness. Each of the four corners of the frame 1 is equipped with a foot 11, and other feet 11 are also provided at other locations to ensure stable support. The frame 1 is constructed from welded carbon steel profiles. Figure 3 As shown, the frame 1 is equipped with a material rack 12 for supporting the workpiece to be ground and / or the already ground workpiece. The frame 1 is also equipped with a tool magazine 13 to support the grinding head 3323 with a grinding tool holder 3322. The tool magazine 13 is positioned above the material rack 12, and the grinding head 3323 with the grinding tool holder 3322 is held by a robotic arm 5 to facilitate the replacement of the grinding head 3323 on the intercondylar grinding mechanism 3. Figure 4As shown, the frame 1 is also equipped with a fixture library 14 for storing fixtures; the fixture library 14 is located at the rear end, i.e., the back side, of the frame 1 to support the fixtures. In this embodiment, the frame 1 is also equipped with a transfer platform 15 for temporarily supporting the workpiece to be ground, so as to change the clamping position of the workpiece to be ground, and also to change the end effector of the robot arm 5, for example, clamping different positions of the workpiece to be ground, so that the joint surfaces or intercondyles of the workpiece are exposed for grinding, and also to switch the exposed joint surfaces of the workpiece to grind the joint surfaces of the workpiece in sequence; the transfer platform 15 is located on one side of the fixture library 14. The bottom of the frame 1 is also provided with a dust collection hopper 16 and an exhaust pipe 17. The dust collection hopper 16 has a dust collection hole in the center for collecting dust generated during the grinding of the workpiece. The exhaust pipe 17 is set on the frame 1 and connected to the dust collection hole for sucking out the dust. The exhaust pipe 17 extends from the inside of the frame 1 to the outside of the frame 1 to remove the dust from the dust collection hopper 16.

[0022] The joint surface grinding mechanism 2 is mounted on the frame 1 and is used to grind the joint surfaces 81 of the workpiece 8 to be ground. Specifically, the joint surface grinding mechanism 2 is a CNC grinding module that performs CNC grinding on the joint surfaces of the workpiece. Of course, other structures can also be used for grinding, as long as they can achieve the grinding of the joint surfaces of the workpiece. This embodiment does not impose any limitations on them. In this embodiment, there are multiple joint surface grinding mechanisms 2, specifically four joint surface grinding mechanisms 2, all of which are mounted on one side of the frame 1. The grinding ends are arranged near the middle of the frame 1, so that the grinding ends of the joint surface grinding mechanisms 2 and the grinding ends of the intercondylar grinding mechanisms 3 are all arranged in the middle of the frame 1, which is a centralized arrangement that facilitates the grinding of the workpiece. Among them, all four joint surface grinding mechanisms 2 are belt grinding mechanisms, and the grit of the belts of the four joint surface grinding mechanisms 2 are different, so that the joint surfaces of the workpiece to be ground are ground sequentially from coarse to fine by the four joint surface grinding mechanisms 2.

[0023] The intercondylar grinding mechanism 3 is mounted on the frame 1 and is used to grind the intercondylar region 82 of the workpiece 8 to be ground. Specifically, the intercondylar grinding mechanism 3 is a floating grinding integrated mechanism; however, it can also be any other grinding mechanism. The intercondylar grinding mechanism 3 is located on the left side of the frame 1, with the grinding end positioned near the center of the frame 1. In this embodiment, the articular surface grinding mechanism 2 grinds the articular surface of the femoral condyle, and the intercondylar grinding mechanism 3 grinds the intercondylar region of the femoral condyle, thus completing the overall grinding of the femoral condyle.

[0024] The workpiece adjustment mechanism 4 is located on the top of the frame 1 and is used to adjust the position of the workpiece 8 to be ground, which is held by the robot arm 5. This ensures the workpiece 8 is in contact with the positioning reference surface, achieving workpiece positioning adjustment. This ensures the workpiece is positioned to the reference position before each grinding, facilitating control of grinding dimensions and precision, and improving grinding accuracy. Specifically, the workpiece adjustment mechanism 4 is fixedly installed on the frame 1. When the workpiece to be ground is in a relatively free state, i.e., the gripper at the end of the robot arm 5 releases the workpiece and the workpiece is in the clamping hole of the gripper, the workpiece adjustment mechanism 4 applies an adjustment force to the workpiece, causing it to move towards the gripper until it is completely in contact with the positioning reference surface of the gripper, completing the workpiece adjustment and positioning. The workpiece adjustment mechanism 4 is located above the tool magazine 13.

[0025] The robotic arm 5 is mounted on the frame 1. The end of the robotic arm 5, i.e. the wrist, can be selectively equipped with a first clamp 51 or a second clamp 52. The first clamp 51 is used to laterally clamp the workpiece to be ground, so that the joint surface of the workpiece to be ground is exposed. The robotic arm 5 moves the clamped workpiece to be ground to the joint surface grinding mechanism 2 to grind the joint surface of the workpiece to be ground, and places the workpiece to be ground on the transfer table 15. The robotic arm 5 can be replaced with the second clamp 52 from the clamp magazine 14 to grip the workpiece to be ground on the transfer table 15 in the forward direction, so that the intercondyle of the workpiece to be ground is exposed, and moves the workpiece to be ground to the intercondyle grinding mechanism 3 to grind the intercondyle of the workpiece to be ground, and places the ground workpiece on the material rack 12 after grinding. Specifically, the end of the robotic arm 5 is equipped with a fixed clamping platform. The fixed clamping platform and the clamp are detachably connected. In this embodiment, there are two types of clamps: a first clamp 51 and a second clamp 52. The fixed clamping platform is detachably connected to both the first clamp 51 and the second clamp 52, allowing the robotic arm 5 to change clamps and also to move the first clamp 51 or the second clamp 52 to grip the workpiece and move it to the corresponding position. That is, the end of the robotic arm 5 is first equipped with the first clamp 51 to grip the workpiece to be ground and to grind the joint surfaces of the workpiece. In this embodiment, the second clamp 52 can grip the workpiece to be ground from the bottom side (relative to the workpiece). Figure 6 (As shown in the diagram) The workpiece to be ground is clamped with its intercondyles facing upwards, i.e., the workpiece is clamped from the side opposite to the intercondyles of the workpiece, so that the intercondyles of the workpiece can be arranged away from the second clamp 52, so that the intercondyle grinding mechanism 3 can grind the intercondyles of the workpiece. In this embodiment, as... Figure 7 As shown, the first clamp 51 can hold the workpiece to be ground laterally, that is, the first clamp 51 can be arranged horizontally. When holding the workpiece, the second clamp 52 is arranged in the opposite direction along the intercondylar groove depth of the workpiece, as shown... Figure 6 As shown in the vertical arrangement, the first clamp 51 is located on one side of the workpiece to be ground and is arranged along the length direction of the workpiece, i.e. Figure 7 As shown in the vertical arrangement, the first clamp 51 is positioned to the left or right of the workpiece to be ground and arranged horizontally to achieve lateral clamping. The robotic arm 5, under the control of the control mechanism, moves along a pre-defined trajectory to change clamps and adjust the clamping position of the workpiece to be ground. It also moves the workpiece to the corresponding grinding position so that the joint surfaces and intercondyles of the workpiece can be ground sequentially via the intercondylar grinding mechanism 3 and the workpiece adjustment mechanism 4. The robotic arm 5 is a six-axis robotic arm.

[0026] In this embodiment, the frame 1 is further provided with a detection mechanism 6 for acquiring the outer contour dimension information of the joint surface of the workpiece to be ground. Specifically, the detection mechanism 6 is located at the top of the frame 1, especially above the joint surface grinding mechanism 2 with the coarsest grit abrasive belt. The grinding dimension is controlled by the joint surface grinding mechanism 2 with the coarsest grit abrasive belt, and after the joint surface grinding mechanism 2 with the coarsest grit abrasive belt has finished grinding, the detection mechanism 6 detects the grinding dimension to acquire the outer contour dimension information of the joint surface of the workpiece to be ground, and to determine whether the joint surface grinding of the workpiece to be ground meets the preset grinding requirements. If the outer contour dimension information of the joint surface of the workpiece to be ground does not meet the preset grinding requirements, the joint surface of the workpiece to be ground is ground again by the joint surface grinding mechanism 2 with the coarsest grit abrasive belt until the outer contour dimension information of the joint surface of the workpiece to be ground meets the preset grinding requirements.

[0027] In this embodiment, the frame 1 is also equipped with a pneumatic system 9 to provide gas to the corresponding components of the equipment, such as the joint surface grinding mechanism 2, the intercondyle grinding mechanism 3, the workpiece adjustment mechanism 4, the robot arm 5, the detection mechanism 6, and the fixture, to achieve pneumatic control and drive. Specifically, the pneumatic system 9 includes a solenoid valve 91 and an air source processing element 92. The air source processing element 92 refers to an air filter, a pressure reducing valve, and an oil mist lubricator. Compressed air first enters the air filter, and after being purified by removing water and dust, it enters the pressure reducing valve. After pressure reduction, the gas pressure is controlled to meet the requirements of the pneumatic system 9. The output regulated gas finally enters the oil mist lubricator, where the lubricating oil is atomized and mixed with the compressed air before being transported to the pneumatic device. The solenoid valve 91 controls the on / off state of the air path.

[0028] See also Figure 1 and Figure 2The frame 1 is also equipped with a dustproof chamber 7, which is located above the frame 1. The dustproof chamber 7 is used to enclose the joint surface grinding mechanism 2 and the intercondyle grinding mechanism 3, preventing grinding dust from overflowing and isolating noise during equipment operation. Specifically, the dustproof chamber 7 is mounted on the frame 1, forming a closed dustproof cavity between the dustproof chamber 7 and the frame 1. This creates a negative pressure within the dustproof cavity, particularly in the dust collection hopper 16, allowing dust in the dust collection hopper 16 to be directly drawn out through the exhaust pipe 17 to the outside of the dustproof chamber 7. The dustproof chamber 7 is a sheet metal cover. In this embodiment, a dust concentration sensor is installed inside the dustproof chamber 7 to detect the dust concentration within it. The dust concentration sensor is connected to the control mechanism. The control mechanism is used to control the robot arm 5 to stop running and put it in a waiting state when the dust concentration in the dust chamber 7 is greater than the preset dust concentration, based on the dust concentration in the dust chamber 7. It also controls the joint surface grinding mechanism 2 and the intercondyle grinding mechanism 3 to stop grinding. Once grinding is stopped, the robot arm 5 will continue to run along the trajectory route after the dust concentration in the dust chamber 7 is less than the preset dust concentration, so as to continue grinding the workpiece to be ground.

