A grinding device for processing multi-axis spiny spheres

Abstract

The present invention discloses a grinding device for multi-axis spiny sphere processing, which relates to the technical field of multi-axis spiny sphere grinding, including a processing table, on which a clamping mechanism is installed, and the clamping mechanism includes two clamps that can be extended and retracted along a first direction to clamp symmetrical spiny columns at both ends of the multi-axis spiny sphere, and the clamps can drive the multi-axis spiny sphere to rotate along its clamping axis, and through overlapping grinding, grinding dead corners on the surface of the sphere are avoided, and the grinding uniformity is improved. After each spiny column is polished, the grinding area where the first grinding component contacts the sphere can cover the entire sphere surface, so that the entire sphere can be evenly polished while the spiny columns are completely polished, without the need for manual secondary grinding, and the clamping state of the multi-axis spiny sphere can be automatically adjusted according to the grinding requirements, without the need for manual adjustment, thereby improving the automation of grinding.

Description

Technical Field

[0001] The invention relates to the technical field of multi-axis spiny sphere grinding, in particular to a grinding device for multi-axis spiny sphere processing. Background Art

[0002] The balancing ball in the mechanical gyroscope is a multi-axis spiny sphere. The balancing ball in the mechanical gyroscope is rarely processed in an integrated manner. Instead, it is made of a split structure and then assembled and spliced. The split structures of the split balancing ball are all polished separately. In order to improve the accuracy of the spiny sphere and avoid affecting the accuracy of the gyroscope, a special tool for processing the gyro is now used to process the product in one go using a turning and milling compound machine tool. Although the integrated structure solves the error of the split assembly and splicing, polishing is very inconvenient. Most of the existing polishing methods use manual polishing, or mechanical local polishing and then manual polishing of places that the machine cannot polish. The above method requires mechanical and manual coordination for polishing, resulting in low polishing efficiency and affecting processing efficiency. Summary of the invention

[0003] The object of the present invention is to provide a method having the advantages of:

[0004] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a grinding device for processing a multi-axis spiny sphere, comprising a processing table, on which a clamping mechanism is installed, the clamping mechanism comprising two clamps that can be extended and retracted along a first direction to clamp symmetrical spiny columns at both ends of the multi-axis spiny sphere, and the clamps can drive the multi-axis spiny sphere to rotate along its clamping axis;

[0005] The periphery of the two clamps is provided with two first grinding components which can rotate around them and move along the first direction with the clamps, the first grinding components include an oblique grinding end docked with the spine column and an arc-shaped grinding end docked with the sphere, while the two clamps clamp the spine column of the multi-axis spiny sphere, the two grinding ends of the first grinding components are in contact with the multi-axis spiny sphere, the clamps are provided with a driving mechanism which drives the first grinding components to rotate, and the rotation direction of the first grinding components is opposite to the rotation direction of the multi-axis spiny sphere.

[0006] Furthermore, the oblique grinding end and the arc-shaped grinding end are connected to each other, and the oblique grinding end is connected to the driving mechanism through a support plate.

[0007] Furthermore, an annular bracket for placing the multi-axis spiny sphere is arranged on the processing table, and an annular track for limiting the spiny rods of the multi-axis spiny sphere is provided in the annular bracket.

[0008] Furthermore, the annular bracket is symmetrically provided with a first notch and a second notch, and the first notch and the second notch are respectively provided with a first pushing plate and a second pushing plate which can rotate around the axis of the multi-axis spiny sphere in a vertical plane.

[0009] Furthermore, a circle of annular grinding pieces is arranged on the inner wall of the annular track, and the grinding surface of the annular grinding piece is in contact with the end surface of the thorn column.

[0010] Furthermore, a first annular limiting frame and a second annular limiting frame are symmetrically arranged around the outer side of the annular bracket.