[0029] In this embodiment, the front of the dustproof chamber 7 is provided with an operating door 71 that is adapted to the position of the material rack 12 and can be opened and closed. Specifically, the operating door 71 is provided at the position on the front of the dustproof chamber 7 that is adapted to the position of the material rack 12. The operating door 71 is connected to the dustproof chamber 7 in a closable manner, and the operating door 71 can block or open the operating opening. When the operating door 71 is open, the operating opening is open, and the operator can place the workpiece to be ground on the material rack 12 or take the ground workpiece off the material rack 12 through the operating opening. When the operating door 71 is closed, the operating opening is closed, the dustproof chamber 7 is closed, and the workpiece to be ground is ground inside the dustproof chamber 7 to prevent dust generated during grinding from splashing outside.

[0030] See also Figure 1 The dustproof chamber 7 has a pressure relief diaphragm 72 on its top. When the pressure inside the dustproof chamber 7 reaches a preset pressure, the pressure relief diaphragm 72 will burst. The front of the dustproof chamber 7 also has a touchscreen 73 and buttons 74. The touchscreen serves as an input mechanism, receiving operation commands and sending them to the control mechanism; the buttons 74 also serve as an input mechanism and control switch, receiving operation commands and sending them to the control mechanism to control various components. The touchscreen 73 also functions as a display screen to show operating parameters and operating status information. In this embodiment, the top of the dustproof chamber 7 also has a tri-color light 75 to indicate the operating status of the equipment. In this embodiment, one side of the dustproof chamber 7 also has an electrical control cabinet 76, which is a fully enclosed structure, and the control mechanism is located inside the electrical control cabinet 76. A chiller 77 is also located on one side of the dustproof chamber 7 to cool the control mechanism. The chiller 77 is positioned close to the electrical control cabinet 76 to cool the electrical control cabinet 76.

[0031] See also Figure 3 The material rack 12 includes: a material rack body 121, an upper material tray 122, and a lower material tray 123; wherein, the material rack body 121 is disposed on the top of the frame 1; the upper material tray 122 is disposed on the material rack body 121, and the upper material tray 122 is provided with a plurality of clamping grooves for clamping the workpiece to be polished; the lower material tray 123 is disposed on the material rack body 121, and the lower material tray 123 is provided with a plurality of clamping grooves for clamping the polished workpiece. Specifically, there are multiple upper material trays 122 and multiple lower material trays 123, with multiple upper material trays 122 arranged in multiple layers, and multiple lower material trays 123 arranged in multiple layers on one side of the upper material trays 122. The upper material trays 122 and the lower material trays 123 are connected to the material rack body 121 by positioning pins, or are fixed by other means, which are not limited in this embodiment.

[0032] See also Figure 4 The fixture storage 14 includes a fixture mounting frame 141 and a fixture placement box 142; wherein the fixture placement box 142 is mounted on the fixture mounting frame 141. Specifically, the fixture placement box 142 has an automatically opening and closing top cover, which is controlled by a controller to automatically open and close when changing fixtures, preventing dust from falling into the fixture placement box 142. In this embodiment, the fixture placement box 142 is provided with at least two types of fixture placement slots for placing a first fixture 51 and a second fixture 52, respectively. A transfer platform 15 is mounted on the fixture mounting frame 141 and located on one side of the fixture placement box 142.

[0033] See section 7 onwards. Figure 9 The first clamp 51 includes: a mounting body 511, a fixing block 512, a clamping sliding block 513, and a clamping drive member 514; wherein, A fixing block 512 is disposed on the mounting body 511, and the fixing block 512 is provided with a clamping hole 5121 for placing the clamping part of the workpiece to be clamped. Specifically, the mounting body 511 is a hollow shell structure for supporting and fixing the internal clamping drive 514 and external components such as the fixing block 512. The fixing block 512 serves as a reference block, limiting and clamping one side of the workpiece to be clamped. The fixing block 512 is disposed below the mounting body 511. In this embodiment, the fixing block 512 can be a T-shaped structure, connected to the bottom wall of the mounting body 511 via a top support plate, and the bottom support rod is used for sliding guidance of the clamping sliding block 513 and clamping and fixing of the workpiece to be clamped. The fixing block 512 is provided with a clamping hole 5121, especially located at the lower part of the bottom support rod, to avoid interference between the workpiece to be clamped and the top support plate and the mounting body 511. In this embodiment, the workpiece to be clamped has two workpiece pillars, one of which can serve as the clamping part and can be inserted into the clamping hole 5121. It is clamped and fixed by the fixing clamping block 512 and the clamping sliding block 513. Of course, other structures of the workpiece to be clamped can also serve as clamping parts; for example, the condyle 52 can also be inserted into the clamping hole 5121 for clamping. In this embodiment, the structure of the clamping part is not limited. The diameter of the clamping hole 5121 is larger than the outer diameter of the clamping part to facilitate insertion, and clamping and fixing are achieved by adjusting the position of the clamping sliding block 513.

[0034] The clamping sliding block 513 is positioned on the fixed clamping block 512 in an adjustable manner. It is used to clamp the part to be clamped located in the clamping hole 5121, so that the part to be clamped is clamped between the clamping inner wall of the clamping hole 5121 and the clamping sliding block 513, thereby achieving the clamping and fixing of the workpiece to be clamped. Specifically, the clamping sliding block 513 is positioned above the clamping hole 5121 and is positioned on the fixed clamping block 512 in an adjustable manner along the length direction of the bottom support rod. It is used to clamp the workpiece to be clamped. It can push the workpiece to be clamped downward until the lower wall surface of the workpiece to be clamped is in close contact with the fixed clamping block 512, and the upper wall surface of the workpiece to be clamped is in close contact with the clamping sliding block 513. That is, the clamping and fixing of the workpiece to be clamped is achieved by the fixed clamping block 512 and the clamping sliding block 513.

[0035] The driving end of the clamping drive member 514 is connected to the clamping sliding block 513, and is used to drive the clamping sliding block 513 to slide, so that the clamping sliding block 513 moves towards or away from the clamping inner wall of the clamping hole 5121 to clamp and fix the workpiece to be clamped. After the clamping sliding block 513 is adjusted to the correct position and the workpiece to be clamped is clamped and fixed, the clamping sliding block 513 is locked to prevent the reverse sliding of the clamping sliding block 513, thereby ensuring the stability of the clamping and fixing of the workpiece to be clamped. Specifically, the clamping drive member 514 is disposed on the mounting body 511, and the driving end of the clamping drive member 514 passes through the mounting body 511 and extends into the fixing clamp 512. In this embodiment, the clamping drive member 514 can be disposed inside the mounting body 511. The driving end of the clamping drive member 514 can be arranged downwards and connected to the clamping sliding block 513 located below the mounting body 511 to drive the clamping sliding block 513 to adjust its position, thereby achieving clamping and fixing of the workpiece to be clamped. In this embodiment, the clamping drive member 514 can be a telescopic drive member, whose power output end, i.e., the driving end, can be telescopic. In particular, the telescopic drive member can be arranged along the length direction of the clamping sliding block 513, so that the power output end of the telescopic drive member can be telescopic along the length direction of the clamping sliding block 513, thereby driving the clamping sliding block 513 to adjust its position along the length direction of the fixed clamping block 512. The telescopic actuator of the telescopic drive member passes through the mounting body 511 and extends into the fixed clamping block 512, and can move within the fixed clamping block 512 to realize the sliding and position adjustment of the clamping sliding block 513.

[0036] See also Figures 7 to 9 The mounting body 511 is equipped with a quick-change disc 515. Specifically, the quick-change disc 515 is connected to the top wall of the mounting body 511 by bolts or other connecting parts, so that the fixture can be quickly installed onto or quickly removed from the robot arm.

[0037] See also Figure 7 The fixed clamping block 512 is provided with a sliding groove 5122 communicating with the clamping hole 5121. The clamping sliding block 513 is slidably disposed in the sliding groove 5122. The sliding groove 5122 is used to guide the sliding of the clamping sliding block 513. Specifically, the top end of the sliding groove 5122 can extend to form a top through groove, and the bottom end can extend to the bottom of the clamping hole 5121 and communicate with the clamping hole 5121, realizing communication with the hollow part inside the mounting body 511 and the clamping hole 5121. The top communication can realize the connection between the clamping sliding block 513 and the clamping drive member 514, and the bottom communication with the clamping hole 5121 realizes the clamping and fixing of the workpiece to be clamped at the clamping hole 5121.

[0038] See also Figures 7 to 9The fixing clamp 512 may also be provided with a support mounting groove 5123 for securing the back of the condyle of the workpiece to be clamped. Specifically, the support mounting groove 5123 may be arranged along the width direction of the bottom support rod and is an open groove with openings at both ends. The condyle can be inserted into the support mounting groove 5123 from the opening to achieve condyle-limiting and securing. The fixing clamp 512 may also be provided with a column securing hole 5124 for securing the column structure of the workpiece to be clamped. The diameter of the column securing hole 5124 is larger than the outer diameter of the column structure. The fixing clamp 512 may also be provided with a clearance hole 5125 for making way for the protrusion of the workpiece to be clamped to avoid interference.

[0039] In this embodiment, the clamping drive 514 is a cylinder or hydraulic cylinder, and the extension end of the cylinder or hydraulic cylinder is provided with a floating joint 516, which is connected to the clamping sliding block 513. Specifically, the extension end of the cylinder or hydraulic cylinder is provided with a floating joint 516, and the floating joint 516 is connected to the clamping sliding block 513 through a stepped pin 517. The clamping drive 514 can drive the clamping sliding block 513 to adjust its position, so that the clamping sliding block 513 can slide along the fixed clamping block 512 to achieve clamping and unlocking. In this embodiment, an air pipe connector 5141 is connected to the cylinder for connecting an air pipe to realize cylinder extension and retraction control. In particular, in this embodiment, the clamping drive 514 is a single-rod double-acting cylinder.

[0040] The working principle of the first clamp 51 is as follows: When the first clamp is started, compressed air first enters the single-rod double-acting cylinder through the air pipe joint 5141. Then the cylinder rod is pushed out and pushes the clamping sliding block 513 through the floating joint 516, so that the clamping sliding block 513 contacts one fixed surface of the workpiece to be clamped, and the other surface of the workpiece to be clamped contacts the fixed clamping block, thereby achieving clamping.

[0041] It can be seen that the first clamp provides a clamping and fixing reference position through a fixed clamping block set on the mounting body; the clamping sliding block on the fixed clamping block, which can be adjusted in position, can move against the inner wall of the clamping hole through the drive component, so that the femoral condyle to be clamped in the clamping hole can be clamped and fixed between the fixed clamping block and the clamping sliding block, thereby achieving clamping and locking. This can prevent the position displacement of the femoral condyle to be clamped during the grinding process, and solve the problem of low grinding accuracy of the femoral condyle due to position displacement between the femoral condyle and the clamp in the existing process. At the same time, the first clamp has a simple structure, is reliable in use, and is sturdy and durable.

[0042] See Figure 10The articulated surface grinding mechanism 2 includes: an articulated surface floating assembly 21, an articulated surface grinding belt 22, a grinding drive assembly 23, and a belt adjustment assembly 24. The articulated surface grinding belt 22 is rotatably mounted on the articulated surface floating assembly 21, and is connected to the grinding drive assembly 23 for driving the belt to rotate. The belt adjustment assembly 24 is located on the inner side of the articulated surface grinding belt 22 and on the power output end of the articulated surface floating assembly 21. It is used to push the articulated surface grinding belt 22 outward from the inner side in a position-adjustable manner, so that the grinding section of the articulated surface grinding belt 22 has an arc-shaped structure for grinding the articulated surface of the workpiece. It floats with the power output end of the articulated surface floating assembly 21, so that the articulated surface grinding belt 22 maintains constant force contact with the workpiece to complete the grinding process.

[0043] Specifically, the fixed end of the articulated surface floating assembly 21 is fixedly mounted on the frame 1 with screws. All other components are mounted on the power output end of the articulated surface floating assembly 21, allowing it to float synchronously with the power output end. This ensures constant force contact between the articulated surface grinding belt 22 and the articulated surface of the workpiece to be ground, thus completing the grinding process. A support plate 27 is provided on the power output end of the articulated surface floating assembly 21. The support plate 27 has a rotatable drive wheel 28 and a driven wheel 29, with the articulated surface grinding belt 22 wrapped around the outside of the drive wheel 28 and driven wheel 29. The fixed end of the grinding drive assembly 23 is mounted on the support plate 27, and its power output end is connected to the drive wheel 28. This drive wheel 28 rotates, causing the articulated surface grinding belt 22 and driven wheel 29 to rotate, thereby grinding the articulated surface of the workpiece. The fixed end of the sanding belt adjustment component 24 is also fixedly mounted on the support plate 27. The power output end is located on the inner circumference of the articulated surface grinding sanding belt 22 in a linear motion manner, pushing the articulated surface grinding sanding belt 22 outward from the inner side, so that the grinding section of the articulated surface grinding sanding belt 22 has an arc-shaped structure for grinding the articulated surface of the workpiece to be ground. In other words, the sanding belt adjustment component 24 plays a role in shaping and supporting. In this embodiment, the sanding belt adjustment component 24 is disposed between the driving wheel 28 and the driven wheel 29, and a thrust is applied from between the driving wheel 28 and the driven wheel 29 to the articulated surface grinding sanding belt 22 as an intermediate adjustment to adjust the position of the grinding section of the articulated surface grinding sanding belt 22. The articulated surface grinding sanding belt 22 and the sanding belt adjustment component 24 both float with the power output end of the articulated surface floating component 21, so that the articulated surface grinding sanding belt 22 maintains constant force contact with the workpiece to be ground to complete the grinding. The grinding drive assembly 23 is a servo motor, which has a grinding drive shaft 231 for connecting the drive wheel 28 to drive the drive wheel 28 to rotate synchronously with the grinding drive shaft 231, thereby realizing the rotation of the joint surface grinding belt 22. The grinding drive assembly 23 also has a grinding drive bearing seat 232 for supporting the grinding drive assembly 23. The fixed end of the grinding drive bearing seat 232 is fixedly mounted on the support plate 27, and of course, it is also directly fixedly mounted on the power output end of the joint surface floating assembly 21.

[0044] In this embodiment, a tensioning component 25 is also provided on the power output end of the articular surface floating component 21 for adjusting the tension of the articular surface grinding belt 22. Specifically, the fixed end of the tensioning component 25 is fixedly installed on the support plate 27 to adjust the tension of the articular surface grinding belt 22, and also floats with the power output end of the articular surface floating component 21 during the grinding process to ensure that the tension of the articular surface grinding belt 22 remains unchanged during the grinding process.

[0045] See also Figure 10The tensioning assembly 25 is further provided with a correction component 26 on its power output end. The articular surface abrasive belt 22 is wound around the power output end of the correction component 26. The correction component 26 moves with the tensioning assembly 25 to adjust the tension of the articular surface abrasive belt 22 and correct any deviation of the belt. Specifically, the fixed end of the correction component 26 is fixedly installed on the power output end of the tensioning assembly 25, and the articular surface abrasive belt 22 is wound around its power output end. The correction component 26 moves with the power output end of the tensioning assembly 25 to adjust the tension of the articular surface abrasive belt 22 wound around its power output end, and simultaneously corrects any deviation of the belt.

[0046] In this embodiment, the joint surface floating component 21 refers to a floating component for a grinding equipment disclosed in Chinese Publication No. CN 216608577 U, and its structure will not be described in detail here. Of course, other related floating structures are also possible, and no limitation is made to them in this embodiment.

[0047] See Figure 12 The sanding belt adjustment assembly 24 includes: a mounting bracket 241, an adjustment telescopic drive component 242, and an adjustment wheel 243. The mounting bracket 241 provides support. The fixed end of the adjustment telescopic drive component 242 is mounted on the mounting bracket 241. The adjustment wheel 243 is rotatably mounted on the telescopic drive end of the adjustment telescopic drive component 242. It is used to perform lateral adjustment under the telescopic drive of the adjustment telescopic drive component 242, so as to push the joint surface grinding sanding belt 22 from the inside to the outside, thereby adjusting the rotation trajectory of the joint surface grinding sanding belt 22, so that the grinding section of the joint surface grinding sanding belt 22 has an arc-shaped structure, thereby completing the grinding of the joint surface of the workpiece to be ground.

[0048] Specifically, the mounting bracket 241 is fixedly mounted on the power output end, i.e., the floating frame, of the joint surface floating assembly 21. The adjustment telescopic drive component 242 is a cylinder, or a hydraulic cylinder or other telescopic drive component, which provides power and applies a pushing force to the adjustment wheel 243 to push the adjustment wheel 243 outward, thereby adjusting the position of the joint surface grinding belt 22. To improve the stability of the adjustment wheel 243, preferably, the adjustment wheel 243 is mounted on the telescopic drive end of the adjustment telescopic drive component 242 via an intermediate wheel side bracket 244; more preferably, an intermediate wheel bearing seat 245 is also provided between the adjustment wheel 243 and the intermediate wheel side bracket 244. That is, by fixing the mounting bracket 241 to the floating frame, the adjustment telescopic drive component 242 provides power and pushes the adjustment wheel 243 out through the intermediate wheel side bracket 244 and the intermediate wheel bearing seat 245. The intermediate wheel side bracket 244 is mounted on the telescopic drive end of the adjustment telescopic drive component 242 (e.g., the intermediate wheel side bracket 244 is mounted on the telescopic drive end of the adjustment telescopic drive component 242). Figure 12 (As shown on the left end), the intermediate wheel bearing seat 245 is used to install the adjusting wheel 243. In this embodiment, to prevent dust from entering the adjusting telescopic drive member 242, preferably, a dust cover 246 is provided between the housing of the adjusting telescopic drive member 242 and the intermediate wheel side bracket 244. In particular, the dust cover 246 is installed between the cylinder body of the cylinder and the intermediate wheel side bracket 244 to prevent dust from entering the cylinder. In this embodiment, the adjusting wheels 243 in the multiple joint surface grinding mechanisms 2 have the same structure, and multiple joint surface grinding mechanisms 2 with different adjusting wheels 243 are also provided to grind different parts to adapt to different parts.

[0049] See Figure 13 The tensioning assembly 25 includes: a linear guide rail 251, a correction mounting bracket 252, and a tensioning drive component 253; wherein, the linear guide rail 251 serves as a guide; the correction mounting bracket 252 is movably mounted on the linear guide rail 251 along its length direction, and the correction mounting bracket 252 is connected to the tensioning drive component 253, which drives the correction mounting bracket 252 to move along the length direction of the linear guide rail 251, thereby driving the correction assembly 26 to move synchronously, and in turn driving the joint surface grinding belt 22 wrapped around the correction assembly 26 to move, thereby adjusting the tension of the joint surface grinding belt 22.

[0050] Specifically, the linear guide rail 251 is fixedly mounted on the power output end (floating frame) of the joint surface floating assembly 21, and also on the support plate 27, floating synchronously with the power output end of the joint surface floating assembly 21. The alignment bracket 252 is mounted on the linear guide rail 251 to fix the alignment assembly 26; the alignment bracket 252 is movable along the length of the linear guide rail 251 to move the alignment assembly 26, thereby adjusting the tension of the joint surface grinding belt 22 wound around the power output end of the alignment assembly 26. The tensioning drive 253 is a cylinder, or other linear drive structure, driving the alignment bracket 252 to move along the length of the linear guide rail 251, thus adjusting the tension of the joint surface grinding belt 22.

[0051] See also Figure 10 and Figure 13 The correction assembly 26 includes: a correction bearing seat 261, a correction bracket 262, a correction wheel 263, and a correction drive 264; wherein, the correction bracket 262 is rotatably mounted on the correction bearing seat 261, and one end of the correction bracket 262 is connected to the correction drive 264 for driving the correction bracket 262 to rotate; the correction wheel 263 is rotatably mounted on the other end of the correction bracket 262, and the outer wall of the correction wheel 263 is in abutting contact with the inner wall of the articulated surface grinding belt 22, and the correction wheel 263 is used to deflect with the correction bracket 262 to correct the offset of the articulated surface grinding belt 22.