[0011] Furthermore, the first push plate outer wall extension rod is connected to a first drive assembly disposed in a first annular limit frame, and the second push plate outer wall is movably sleeved with an insertion rod, which is connected to a second drive assembly disposed in a second annular limit frame.

[0012] Furthermore, the first driving assembly includes a fixed plate, a driving shaft and a driving gear, a first arc-shaped groove is opened in the first annular limit frame, a first arc-shaped rack meshing with the driving gear is arranged on the inner wall of the first arc-shaped groove, a motor connected to one end of the driving shaft is installed on the fixed plate, an arc-shaped limit groove is opened on one side of the first annular limit frame, and a limit rod engaged with the arc-shaped limit groove is arranged at one end of the fixed plate.

[0013] Furthermore, the structure of the second drive component is the same as that of the first drive component. The outer wall of the drive shaft of the second drive component is sleeved with a winding sleeve, and the outer surface of the winding sleeve is wound with a pulling rope. An arc-shaped plate that fits the arc-shaped inner wall of the second annular limit frame extends from one end of the fixed plate of the second drive component, and the arc-shaped outer wall of the second push plate is connected to the arc-shaped plate by a spring.

[0014] Furthermore, a second arc-shaped groove is provided in the second annular limit frame, a second arc-shaped rack meshing with the driving gear of the second driving assembly is provided on the inner wall of the second arc-shaped groove, a section of winding tooth groove is provided on the inner wall of the upper end of the second arc-shaped groove, and a winding gear movably meshing with the winding tooth groove is sleeved on the winding shaft sleeve.

[0015] Technical effects and advantages of the present invention:

[0016] 1. The present invention accelerates the grinding time and improves the grinding efficiency by the opposite movement of the multi-axis spinous sphere and the first grinding component. The bottom end of the oblique grinding end is covered with a grinding layer, and the grinding layer at the bottom end of the oblique grinding end fits with the connecting end surface of the circular plate at the bottom end of the spinous column, the upper end grinding surface of the arc-shaped grinding end fits with the arc-shaped outer wall of the circular plate at the bottom end of the spinous column, and the arc-shaped grinding surface of the arc-shaped grinding end fits with the arc-shaped surface of the sphere. Through the setting of the special shape of the grinding piece, it can better contact with the multi-axis spinous sphere evenly, reduce the grinding dead angle, and improve the grinding uniformity. When the arc-shaped grinding end is circularly oriented to the multi-axis spinous sphere, the grinding uniformity is improved. When the body is polished, the arc-shaped polishing end forms a circular polishing track with a maximum range of 360° around the circle. When each spine column is polished, there will be multiple circular polishing tracks on the multi-axis spiny sphere, and some of the multiple circular polishing tracks overlap with each other. Through overlapping polishing, grinding dead corners on the surface of the sphere are avoided, and the polishing uniformity is improved. When each spine column is polished, the polishing area where the first polishing component contacts the sphere can cover the entire surface of the sphere, so that the entire sphere can be evenly polished while the spine column is completely polished, without the need for manual secondary polishing.

[0017] 2. The first pushing plate and the second pushing plate of the present invention are used to adjust the clamping state. The first pushing plate pushes the spinous column located at the first notch upward by 90°, and the second pushing plate pushes the spinous column located at the second notch downward by 90°, so that the axes of the two spinous columns at the first notch and the second notch coincide with the vertical axis of the clamping mechanism. The clamping state of the multi-axis spinous sphere can be automatically adjusted according to the grinding requirements without manual adjustment, thereby improving the automation of grinding. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0019] Figure 2 It is a schematic diagram of the local structure of the present invention;

[0020] Figure 3 This is a multi-axis spiny sphere grinding trajectory diagram of the present invention;

[0021] Figure 4 This is a schematic diagram of the structure of Embodiment 2 of the present invention;

[0022] Figure 5 This is a schematic diagram of the structure of Embodiment 3 of the present invention;

[0023] Figure 6 It is a schematic diagram of the structure of the annular support of the present invention;

[0024] Figure 7 It is a schematic diagram of the structure of the first pushing plate and the second pushing plate of the present invention;

[0025] Figure 8 For the present invention Figure 6A magnified image of point A;

[0026] Fig. 9 It is a schematic diagram of the structure of the second annular limiting frame of the present invention;

[0027] Fig.10 For the present invention Fig. 9 A magnified view of point B;

[0028] Fig.11 It is a side stereoscopic view of the second annular limiting frame of the present invention.