[0052] Specifically, the alignment bearing housing 261 is fixedly mounted on the power output end of the tensioning assembly 25, i.e., the alignment mounting bracket 252, to provide movable support for the alignment bracket 262. The alignment bracket 262 is a Y-shaped bracket, meaning it includes a support rod and a U-shaped support frame disposed on one side of the support rod. The support rod is rotatably mounted on the alignment bearing housing 261, and one end of the alignment bracket 262, for example, the rotating end (e.g.,...) Figure 13 The left support rod shown is connected to the power output end of the correction drive 264, and the correction wheel 263 is rotatably mounted at the other end of the correction bracket 262, for example, a U-shaped support frame (such as...). Figure 13(As shown in the double-plate support end), in this embodiment, the rotation axis of the correction wheel 263 is arranged perpendicularly to the axis of the support rod. The correction drive 264 drives the correction bracket 262 to rotate, thereby causing the correction wheel 263 to rotate around the axis of the support rod. This allows for adjustment of the offset by the joint surface grinding belt 22 wrapped around the correction wheel 263. In other words, the correction wheel 263, the drive wheel 28, and the driven wheel 29 are arranged in a triangle. The joint surface grinding belt 22 is wrapped around the outside of the correction wheel 263, the drive wheel 28, and the driven wheel 29. The correction drive 264 drives the correction bracket 262 to rotate, thereby causing the correction wheel 263 to rotate around the axis of the support rod. This allows the offset to be corrected during the rotation of the joint surface grinding belt 22. In this embodiment, the support rod of the correction bracket 262 is connected to the power output end of the correction drive 264 via a rotary joint 265; the correction bearing seat 261 is fixedly installed on the correction mounting bracket 252, the correction drive 264 is located on the left side of the correction bearing seat 261 and is arranged coaxially with the correction bearing seat 261, the rotary joint 265 passes through the correction bearing seat 261, the left end is connected to the power output end of the correction drive 264, and the right end is fixedly connected to the support rod of the correction bracket 262, the correction wheel 263 is rotatably installed on the U-shaped support frame of the correction bracket 262, and the correction wheel 263 is driven to rotate by the correction drive 264 to correct the offset of the joint surface grinding sand belt 22.

[0053] See also Figure 10 and Figure 13The correction assembly 26 further includes a correction sensor 266 and a correction controller. The correction sensor 266 is used to detect the offset during the rotation of the joint surface grinding belt 22. The correction controller is connected to the correction sensor 266 and is used to acquire the offset during the rotation of the joint surface grinding belt 22. Based on the offset during the rotation of the joint surface grinding belt 22, the controller controls the correction drive 264 to control the deflection of the correction bracket 262 and the correction wheel 263, thereby correcting the offset of the joint surface grinding belt 22. Specifically, the correction sensor 266 is fixedly installed on the power output end of the joint surface floating assembly 21 and also fixedly installed on the correction mounting bracket 252. As long as the correction sensor 266 is located inside the joint surface grinding belt 22, its fixed position is not limited in this embodiment. In this embodiment, the correction sensor 266 is mounted on the power output end of the joint surface floating assembly 21 or on the correction mounting bracket 252 via the correction bracket 267. Alternatively, it can be fixed in other ways; this embodiment does not impose any limitations on the method. The joint surface grinding belt 22 passes through the correction sensor 266 to detect the offset during its rotation. The correction controller is connected to both the correction sensor 266 and the correction drive 264. Based on the offset during the rotation of the joint surface grinding belt 22, the controller controls the correction drive 264 to control the deflection angle of the correction bracket 262 and the correction wheel 263, thereby correcting the offset of the joint surface grinding belt 22.

[0054] In this embodiment, the correction drive component 264 includes a correction drive motor 2641 and a correction reducer 2642 connected to each other. Specifically, the correction drive motor is a servo motor, the power input end of the correction reducer is connected to the power output shaft of the servo motor, and the power output end is connected to the rotary joint 265 to reduce the power output of the servo motor and drive the rotary joint 265, the correction bracket 262, and the correction wheel 263 to deflect.

[0055] As can be seen, the articulated surface grinding mechanism 2 provided in this embodiment uses the sanding belt adjustment component 24 to push the articulated surface grinding sanding belt 22 from the inside out in a position-adjustable manner, so that the grinding section of the articulated surface grinding sanding belt 22 has an arc-shaped structure, and then the articulated surface grinding sanding belt 22 with an arc-shaped structure grinds the articulated surface of the workpiece to be ground; and the articulated surface floating component 21 drives the sanding belt adjustment component 24 and the articulated surface grinding sanding belt 22 to float as a whole, so that the articulated surface grinding sanding belt 22 maintains constant force contact with the workpiece to be ground to complete the grinding.

[0056] See also Figure 5The intercondyle grinding mechanism 3 includes: a floating grinding bracket 31, a first floating grinding module 32, a second floating grinding module 33, and a third floating grinding module 34; wherein, the floating grinding bracket 31 serves as a support; the first floating grinding module 32, the second floating grinding module 33, and the third floating grinding module 34 are arranged vertically and horizontally on the floating grinding bracket 31, the first floating grinding module 32 is used to grind the intercondyle plane of the workpiece to be ground, the second floating grinding module 33 is used to grind the intercondyle corner of the workpiece to be ground, and the third floating grinding module 34 is used to grind the intercondyle crossbeam of the workpiece to be ground.

[0057] Specifically, the floating grinding bracket 31 serves as a support, with the frame 1 acting as the floating grinding bracket 31. Alternatively, a separate support frame can be installed on the frame 1 as the floating grinding bracket 31; this embodiment does not impose any limitations on this. The first floating grinding module 32 is positioned at the top of the floating grinding bracket 31 and grinds the intercondylar plane of the workpiece to be ground. In this embodiment, there are two first floating grinding modules 32, arranged at intervals along the same horizontal position. Both first floating grinding modules 32 are belt grinding modules, rapidly grinding the intercondylar plane of the workpiece to be ground, improving the grinding efficiency of the intercondylar plane. The two first floating grinding modules 32 use different grit abrasive belts to obtain intercondylar planes with different roughnesses, especially grinding the intercondylar plane sequentially from coarse to fine to ensure that the roughness of the intercondylar plane meets the requirements. The second floating grinding module 33 is positioned in the middle of the floating grinding support 31, between the first floating grinding module 32 and the third floating grinding module 34. It grinds the intercondylar corners of the workpiece. In this embodiment, there are two second floating grinding modules 33, arranged at intervals along the same horizontal position. Both second floating grinding modules 33 are grinding head modules, grinding the small intercondylar corners of the workpiece to ensure grinding accuracy and avoid grinding other areas. The grinding heads 3323 of the two second floating grinding modules 33 are different to grind different corner positions. The third floating grinding module 34 is positioned at the lower part of the floating grinding support 31 and grinds the intercondylar crossbeams of the workpiece. In this embodiment, the third floating grinding module 34 is a wheel grinding module, grinding the intercondylar crossbeams of the workpiece to ensure grinding efficiency. The workpiece to be ground has a crossbeam at the intercondylar position, connecting the two rear condyles.

[0058] See Figure 14 The first floating grinding module 32 includes a first floating component 321 and a belt grinding component 322. The belt grinding component 322 is disposed on the power output end of the first floating component 321. The first floating component 321 is used to drive the belt grinding component 322 to float so that the power output end of the belt grinding component 322 maintains constant force contact with the workpiece to be ground to complete the grinding of the intercondylar plane.

[0059] Specifically, the fixed end of the first floating component 321 is fixedly mounted on the floating grinding bracket 31 by screws, and the fixed end of the belt grinding component 322 is fixedly mounted on the power output end of the first floating component 321, so that the belt grinding component 322 as a whole can float with the power output end of the first floating component 321, so that the power output end of the belt grinding component 322, i.e. the sanding belt, maintains constant force contact with the intercondylar plane of the workpiece to be ground, thereby completing the grinding of the intercondylar plane. Of course, the grinding compensation of the workpiece to be ground is also achieved by the floating of the first floating component 321.

[0060] In one embodiment of this example, the structure of the first floating component 321 is described in Chinese Publication No. CN216608577 U, which discloses a floating component for a grinding device. The structure will not be described in detail in this embodiment.

[0061] In other embodiments of this example, such as Figure 15 As shown, the first floating assembly 321 includes: a mounting support 3211, a floating guide rail 3212, a floating drive component 3213, and a floating plate 3214. The mounting support 3211 provides support; the floating guide rail 3212 is mounted on the mounting support 3211 and provides floating guidance; the floating plate 3214 is movably mounted on the floating guide rail 3212, and the floating drive component 3213 is connected to the floating plate 3214 to drive it to move along the floating guide rail 3212, thus achieving floating. Specifically, the mounting support 3211 is fixed to the frame 1 or the floating grinding bracket 31 with screws. The fixed ends of the floating guide rail 3212 and the floating drive component 3213 are both installed inside the mounting support 3211, with the floating guide rail 3212 providing both support and guidance. A floating plate 3214 is mounted on a floating guide rail 3212. A floating drive component 3213 provides power, driving the floating plate 3214 to move left and right, thus achieving floating. In this embodiment, a position sensor 3215 is also provided on the mounting support 3211 to obtain the position of the floating plate 3214. The position sensor 3215 is connected to a floating controller, which, based on the position of the floating plate 3214, controls the floating drive component 3213 to control the movement of the floating plate 3214. This allows the floating plate 3214 to move left and right, maintaining a constant contact force between the abrasive belt of the belt grinding assembly 322 and the workpiece to be ground, and also achieving grinding compensation. The position sensor 3215 is a grating ruler, mounted on the side of the mounting support 3211. In this embodiment, a bellows dust cover 3216 is provided between the mounting support 3211 and the floating plate 3214 to cover the exposed portion between the mounting support and the floating plate 3214, serving a dustproof function.

[0062] See also Figure 14 The belt sander assembly 322 is a narrow belt sander, including: a sanding mounting frame 3221, a tension guide rail, a tension support frame 3222, a drive wheel 3223, sanding gun rods 3224, and an intercondylar surface sanding belt 3225. The sanding mounting frame 3221 provides support; the tension guide rail is mounted on the sanding mounting frame 3221 and provides guidance; the tension support frame 3222 is movably mounted on the tension guide rail along its length, and is connected to an adjusting drive component 3227 to drive the tension support frame 3222 to move along the length of the tension guide rail, thereby switching the tension and looseness of the sanding belt and allowing for belt replacement; the drive wheel 3223 is rotatably mounted on the tension support frame 3222; two or three sanding gun rods 3224, arranged on the same plane, are all mounted on the drive wheel. On one side of wheel 3223, one sanding gun rod 3224 is arranged along the floating direction of the first floating assembly 321, and the other one or two sanding gun rods 3224 are arranged perpendicular to the floating direction of the joint surface floating assembly 21 where the grinding mounting bracket 3221 is located. Furthermore, each sanding gun rod 3224 has an end support wheel 3226 at the end furthest from the drive wheel 3223. The intercondylar plane grinding belt 3225 is wound around the drive wheel 3223 and each sanding gun rod 3224. 4. The outer periphery of each end support wheel 3226, and an auxiliary roller 3228 is provided between the power wheel 3223 and the two sanding gun rods 3224 to guide the trajectory of the intercondylar plane grinding sanding belt 3225 when it rotates, so that the intercondylar plane grinding sanding belt 3225 can rotate along the power wheel 3223 and each sanding gun rod 3224, and then the intercondylar plane is ground by the intercondylar plane grinding sanding belt 3225 at the sanding gun rod 3224.

[0063] Specifically, the grinding mounting bracket 3221 is fixedly mounted on the floating plate 3214 of the first floating component 321, so that the first floating component 321 drives the sanding belt grinding component 322 to move in one direction, achieving floating and grinding compensation. The tensioning guide rail is mounted on the grinding mounting bracket 3221 to guide the movement of the tensioning support bracket 3222; in this embodiment, the tensioning guide rail is arranged perpendicular to the floating direction of the floating plate 3214, but it can also be arranged parallel or along other directions. The perpendicular arrangement makes the structure of the first grinding module compact. The tensioning support frame 3222 is movably mounted on the tensioning guide rail along its length. The adjusting drive component 3227 is a cylinder, with its fixed end fixedly mounted on the grinding mounting bracket 3221 and its power output end fixedly connected to the tensioning support frame 3222. This drives the tensioning support frame 3222 to slide along the tensioning guide rail, thereby causing the power wheel 3223 mounted on the tensioning support frame 3222 to move, thus loosening or tightening the intercondylar plane grinding belt 3225 wound around the power wheel 3223. In this embodiment, the tensioning support frame 3222 moves along the tensioning guide rail with two stroke points, respectively realizing the switching between the loosening and tensioning states of the intercondylar plane grinding belt 3225. To prevent dust from entering the interior of the grinding mounting bracket 3221, preferably, a bellows cover 32210 is provided between the grinding mounting bracket 3221 and the tension support bracket 3222 to cover the exposed part between the grinding mounting bracket 3221 and the tension support bracket 3222 and prevent dust from entering.

[0064] In this embodiment, the drive wheel 3223 is positioned on the side opposite to the tension support frame 3222 (e.g., Figure 14On the left side, there are multiple sanding gun rods 3224 located on the same plane. Each sanding gun rod 3224 has an end support wheel 3226 at the sanding belt support end. The end support wheel 3226 is rotatably mounted on the sanding belt support end of the sanding gun rod 3224. There are two or three sanding gun rods 3224. In this embodiment, three are used as an example. One is a forward sanding gun rod 3224, which is arranged parallel to the length direction of the tensioning guide rail, that is, perpendicular to the floating direction of the floating plate 3214. It grinds the intercondylar plane through the side sanding belt, especially to grind the two side walls of the intercondylar groove of the U-shaped structure. That is, constant force contact and compensation are achieved through floating. The other two are lateral sanding gun rods 3224, arranged perpendicularly to the lateral sanding gun rod 3224 on both sides, i.e., parallel to the floating direction of the floating plate 3214. They grind the intercondylar plane through the sanding belt at their ends, especially achieving grinding of the groove depth of the U-shaped intercondylar groove, i.e., achieving constant force contact and compensation through floating. Of course, there are also two sanding gun rods 3224, one lateral and one lateral. In this embodiment, the drive wheel 3223 is connected to a sanding belt drive 3229, used to drive the drive wheel 3223 to rotate, thereby achieving grinding of the intercondylar plane. The drive wheel 3223 is a servo motor, with its fixed end mounted on the tension support frame 3222, and its power output end, i.e., the power shaft, connected to the drive wheel 3223 via a key. In this embodiment, to allow the intercondylar grinding belt 3225 to wrap around the outer periphery of the drive wheel 3223 and each sanding gun rod 3224, auxiliary rollers 3228 are provided on the trajectory of the intercondylar grinding belt 3225, located outside the belt, to limit its movement and guide its rotation. In this embodiment, when there are two sanding gun rods 3224, there are three auxiliary rollers 3228; when there are three sanding gun rods 3224, there are four auxiliary rollers 3228.

[0065] In this embodiment, the grinding mounting bracket 3221 includes a grinding support base plate 32211 and a guide rail mounting bracket 32212; wherein, the grinding support base plate 32211 is fixed on the floating plate 3214, and the sanding belt grinding component 322 is driven by the first floating component 321 to achieve unidirectional movement, and the guide rail mounting bracket 32212 is installed on the rear side of the base plate.

[0066] In this embodiment, the tensioning support frame 3222 includes: a hinge plate 32221 and a fixed support plate 32222; wherein, the fixed support plate 32222 is used to provide rotational support for the drive wheel 3223; the fixed support plate 32222 is rotatably connected to the hinge plate 32221 and is used to adjust the axial angle of the drive wheel 3223 so that the intercondylar plane grinding sanding belt 3225 can be balanced and wound around the drive wheel 3223, avoiding the intercondylar plane grinding sanding belt 3225 from jumping and solving the problem of the sanding belt running off course and flying off from the drive wheel 3223 during rotation. Specifically, the hinge plate 32221 is slidably mounted on the guide rail. The fixed support plate 32222 has an inverted L-shaped structure, with its bottom end rotatably connected to the hinge plate 32221 via a rotating shaft 32223. The fixed support plate 32222 is hinged to the power output end of the adjusting drive component 3227 via an adjusting component 32224. One end of the adjusting component 32224 is hinged to the power output end of the adjusting drive component 3227, and the other end is fixed to the fixed support plate 32222. When adjusting the axis of the power wheel 3223, the adjustment is made through the adjusting component 32224 and the fixed support plate 32222 to adjust the angle of the axis of the power wheel 3223. After adjustment, the components are tightened to prevent the adjusting component 32224 and the fixed support plate 32222 from rotating arbitrarily.

[0067] See Figure 16 The second floating grinding module 33 includes a second floating component 331 and a grinding head grinding component 332. The grinding head grinding component 332 is disposed on the power output end of the second floating component 331. The second floating component 331 is used to drive the grinding head grinding component 332 to float so that the power output end of the grinding head grinding component 332 maintains constant force contact with the workpiece to be ground to complete the grinding of the intercondylar angle. Specifically, the fixed end of the second floating component 331 is fixedly mounted on the floating grinding bracket 31 by screws, and the grinding head grinding component 332 is mounted on the power output end of the second floating component 331 so that the grinding head grinding component 332 as a whole can float with the power output end of the second floating component 331, so that the power output end of the grinding head grinding component 332, i.e. the grinding head 3323, maintains constant force contact with the intercondylar angle of the workpiece to be ground, thereby completing the grinding of the intercondylar angle. Of course, the grinding compensation of the workpiece to be ground is also achieved by the floating of the second floating component 331.

[0068] See also Figure 16The grinding head assembly 332 includes an electric grinding shaft 3321 and a grinding shank 3322. The grinding shank 3322 is located at the end of the electric grinding shaft 3321 and is used to support the grinding head 3323 for grinding the intercondylar angle of the workpiece. Specifically, the electric grinding shaft 3321 is mounted on the floating plate of the second floating assembly 331 via an electric spindle fixing block 3324 so as to float synchronously with the floating plate of the second floating assembly 331. In this embodiment, the electric spindle fixing block 3324 is fixedly mounted on the floating plate of the second floating assembly 331 and supports the electric grinding shaft 3321 in a clamping manner. The electric grinding shaft 3321 is perpendicular to the floating direction of the second floating assembly 331 and is rotatably mounted on the electric spindle fixing block 3324. This allows the second floating assembly 331 to float synchronously when the electric grinding shaft 3321 drives the grinding handle 3322 and the grinding head 3323 to rotate and grind, achieving constant force contact and compensation in the grinding direction. One end of the grinding handle 3322 is detachably connected to the front end of the electric grinding shaft 3321, and the other end of the grinding handle 3322 is locked with the grinding head 3323. The grinding head 3323 rotates under the driving action of the electric grinding shaft 3321, thereby achieving the grinding of the intercondylar angle.

[0069] It can be seen that the grinding head assembly 332 is driven by the electric grinding shaft 3321. Compared with the servo motor drive, the speed is higher and the corner position is smoother when grinding.

[0070] See Figure 17 The third floating grinding module 34 includes a third floating component 341 and a wheel grinding component 342. The wheel grinding component 342 is mounted on the power output end of the third floating component 341. The third floating component 341 drives the wheel grinding component 342 to float, ensuring a constant force contact between the power output end of the wheel grinding component 342 and the workpiece to be ground, thus completing the grinding of the intercondylar crossbeam. Specifically, the fixed end of the third floating component 341 is fixedly mounted on the floating grinding bracket 31 with screws. The wheel grinding component 342 is mounted on the power output end of the third floating component 341, allowing the wheel grinding component 342 to float along with the power output end of the third floating component 341. This maintains a constant force contact between the power output end of the wheel grinding component 342 and the intercondylar crossbeam of the workpiece to be ground, completing the grinding of the intercondylar crossbeam. Furthermore, the floating of the third floating component 341 also compensates for the grinding of the workpiece.

[0071] In this embodiment, the third floating component 341 and the second floating component 331 refer to the first floating component 321, and will not be described in detail here.

[0072] See also Figure 17The wheel grinding assembly 342 includes a rotating grinding shaft 3421, a wheel drive component 3422, and a grinding wheel 3423. The rotating grinding shaft 3421 is connected to the wheel drive component 3422 for driving the rotating grinding shaft 3421 to rotate. The grinding wheel 3423 is located at the power output end of the rotating grinding shaft 3421 and is used to grind the intercondylar crossbeam of the workpiece to be ground. Specifically, the rotating grinding shaft 3421 is mounted on the floating plate of the third floating assembly 341 via a wheel grinding bearing seat 3424, so as to move with the floating plate of the third floating assembly 341. The rotating grinding shaft 3421 passes through the wheel grinding bearing seat 3424, its right end is connected to the wheel drive component 3422, and a pressure plate 3425 is provided at the left end of the rotating grinding shaft 3421 for fixing the grinding wheel 3423. The drive component 3422 is a servo spindle. When it rotates, it drives the grinding wheel 3423 at the front end to rotate by rotating the grinding shaft 3421. The grinding wheel 3423 contacts the crossbeam of the workpiece to be ground, thus achieving the grinding effect. Compared with an electric spindle, the servo spindle has a lower speed and higher torque, which improves the grinding efficiency.