[0029] In the figure:

[0030] 1. Processing table; 2. Clamp; 211. Drive motor; 212. Linkage sleeve; 213. First bevel gear; 214. Active collar; 215. Second bevel gear; 216. Side bevel gear; 3. First grinding assembly; 31. Oblique grinding end; 32. Arc grinding end; 4. Ring bracket; 41. Ring track; 411. Ring grinding piece; 42. First notch; 43. Second notch; 44. Placement slot; 5. First push plate; 51. Top Plate; 6, second pushing plate; 61, pushing plate; 62, plug-in rod; 7, first annular limiting frame; 71, first driving assembly; 711, fixing plate; 712, driving shaft; 713, driving gear; 72, first arc-shaped groove; 721, first arc-shaped rack; 8, second annular limiting frame; 81, second driving assembly; 82, winding sleeve; 83, arc-shaped plate; 84, second arc-shaped groove; 841, second arc-shaped rack; 842, winding tooth groove. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0032] In order to better understand the grinding device for processing a multi-axis spiny sphere provided by the present embodiment, the following first briefly introduces the existing multi-axis spiny sphere grinding device. Due to the particularity of the multi-axis spiny sphere, when mechanical grinding is selected, it is necessary to clamp and fix the spiny columns at both ends of the multi-axis spiny sphere through the equipment. There are two situations during grinding. The first situation: the equipment drives the multi-axis spiny sphere to rotate while clamping, fixes the grinding piece on the side end of the spiny column and fits the surface of the spiny column. When the multi-axis spiny sphere rotates, the grinding piece grinds the surface of the spiny column. The other situation: the two ends of the multi-axis spiny sphere are clamped, but the two ends of the multi-axis spiny sphere are not moved, and the multi-axis spiny sphere is locally ground by rotating the grinding piece. During mechanical grinding, After grinding, the surface of the sphere needs to be manually polished for the second time. The specification aims to solve the above technical problems. The embodiment of the present application provides a polishing device for processing a multi-axis spiny sphere. The polishing surface of the first polishing component 3 can fit both the surface of the spiny column and part of the sphere. During the rotation of the multi-axis spiny sphere, the surface of the spiny column can be polished, and part of the sphere at the connection between the polished spiny column and the sphere can also be polished. Each time the first polishing component 3 polishes different parts of the sphere, its polishing area partially overlaps. After each spiny column is polished, the polishing area of ​​the first polishing component 3 in contact with the sphere can cover the entire surface of the sphere, so that the entire sphere can be evenly polished while the spiny column is completely polished, without the need for manual secondary polishing.

[0033] Example 1: Reference Figure 1 - Figure 3 , which is the first embodiment of the present invention, provides a grinding device for processing a multi-axis spiny sphere, including a processing table 1, on which a clamping mechanism is installed, and the clamping mechanism includes two clamps 2 that can be extended and retracted along a first direction to clamp the symmetrical spiny columns at both ends of the multi-axis spiny sphere, and the clamps 2 can drive the multi-axis spiny sphere to rotate along their clamping axes, and the peripheries of the two clamps 2 are each provided with two first grinding components 3 that can rotate around them and can follow the clamps 2 to move along the first direction, and the The first grinding component 3 includes an oblique grinding end 31 connected to the spine column and an arc-shaped grinding end 32 connected to the sphere. When the two clamps 2 clamp the spine column of the multi-axial spiny sphere, the two grinding ends of the first grinding component 3 are in contact with the multi-axial spiny sphere. The clamp 2 is provided with a driving mechanism to drive the first grinding component 3 to rotate. The rotation direction of the first grinding component 3 is opposite to the rotation direction of the multi-axial spiny sphere. After the clamp 2 clamps the two ends of the axial spiny sphere, it can rotate to drive the axial spiny sphere to rotate together.