[0073] See Figure 18The workpiece adjustment mechanism 4 includes: a mounting base 41, a forward pushing component 42, and a lateral pushing component 43; wherein, the forward pushing component 42 and the lateral pushing component 43 are both mounted on the mounting base 41, and are used to apply a forward pushing force from the top of the workpiece to be ground and a lateral pushing force from the bottom of the workpiece to be ground to the workpiece to be ground, so that the workpiece to be ground is in contact with the positioning reference surface of the fixture. Specifically, the forward pushing component 42 is mounted on the mounting base 41 in a vertically adjustable manner, so that the workpiece to be ground moves upward toward the forward pushing component 42 with the robot arm 5 and applies a pressing force to the forward pushing component 42. This causes the forward pushing component 42 to apply a vertically downward restoring force, i.e., a forward thrust, to the workpiece to be ground. After the workpiece to be ground moves upward toward the forward pushing component 42 with the robot arm 5 and applies a pressing force to the forward pushing component 42, the gripper at the end of the robot arm 5 releases the workpiece to be ground, so that the workpiece to be ground is supported on the gripper in a free state and, under the action of the forward thrust of the forward pushing component 42, adheres downward to the positioning reference surface of the gripper. The lateral pushing component 43 is mounted on the mounting base 41 in a horizontally adjustable manner. This allows the workpiece to be ground to move towards the lateral pushing component 43 along with the robot arm 5, applying a pressing force to the lateral pushing component 43. This causes the lateral pushing component 43 to apply a horizontal restoring force, i.e., a lateral thrust, to the workpiece to be ground. After the workpiece moves towards the lateral pushing component 43 to the left along with the robot arm 5 and applies a pressing force to the lateral pushing component 43, the clamp at the end of the robot arm 5 releases the workpiece, allowing it to be freely supported on the clamp. Under the rightward lateral thrust of the lateral pushing component 43, the workpiece is pressed downward against the positioning reference surface of the clamp, thus adjusting the position of the workpiece to be ground.

[0074] See also Figure 18 The forward pushing component 42 includes a guide post 421, a force-applying plate 422, and an elastic reset member. The top end of the guide post 421 is positioned adjustable on the mounting base 41. The force-applying plate 422 is positioned at the bottom end of the guide post 421. An elastic reset member is provided on the outer periphery of the guide post 421 between the mounting base 41 and the force-applying plate 422. After the force-applying plate 422 and the guide post 421 move closer to the mounting base 41, the elastic reset member applies a reset force to the force-applying plate 422, causing the force-applying plate 422 to apply a pushing force to the workpiece to be ground, thus adjusting the position of the workpiece. In this embodiment, the lateral pushing component 43 refers to the forward pushing component 42, and will not be described in detail here. The elastic reset member is a spring structure.

[0075] See Figures 19 to 21The detection mechanism 6 includes a detection mounting frame 61, a position adjustment mechanism 62, and a displacement sensor 63; wherein, the detection mounting frame 61 serves a supporting function. The position adjustment mechanism 62 is connected to the mounting frame in a position-adjustable manner, and is used to press against the measurement position of the workpiece to be ground. Under the action of the workpiece to be ground, the position can be adjusted so that the measurement reference surface of the workpiece to be ground can drive the position adjustment mechanism 62 to move along the mounting direction of the mounting frame until the reference surface of the workpiece to be ground moves to a preset reference position, thereby ensuring a tight contact between the measurement position of the workpiece to be ground and the position adjustment mechanism 62 without gaps, thus ensuring the accuracy of the measurement.

[0076] Specifically, the position adjustment mechanism 62 is positioned along the mounting direction of the detection mounting frame, i.e., the width direction of the U-shaped groove (e.g., Figure 19 The position adjustment mechanism 62 is mounted on the detection mounting frame in a position-adjustable manner, and the detection mounting frame provides movable support for the position adjustment mechanism 62. During the grinding process of the workpiece to be ground, the measuring reference surface of the workpiece to be ground is fixed on the fixture. Each time the outer contour is measured, the fixture is in the same initial position, so that the measuring reference surface of the workpiece to be ground is in the same reference position. Since the outer contour size of the workpiece to be ground gradually decreases during grinding, that is, the outer contour size of the workpiece to be ground is different before and after each grinding, that is, the distance between the measuring reference surface of the workpiece to be ground and the measurement position is different, especially decreasing. Therefore, if the measuring reference surface of the workpiece to be ground is in the same reference position when measuring before and after grinding, the measurement position of the workpiece to be ground will be in different positions before and after grinding. In this embodiment, in order to measure the position to be measured of the workpiece to be polished, the position adjustment mechanism 62 is set below the detection mounting frame and is connected to the detection mounting frame in a position-adjustable manner. The position adjustment mechanism 62 presses against the position to be measured of the workpiece to be polished and can move up and down synchronously with the workpiece to be polished, so that the workpiece to be polished can move upward under the control of the industrial robot, thereby driving the workpiece to be polished and the position adjustment mechanism 62 to move synchronously.

[0077] The displacement sensor 63 is mounted on the detection mounting bracket to obtain the distance between the preset measurement position fixed relative to the detection mounting bracket and the position adjustment mechanism 62, that is, the distance between the preset measurement position and the position to be measured. Then, based on the distance between the preset measurement position and the position to be measured, the distance between the position to be measured and the preset reference position where the measurement reference surface of the workpiece to be ground is fixed is calculated, that is, the distance between the position to be measured of the workpiece to be ground and the measurement reference surface of the workpiece to be ground. Thus, the outer contour dimension of the workpiece to be ground is obtained. Furthermore, by comparing the distance between the position to be measured of the workpiece to be ground and the measurement reference surface of the workpiece to be ground before and after grinding, the grinding amount is obtained. When the distance between the position to be measured of the workpiece to be ground and the measurement reference surface of the workpiece to be ground reaches the preset distance range, it is indicated that the grinding of the workpiece to be ground is completed. In this embodiment, for ease of measurement, the displacement sensor 63 is preferably a contact displacement sensor, arranged along the mounting direction of the mounting frame, i.e., the width direction of the U-shaped groove. It uses contact to obtain the distance between the preset measurement position and the position adjustment mechanism. In this embodiment, the contact displacement sensor passes through the mounting frame, and its measuring probe can extend and retract along the mounting direction of the mounting frame, i.e., along the position adjustment direction of the position adjustment mechanism, extending from its initial position until it presses against the position adjustment mechanism to monitor displacement, acquire, and output the movement distance. The initial position of the measuring probe is the preset measurement position. The distance between the preset measurement position and the position adjustment mechanism 62 is obtained, thereby acquiring the outer contour dimensions of the workpiece to be ground and the grinding amount. The workpiece to be ground can also be any other part to be measured; this embodiment does not limit its specific type. In this embodiment, the displacement sensor 63 is a cylinder-type contact displacement sensor 63.

[0078] A reset mechanism 64 is also provided between the position adjustment mechanism 62 and the detection mounting bracket 61. This reset mechanism applies a resetting force away from the mounting bracket to the position adjustment mechanism 62, ensuring a tight, gap-free fit between the position adjustment mechanism 62 and the measurement position of the workpiece to be ground. This ensures measurement accuracy and allows the position adjustment mechanism 62 to return to its original position after the workpiece is removed. Specifically, the reset mechanism 64 is clamped between the position adjustment mechanism 62 and the detection mounting bracket 61. When the position adjustment mechanism 62 moves towards the mounting bracket, the reset mechanism 64 compresses and applies a resetting force away from the mounting bracket to the position adjustment mechanism 62. This ensures a tight, gap-free fit between the position adjustment mechanism 62 and the measurement position of the workpiece to be ground, especially during measurement, thus ensuring measurement accuracy. It also allows the position adjustment mechanism 62 to reset under the action of the reset force.

[0079] See also Figures 19 to 20The testing mounting frame 61 includes an L-shaped frame 612 and a measuring support plate 611; wherein the measuring support plate 611 is disposed on the L-shaped frame 612, and a U-shaped structure is formed between the measuring support plate 611 and the L-shaped frame 612.

[0080] See also Figures 19 to 20 The position adjustment mechanism 62 includes: a guide rail mounting plate 621, a measuring guide rail 622, a measuring moving plate 623, a measuring front contact plate 624, and a measuring cover 625; wherein, the guide rail mounting plate 621 supports the guide rail; the measuring guide rail 622 is disposed on the guide rail mounting plate 621 and serves as a guide and support; the measuring moving plate 623 is slidably disposed on the guide rail along the length direction of the measuring guide rail 622 and is used to slide along the measuring guide rail 622; the measuring front contact plate 624 is disposed on the side wall of the measuring moving plate 623 and is used to press against the measuring position of the workpiece to be ground, so as to push the measuring moving plate 623 to move under the action of the workpiece to be ground.

[0081] Specifically, the guide rail mounting plate 621 is vertically installed below the measuring support plate 611 to support and fix the measuring guide rail 622. Multiple measuring guide rails 622 are arranged on one side of the guide rail mounting plate 621 (e.g., Figure 20 (As shown on the right side), guiding the movement of the measuring moving plate 623. The measuring moving plate 623 is provided on the right side of the measuring guide rail 622, and a sliding sleeve 6231 is provided on the left side of the measuring moving plate 623, which is slidably sleeved on the measuring guide rail 622 to slide along the length direction of the measuring guide rail 622, thereby guiding the movement of the measuring moving plate 623 and the measuring front contact plate 624. The measuring front contact plate 624 is provided on the side wall of the measuring moving plate 623 (e.g., the right side of the measuring moving plate 623). Figure 20 On the bottom wall shown, it is used to press against the measurement position of the workpiece to be ground, so that the measuring moving plate 623 is moved under the action of the workpiece to be ground, thereby compressing the reset mechanism 64. In order to achieve dust protection for the position adjustment mechanism 62, preferably, a measuring cover 625 is provided between the mounting bracket and the measuring front contact plate 624. The measuring cover 625 is located between the measuring support plate 611 and the measuring front contact plate 624, and is used to cover the outside of the guide rail mounting plate 621, the measuring guide rail 622 and the measuring moving plate 623, thereby protecting the measuring guide rail 622 from dust.