[0034] The grinding surface of the oblique grinding end 31 fits with the surface of the thorn column at both ends of the multi-axis spiny sphere, and the grinding surface of the arc-shaped grinding end 32 fits with the spherical surface of the multi-axis spiny sphere. The driving mechanism includes a driving motor 211 installed on the clamp 2, and a linkage sleeve 212 sleeved on the clamp 2 and connected to the first grinding component 3. The driving motor 211 can drive the linkage sleeve 212 to rotate around the clamp 2, and the rotation direction is opposite to the rotation direction of the clamp 2. When the multi-axis spiny sphere rotates, the first grinding component 3 reverses, and the oblique grinding end 31 and the arc-shaped grinding end 32 can quickly grind the multi-axis spiny sphere. The multi-axis spiny sphere and the first grinding component 3 move in opposite directions, which accelerates the grinding time and improves Grinding efficiency: the bottom end of the oblique grinding end 31 is covered with a grinding layer, and the grinding layer at the bottom end of the oblique grinding end 31 fits with the connecting end face of the circular plate at the bottom end of the spine column, the upper grinding surface of the arc-shaped grinding end 32 fits with the arc-shaped outer wall of the circular plate at the bottom end of the spine column, and the arc-shaped grinding surface of the arc-shaped grinding end 32 fits with the arc-shaped surface of the sphere. Through the setting of the special shape of the grinding piece, it can better contact with the multi-axis spinous sphere evenly, reduce the grinding dead angle, and improve the grinding uniformity. When the arc-shaped grinding end 32 grinds the multi-axis spinous sphere in a circular manner, the arc-shaped grinding end 32 forms a circular grinding track with a maximum range of 360° around the circle. When each spine column is polished, there will be multiple circular grinding tracks on the multi-axis spinous sphere, such as Figure 4 As mentioned above, a portion of the multiple circular grinding tracks overlap with each other. Figure 3 The shaded areas in the figure are overlapping areas. Overlapping grinding can avoid grinding dead corners on the surface of the sphere and improve grinding uniformity. After each spine is polished, the grinding area where the first grinding component 3 contacts the sphere can cover the entire surface of the sphere, achieving complete grinding of the spines while evenly grinding the entire sphere without manual secondary grinding.

[0035] Example 2: Reference Figure 4 , which is the second embodiment of the present invention. This embodiment is different from the first embodiment. This embodiment provides another driving mechanism, which includes a first bevel tooth 213 sleeved on the clamp 2, and a movable ring 214 connected to the first grinding component 3. The movable ring 214 is sleeved on the outer wall of the clamp 2. The movable ring 214 is connected with a second bevel tooth 215 symmetrically arranged with the first bevel tooth 213, and two side bevel teeth 216 respectively meshing with the first bevel tooth 213 and the second bevel tooth 215. The upper end of the clamp 2 is connected to the power piece, and a support plate for installing the side bevel teeth 216 is connected to the lower part of the power piece. The first grinding component 3 is docked with the clamp 2 through the above-mentioned driving mechanism, and the power of the rotation of the clamp 2 can be used to realize the rotation of the clamp 2 and the reverse rotation of the first grinding component 3 through gear transmission, thereby saving power.

[0036] Example 3: Reference Figure 5 - Figure 8, which is the third embodiment of the present invention. This embodiment is different from the first embodiment. During the implementation of the first embodiment, it was found that when the multi-axis spiny sphere needs to be polished at different parts, the clamping state of the multi-axis spiny sphere needs to be manually adjusted, and the mechanical efficiency is low.

[0037] A ring-shaped bracket 4 for placing a multi-axis spiny sphere is provided on the processing table 1, and a ring-shaped track 41 for limiting the spiny rod of the multi-axis spiny sphere is provided in the ring-shaped bracket 4. A circle of ring-shaped grinding pieces 411 are provided on the inner wall of the ring-shaped track 41, and the grinding surface of the ring-shaped grinding piece 411 is in contact with the end face of the spiny column. The ring-shaped grinding piece 411 is the second grinding piece. When the two spiny columns at any two ends of the multi-axis spiny sphere are clamped, the remaining spiny columns are all arranged in the ring-shaped track 41. When the multi-axis spiny sphere rotates, the ring-shaped track 41 limits the movement of the spiny columns inside it, and the ring-shaped grinding piece 411 contacts the end face of the spiny column for clamping. When the multi-axis spiny sphere rotates, except for the clamped spiny columns, the end faces of the remaining spiny columns are all polished. The spiny column position is replaced by rotating around the axis of the multi-axis spiny sphere in a vertical plane, so that the end face of each spiny column can be evenly polished.

[0038] Two placement grooves 44 are symmetrically provided on the annular bracket 4 . The placement grooves 44 are used for placing the multi-axial spinous sphere. The spinous columns of the multi-axial spinous sphere can enter the annular track 41 through the placement grooves 44 .

[0039] The annular bracket 4 is symmetrically provided with a first notch 42 and a second notch 43, and the first notch 42 and the second notch 43 are respectively provided with a first push plate 5 and a second push plate 6 that can rotate around the axis of the multi-axis spinous sphere in a vertical plane. The upper end of the first push plate 5 is provided with a top plate 51 that is flush with the lower end surface of the annular track 41, and the lower end of the second push plate 6 is provided with a push plate 61 that is flush with the upper end surface of the annular track 41. During grinding, the first push plate 5 and the second push plate 6 act as part of the annular track 41. When it is necessary to adjust the clamping state of the multi-axis spinous sphere spinous column, the two to be ground are adjusted. The ratchet columns rotate to the first slot 42 and the second slot 43 respectively, and the first push plate 5 and the second push plate 6 rotate clockwise. The first push plate 5 rotates clockwise to push the ratchet column at the first slot 42 upward, and the second push plate 6 rotates clockwise to push the ratchet column at the second slot 43 downward. When the two ratchet columns to be polished are respectively transported to the supporting ends of the two clamps 2, the two ratchet columns that have been polished also rotate clockwise to the first slot 42 and the second slot 43. The two polished ratchet columns re-enter the annular track 41 through the first slot 42 and the second slot 43.

[0040] The first grinding component 3 is used to grind the outer walls of the two spines clamped by the clamping mechanism and a part of the sphere connected to the two spines. When the two symmetrical spines of the multi-axis spinous sphere are clamped, one end of the remaining spines is set in the annular track 41. When the two symmetrical spines of the multi-axis spinous sphere move to the first slot 42 and the second slot 43, the clamping mechanism contacts the clamping state, and the first push plate 5 and the second push plate 6 rotate clockwise. The first push plate 5 pushes the spine located at the first slot 42 upward by 90°, and the second push plate 6 pushes the spine located at the second slot 43 downward by 90°, so that the axes of the two spines at the first slot 42 and the second slot 43 coincide with the vertical axis of the clamping mechanism. The first push plate 5 and the second push plate 6 are used to adjust the clamping state. The clamping state of the multi-axis spinous sphere can be automatically adjusted according to the grinding requirements without manual adjustment, thereby improving the automation of grinding.

[0041] A first annular limiting frame 7 and a second annular limiting frame 8 are symmetrically arranged around the outer side of the annular bracket 4. The outer wall extension rod of the first pushing plate 5 is connected to the first driving component 71 arranged in the first annular limiting frame 7. The outer wall of the second pushing plate 6 is movably sleeved with an insert rod 62, and the insert rod 62 is connected to the second driving component 81 arranged in the second annular limiting frame 8.