[0082] See also Figures 19 to 20 The reset mechanism 64 includes: a guide shaft 641 and a measuring reset spring 642; wherein, one end of the guide shaft 641 (e.g., Figure 20 The top end (as shown) slides through the mounting bracket, and the other end (as shown) Figure 20The bottom end (shown) is connected to the position adjustment mechanism 62; the measurement reset spring 642 is sleeved on the guide shaft 641, and the measurement reset spring 642 is disposed between the position adjustment mechanism 62 and the mounting bracket, for compressing the position adjustment mechanism 62 as it moves toward the mounting bracket with the workpiece to be ground, and applying a reset force to the position adjustment mechanism 62 so that the position adjustment mechanism 62 can be reset to the initial position in the free state, and so that the position adjustment mechanism 62 fits with the measurement position of the workpiece to be ground.

[0083] Specifically, the guide shaft 641 passes through the measuring front contact plate 624 and connects to the measuring moving plate 623. The measuring reset spring 642 is sleeved in the middle of the guide shaft 641, which is used to reset itself after the measuring moving plate 623 moves, and also ensures that the measuring front contact plate 624 is in close contact with the workpiece to be ground during the movement.

[0084] In this embodiment, the measuring moving plate 623 is provided with a moving cavity. The contact displacement sensor 63 passes through the mounting bracket and extends into the interior of the measuring moving plate 623. Its measuring probe can move telescopically in the moving cavity to extend and press against the measuring contact plate 624 for position detection.

[0085] The working principle of this measuring mechanism is as follows: Before and after grinding, the distance between the measuring reference surface of the workpiece and the position to be measured is different. For example, ... Figure 21 As shown, before grinding, the distance between the measuring reference surface and the measurement position of the workpiece is b0, and it decreases to b1 after grinding. Therefore, when measuring the workpiece before and after grinding, the workpiece is measured separately before and after grinding to obtain the grinding amount. Before measurement, the required grinding amount is calculated based on the initial width between the measuring reference surface and the grinding position of the workpiece, and the required width of the workpiece after grinding. The required grinding amount is then calculated based on the required width of the workpiece after grinding (i.e., the distance b1 between the measuring reference surface and the measurement position of the workpiece after grinding) and the distance between the initial position of the measuring probe of the displacement sensor 63 and the preset reference position AA. The required extension length L1 of the measuring probe of displacement sensor 63 is defined as follows: after grinding, the distance b1 between the measuring reference surface of the workpiece to be ground and the position to be measured is a range, and the required extension length L1 of the measuring probe of displacement sensor 63 is also a corresponding preset extension range; for example, if the required extension length L0 of the measuring probe of displacement sensor 63 is not within the preset extension range before grinding, grinding needs to continue; during the grinding process, a measurement is performed after each grinding. The measuring reference surface of the workpiece to be ground is fixed on the fixture on the industrial robot, and after the position to be measured of the workpiece to be ground contacts the contact plate 624 before measurement, the industrial robot moves the workpiece to be ground towards the mounting frame (e.g., Figure 4The measuring front contact plate 624 is pushed towards the measuring support plate 611 (as shown) and moved upwards until the industrial robot's gripper moves to the set position, so that the measuring reference surface of the workpiece to be ground moves to the preset reference position AA; the measuring probe of the displacement sensor 63 extends until it contacts the measuring front contact plate 624, and the current extension length value of the measuring probe is obtained through the displacement sensor 63; then the product exits the detection device, and the measuring front contact plate 624 is reset under the action of the measuring reset spring 642; the current extension length value is compared with the preset extension range. When the current extension length value does not reach the preset extension range of the product at this measuring position, the product needs to be ground again on the belt sander. After the grinding is completed, the measurement continues. When the current extension length value reaches the preset extension range of the product, the grinding stops, thereby ensuring the dimensional accuracy of the product.

[0086] As can be seen, the position adjustment mechanism 62 is connected to the mounting frame in a position-adjustable manner, pressing against the measurement position of the workpiece to be ground. It can adjust its position under the action of the workpiece, allowing the measurement reference surface of the workpiece to move along the mounting direction of the mounting frame until the measurement reference surface of the workpiece reaches the preset reference position. The displacement sensor 63 obtains the distance between the preset measurement position fixed relative to the mounting frame and the position adjustment mechanism 62. Based on the distance between the preset measurement position and the preset reference position fixed to the mounting frame, the outer contour dimension information of the workpiece to be ground is obtained. Combined with the distance between the initial position of the contact displacement sensor 63 and the preset measurement position, the distance between the measurement position of the workpiece to be ground and the measurement reference surface of the workpiece to be ground is calculated, thus realizing the detection of the femoral condyle outer contour, especially the outer contour of the articular surface.

[0087] The working principle of the equipment is as follows: First, the loading tray 122 and unloading tray 123 are placed in the corresponding positions on the material rack body 121. The workpiece to be ground is manually placed on the loading tray 122 for initial positioning. The operation door 71 is closed, and the start button 74 is pressed. The robotic arm 5 picks up the workpiece to be ground from the loading tray 122 through the first clamp 51 and moves it to the workpiece adjustment mechanism 4. The first clamp 51 releases the workpiece so that it is in the clamping position of the first clamp 51. After the workpiece is adjusted, it is re-clamped. The robotic arm 5 holds the workpiece and grinds the joint surface on the joint surface grinding mechanism 2. During this process, it needs to be reversed once at the transfer table 15. After the joint surface grinding is completed, the robotic arm 5 places the product on the transfer table 15 and then moves it to the clamping magazine 14 to replace the second clamp 52. After the robotic arm 5 picks up the part from the transfer table 15, it grinds the intercondyle on the intercondyle grinding mechanism 3. After grinding, the robotic arm 5 places the workpiece onto the unloading tray 123 of the material rack body 121, then moves it to the fixture magazine 14 to replace the first fixture 51, and then retrieves the workpiece from the loading tray 122, repeating the above actions. When the workpiece on the loading tray 122 is finished, the operator replenishes the workpiece and removes the workpiece from the unloading tray 123.

[0088] Method Implementation Examples: See Figure 22 This is a flowchart of the femoral condyle grinding method provided in an embodiment of the present invention. As shown in the figure, the femoral condyle grinding method uses the aforementioned automated femoral condyle grinding equipment to grind the femoral condyle, and includes the following steps: In the loading step S1, several workpieces to be ground are positioned and fixed on the loading tray of the material rack. Specifically, the workpieces to be ground are placed sequentially on the loading tray 122 for positioning.

[0089] In the initial clamping step S2, the first clamp, pre-installed on the robotic arm, laterally clamps the workpiece to be ground on the loading tray, exposing the joint surfaces of the workpiece. The clamped workpiece is then moved to a workpiece adjustment position, and the workpiece position on the robotic arm clamp is adjusted via a workpiece adjustment mechanism, ensuring the workpiece is aligned with the positioning reference surface of the first clamp. In this embodiment, before clamping the workpiece with the first clamp 51, the robotic arm 5 is controlled to move to the clamping magazine 14 to install the first clamp 51, and then moves to the workpiece to be ground for clamping.

[0090] In step S3, the joint surface grinding process involves using a robotic arm to move the first clamp and the workpiece to be ground to the joint surface grinding position. The joint surface grinding mechanism then grinds the joint surfaces of the workpiece. Specifically, the joint surfaces are ground sequentially using abrasive belts of varying grits, from coarse to fine. The first grinding step controls the dimensions, while subsequent grinding steps aim to achieve a roughness threshold. After grinding the joint surface using the coarsest grit belt, the dimensions are measured using a measuring mechanism. If the dimensions do not meet the preset requirements, grinding is repeated using the coarsest grit belt until the dimensions meet the preset requirements. During each grinding step, the joint surfaces on both sides are ground sequentially. For the circumferential grinding in the middle, the workpiece is placed on the central turntable 15 and clamped circumferentially by the first clamp 51 to grind the joint surface on the other side.

[0091] In the fixture replacement step S4, the first fixture at the end of the robot arm is replaced by placing the first fixture in the fixture box and installing the second fixture to the end of the robot arm. Specifically, after the joint surface grinding mechanism 2 grinds the joint surface of the workpiece to be ground, the workpiece to be ground is placed on the transfer table 15, and the robot arm 5 moves to the fixture library 14 to replace the second fixture 52.

[0092] In the second clamping step S5, the second clamp pre-installed on the robot arm clamps the workpiece to be ground in a forward orientation, exposing the condyles of the workpiece. The clamped workpiece is then moved to the workpiece adjustment position, and the workpiece position on the clamp on the robot arm is adjusted by the workpiece adjustment mechanism, so that the workpiece is in contact with the positioning reference surface of the second clamp. Specifically, after the robot arm 5 picks up the workpiece from the transfer table 15, the condyles of the workpiece to be ground are exposed, and the clamped workpiece is moved to the workpiece adjustment position. The workpiece position on the second clamp on the robot arm 5 is then readjusted by the workpiece adjustment mechanism 4, so that the workpiece is in contact with the positioning reference surface of the second clamp 52.

[0093] In step S6, the intercondylar grinding mechanism uses a robotic arm to move the second fixture and the workpiece to be ground to the intercondylar grinding position. Specifically, the third floating grinding module 34 first grinds the intercondylar crossbeam, then the first floating grinding module 32 grinds the intercondylar plane, and finally the second floating grinding module 33 grinds the intercondylar corner to complete the intercondylar grinding of the workpiece.

[0094] In summary, the automated femoral condyle grinding equipment and method provided in this embodiment utilizes a first clamp mounted on a robotic arm to laterally grip the workpiece, exposing the articular surfaces of the workpiece. The robotic arm moves the gripped workpiece to the articular surface grinding mechanism for grinding the articular surfaces, and then places the workpiece on a transfer table. The robotic arm then replaces the second clamp from the clamp magazine to grip the workpiece on the transfer table, exposing the intercondylar region of the workpiece. The workpiece is then moved to the intercondylar grinding mechanism for grinding the intercondylar region, and finally, the ground workpiece is placed on a rack, completing the automated grinding of the workpiece. This solves the problems of slow grinding efficiency and unstable grinding quality caused by existing manual grinding of the femoral condyle. Furthermore, this equipment also has the following advantages: First, it fills the market gap for automated grinding equipment for this type of workpiece.

[0095] Secondly, it has a high degree of automation, with all grinding processes completed by machines, which improves work efficiency and ensures high-quality and stable grinding precision.

[0096] Third, it only requires manual loading and unloading of materials and operation of equipment, which greatly reduces the labor intensity of workers and improves the working environment.

[0097] Fourth, the equipment is highly versatile and easy to switch production. It can automatically grind workpieces of the same shape but different sizes simply by changing the feeding tray.

[0098] Fifth, it is equipped with dust removal and explosion-proof facilities, ensuring high safety.

[0099] It should be noted that in the description of this invention, the terms "upper", "lower", "left", "right", "inner", "outer", etc., which indicate directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings. This is only for the convenience of description and is not intended to indicate or imply that the device or element must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation of this invention.

[0100] Furthermore, it should be noted that, in the description of this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they may refer to a fixed connection, a detachable connection, or an integral connection; they may refer to a direct connection or an indirect connection through an intermediate medium; or they may refer to the internal communication between two components. Those skilled in the art will understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0101] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from the spirit and scope of the invention. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. An automated femoral condyle grinding device, characterized in that, include: The frame serves a supporting function; A joint surface grinding mechanism is mounted on the frame and is used to grind the joint surfaces of the workpiece to be ground. An intercondylar grinding mechanism is mounted on the frame and is used to grind the intercondylar region of the workpiece to be ground. The workpiece adjustment mechanism is located on the top of the frame and is used to adjust the position of the workpiece to be ground held by the robot arm so that the workpiece to be ground fits against the positioning reference surface. A robotic arm, mounted on the frame, has a first or second clamp selectively mounted on its end effector. The first clamp is used to laterally grip the workpiece to be ground, exposing the joint surfaces. The robotic arm moves the gripped workpiece to the joint surface grinding mechanism to grind the joint surfaces and places the workpiece on a transfer table. The robotic arm can be replaced with the second clamp from the clamp magazine to grip the workpiece on the transfer table in a forward orientation, exposing the intercondyles of the workpiece. The robotic arm then moves the workpiece to the intercondyle grinding mechanism to grind the intercondyles and places the ground workpiece on a rack. The intercondylar polishing mechanism includes: a first floating polishing module, a second floating polishing module, and a third floating polishing module; wherein, The first floating grinding module, the second floating grinding module, and the third floating grinding module are arranged vertically at intervals. The first floating grinding module is used to grind the intercondylar plane of the workpiece to be ground, the second floating grinding module is used to grind the intercondylar corner of the workpiece to be ground, and the third floating grinding module is used to grind the intercondylar crossbeam of the workpiece to be ground. The first floating grinding module includes: a first floating component and a belt grinding component; wherein, the belt grinding component is disposed on the power output end of the first floating component, and the first floating component is used to drive the belt grinding component to float so that the power output end of the belt grinding component maintains constant force contact with the workpiece to be ground to complete the grinding of the intercondylar plane. The belt abrasive assembly includes: Grinding the mounting bracket; The tension guide rail is set on the grinding mounting bracket and serves as a guide; The tensioning support frame is movably mounted on the tensioning guide rail along its length direction. The tensioning support frame is connected to an adjustment drive component to drive the tensioning support frame to move along the length direction of the tensioning guide rail, thereby switching the tensioned and untensioned states of the intercondylar plane grinding belt and thus enabling the replacement of the intercondylar plane grinding belt. The drive wheel is rotatably mounted on the tensioning support frame; Two or three sanding gun rods are arranged on the same plane, all located on one side of the power wheel. One of the sanding gun rods is arranged vertically along the floating direction of the first floating assembly, and the other or two sanding gun rods are arranged along the floating direction of the first floating assembly where the grinding mounting bracket is located. Furthermore, each sanding gun rod has an end support wheel at the end away from the power wheel. An intercondylar plane grinding belt is wound around the outer periphery of the power wheel, each of the sanding gun rods, and each of the end support wheels. An auxiliary roller is provided between the power wheel and the two sanding gun rods to guide the trajectory of the intercondylar plane grinding belt during rotation, so that the intercondylar plane grinding belt can rotate along the power wheel and each of the sanding gun rods, thereby achieving the grinding of the intercondylar plane through the intercondylar plane grinding belt at the sanding gun rods.

2. The automated femoral condyle grinding equipment according to claim 1, characterized in that, The articular surface grinding mechanism includes: Joint surface floating components; A joint surface grinding belt is rotatably mounted on the joint surface floating assembly, and the joint surface grinding belt is connected to a grinding drive assembly for driving the joint surface grinding belt to rotate. A belt positioning assembly is disposed on the inner side of the joint surface grinding belt and on the power output end of the joint surface floating assembly. It is used to push the joint surface grinding belt outward from the inner side of the joint surface grinding belt in a position-adjustable manner, so that the grinding section of the joint surface grinding belt has an arc-shaped structure for grinding the joint surface of the workpiece to be ground. It floats with the power output end of the joint surface floating assembly so that the joint surface grinding belt maintains constant force contact with the workpiece to be ground to complete the grinding. A tensioning component is installed on the power output end of the joint surface floating component and is used to adjust the tension of the joint surface grinding belt. A correction component is disposed on the power output end of the tensioning component, and the articular surface abrasive belt is wound around the power output end of the correction component. The correction component is used to move with the tensioning component to adjust the tension of the articular surface abrasive belt and to correct the offset of the articular surface abrasive belt.

3. The automated femoral condyle grinding equipment according to claim 2, characterized in that, The tensioning component includes: Linear guides serve a guiding function; A correction mounting bracket is movably mounted on the linear guide rail along its length. The correction mounting bracket is connected to a tensioning drive component, which drives the correction mounting bracket to move along the length of the linear guide rail, thereby causing the correction assembly to move synchronously. This, in turn, causes the articulated surface grinding belt wrapped around the correction assembly to move, thus adjusting the tension of the articulated surface grinding belt.

4. The automated femoral condyle grinding equipment according to claim 2, characterized in that, The correction component includes: Straightening bearing housing; The alignment bracket is rotatably mounted on the alignment bearing seat, and one end of the alignment bracket is connected to an alignment drive component for driving the alignment bracket to rotate. A correction wheel is rotatably mounted at the other end of the correction bracket, and the outer wall of the correction wheel is in abutting contact with the inner wall of the joint surface grinding belt. The correction wheel is used to deflect with the correction bracket to correct the offset of the joint surface grinding belt. A deviation correction sensor is used to detect the amount of deviation during the rotation of the grinding belt on the articular surface; A correction controller, connected to the correction sensor, is used to acquire the offset amount during the rotation of the joint surface grinding belt, and control the correction drive based on the offset amount during the rotation of the joint surface grinding belt, so as to control the deflection of the correction bracket and the correction wheel, thereby correcting the offset amount of the joint surface grinding belt.

5. The automated femoral condyle grinding equipment according to any one of claims 1 to 4, characterized in that, The second floating grinding module includes: a second floating component and a grinding head component; wherein, the grinding head component is disposed on the power output end of the second floating component, and the second floating component is used to drive the grinding head component to float, so that the power output end of the grinding head component maintains constant force contact with the workpiece to be ground to complete the grinding of the intercondylar angle; and / or, The third floating grinding module includes a third floating component and a wheel grinding component; wherein, the wheel grinding component is disposed on the power output end of the third floating component, and the third floating component is used to drive the wheel grinding component to float so that the power output end of the wheel grinding component maintains constant force contact with the workpiece to be ground to complete the grinding of the intercondylar crossbeam.

6. The automated femoral condyle grinding equipment according to any one of claims 1 to 4, characterized in that, The workpiece adjustment mechanism includes: Mounting base; A forward pushing component, mounted on the mounting base, is used to apply a forward thrust from the top of the workpiece to be ground to the workpiece, so that the workpiece to be ground is in contact with the positioning reference surface. The lateral pushing component is used to apply lateral thrust to the workpiece to be ground sequentially from the side of the workpiece, so that the workpiece to be ground is in contact with the positioning reference surface.

7. The automated femoral condyle grinding equipment according to any one of claims 1 to 4, characterized in that, The frame is also equipped with a detection mechanism, which includes: Mounting rack; A position adjustment mechanism is connected to the mounting frame in a position-adjustable manner. It is used to press against the position to be measured on the femoral condyle to be measured, and can be adjusted in position under the action of the femoral condyle to be measured, so that the reference surface of the femoral condyle to be measured can drive the position adjustment mechanism to move along the mounting direction of the mounting frame until the reference surface of the femoral condyle to be measured moves to a preset reference position. A displacement sensor, mounted on the mounting bracket, is used to obtain the distance between a preset measurement position fixed relative to the mounting bracket and the position adjustment mechanism.

8. A grinding method using the automated femoral condyle grinding equipment according to any one of claims 1 to 7, characterized in that, Includes the following steps: The feeding step involves positioning and fixing several workpieces to be ground on the feeding tray of the material rack. In the initial clamping step, the first clamp pre-installed on the robot arm is used to clamp the workpiece to be ground on the loading tray from the side, so that the joint surface of the workpiece to be ground is exposed. The clamped workpiece to be ground is moved to the workpiece adjustment position. The workpiece position of the first clamp on the robot arm is adjusted by the workpiece adjustment mechanism so that the workpiece to be ground is attached to the positioning reference surface of the first clamp. In the joint surface grinding step, a robotic arm is used to move the first fixture and the workpiece to be ground to the joint surface grinding position, and the joint surface grinding mechanism is used to grind the joint surface of the workpiece to be ground. The fixture replacement procedure involves replacing the first fixture at the end of the robotic arm by placing the first fixture in the fixture box and installing the second fixture onto the end of the robotic arm. In the second clamping step, the second clamp pre-installed on the robot arm clamps the workpiece to be ground in a forward orientation so that the condyles of the workpiece to be ground are exposed. The clamped workpiece to be ground is then moved to the workpiece adjustment position. The workpiece position of the second clamp on the robot arm is adjusted by the workpiece adjustment mechanism so that the workpiece to be ground is in contact with the positioning reference surface of the second clamp. In the intercondyle grinding step, a robotic arm is used to move the second fixture and the workpiece to be ground to the intercondyle grinding position, and the intercondyle grinding mechanism is used to grind the intercondyle of the workpiece.

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