[0042] The first driving assembly 71 includes a fixing plate 711, a driving shaft 712 and a driving gear 713. A first arcuate groove 72 is provided in the first annular limiting frame 7. A first arcuate rack 721 meshing with the driving gear 713 is provided on the inner wall of the first arcuate groove 72. A motor connected to one end of the driving shaft 712 is installed on the fixing plate 711. An arcuate limiting groove is provided on one side of the first annular limiting frame 7. A limiting rod engaged with the arcuate limiting groove is provided at one end of the fixing plate 711. The first arcuate rack 721 serves as the travel of the first driving assembly 71. The length of the first arcuate rack 721 determines the moving distance of the first driving assembly 71. The driving gear 713 meshes with the first arcuate rack 721. When the first driving assembly 71 moves in the first arcuate groove 72, it drives the first pushing plate 5 to move along the first arcuate groove 72, thereby driving the first pushing plate 5 to push, and can also drive the first pushing plate 5 to reset.

[0043] Grinding process:

[0044] The multi-axis spiny sphere is placed on the annular bracket 4, and the two corresponding upper and lower spiny columns are respectively aligned with the clamping ends of the two clamps 2. At this time, the remaining spiny columns of the multi-axis spiny sphere are respectively arranged in the two placement grooves 44, the first notch 42 and the second notch 43. After the two clamps 2 are clamped at both ends of the spiny sphere, they can be rotated to drive the spiny sphere to rotate together;

[0045] When the multi-axis spiny sphere rotates, the first grinding component 3 is reversed, and the oblique grinding end 31 and the arc-shaped grinding end 32 can quickly grind the multi-axis spiny sphere;

[0046] When the multi-axis spiny sphere rotates, the annular track 41 moves the spiny column inside it in a limited position, and the annular grinding piece 411 contacts the end surface of the spiny column for clamping. When the multi-axis spiny sphere rotates, the end surfaces of the remaining spiny columns are all ground except the clamped spiny columns.

[0047] During grinding, the first push plate 5 and the second push plate 6 act as a part of the annular track 41. When the clamping state of the multi-axis spinous spherical spinous column needs to be adjusted, the two spinous columns to be ground are rotated to the first notch 42 and the second notch 43 respectively, and the first push plate 5 and the second push plate 6 rotate clockwise. The first push plate 5 rotates clockwise to push the spinous column at the first notch 42 upward, and the second push plate 6 rotates clockwise to push the spinous column at the second notch 43 downward. When the two spinous columns to be ground are respectively transported to the clamping ends of the two clamps 2, the two spinous columns that have been ground also rotate clockwise to the first notch 42 and the second notch 43. The two ground spinous columns re-enter the annular track 41 through the first notch 42 and the second notch 43.

[0048] When the arc-shaped grinding end 32 is grinding the multi-axis spinous sphere in a circular manner, the arc-shaped grinding end 32 forms a circular grinding track in the maximum range of 360° around the circle. When each spine column is polished, there will be multiple circular grinding tracks on the multi-axis spinous sphere, and some of the multiple circular grinding tracks overlap with each other. Through overlapping grinding, grinding dead corners on the surface of the sphere are avoided, and the grinding uniformity is improved. When each spine column is polished, the grinding area where the first grinding component 3 contacts the sphere can cover the entire surface of the sphere, so that the spine column can be completely polished and the entire sphere can be evenly polished.

[0049] Example 4: Reference Fig. 9 - Fig.11 , which is the fourth embodiment of the present invention. This embodiment is different from the third embodiment. During the implementation of the third embodiment, it was found that each time the multi-axial spiny sphere was placed in the annular bracket 4, when one of the spiny columns of the multi-axial spiny sphere was placed in alignment with the second notch 43, the second pushing plate 6 blocked the placement of the multi-axial spiny sphere, affecting the discharge of the multi-axial spiny sphere.

[0050] In order to solve the above problems, this embodiment improves the second driving component 81 and the second annular limiting frame 8, so that the second pushing plate 6 can be adjusted to a retracted state before the multi-axis spinous sphere is loaded, which does not affect the placement of the multi-axis spinous sphere. After the placement is aligned, the second pushing plate 6 can also be driven to reset. The structure of the second driving component 81 is the same as that of the first driving component 71. The outer wall of the driving shaft 712 of the second driving component 81 is sleeved with a winding sleeve 82, and the outer surface of the winding sleeve 82 is wound with a pulling rope. One end of the fixed plate 711 of the second driving component 81 extends with a second annular limiting frame 8 The arc-shaped inner wall of the second driving component 8 is fitted. The arc plate 83, the arc outer wall of the second pushing plate 6 and the arc plate 83 are connected by a spring, and an insertion rod 62 is provided on the arc plate 83, one end of the insertion rod 62 is movably sleeved with the arc outer wall, and the insertion rod 62 is used to limit the maximum distance of the spring ejection, and a second arc groove 84 is opened in the second annular limit frame 8 of the second pushing plate 6, and a second arc rack 841 meshing with the driving gear 713 of the second driving assembly 81 is provided on the inner wall of the second arc groove 84, and a section of winding tooth groove 842 is provided on the inner wall of the upper end of the second arc groove 84, and a winding gear movably meshing with the winding tooth groove 842 is sleeved on the winding shaft sleeve 82.

[0051] Specifically, when the second drive component 81 moves upward in the second arc groove 84, the winding gear on the outer wall of the winding sleeve 82 engages with the winding tooth groove 842, the second drive component 81 continues to move upward, and the winding sleeve 82 rotates to wind the pulling rope, thereby driving the spring to contract and driving the second push plate 6 to move along the limit rod. When the multi-axis spiny sphere is placed, the second drive component 81 drives the second push plate 6 to reset.

[0052] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A multi-axis spiny ball grinding device, comprising a processing table (1), on which a clamping mechanism is mounted, characterized in that: The clamping mechanism comprises two clamps (2) capable of extending and retracting along a first direction to clamp the symmetrical spinous columns at both ends of the multi-axial spinous sphere, and the clamps (2) can drive the multi-axial spinous sphere to rotate along its clamping axis; The peripheries of the two clamps (2) are each provided with two first grinding assemblies (3) which can rotate around them and move along the first direction with the clamps (2); the first grinding assemblies (3) include an oblique grinding end (31) connected to the thorn column and an arc-shaped grinding end (32) connected to the sphere; while the two clamps (2) clamp the thorn column of the multi-axial thorn-shaped sphere, the two grinding ends of the first grinding assemblies (3) are in contact with the multi-axial thorn-shaped sphere; a driving mechanism is provided on the clamps (2) and drives the first grinding assemblies (3) to rotate; the rotation direction of the first grinding assemblies (3) is opposite to the rotation direction of the multi-axial thorn-shaped sphere.

2. A multi-axis spiny ball grinding device according to claim 1, characterized in that: The oblique grinding end (31) and the arc-shaped grinding end (32) are connected to each other, and the oblique grinding end (31) is connected to the driving mechanism via a support plate.

3. A multi-axis spiny ball grinding device according to claim 2, characterized in that: The processing table (1) is provided with an annular bracket (4) for placing the multi-axial spinous sphere, and an annular track (41) for limiting the spinous rod of the multi-axial spinous sphere is provided in the annular bracket (4).

4. A multi-axis spiny ball grinding device according to claim 3, characterized in that: The annular bracket (4) is symmetrically provided with a first notch (42) and a second notch (43), and the first notch (42) and the second notch (43) are respectively provided with a first pushing plate (5) and a second pushing plate (6) which can rotate around the axis of the multi-axis spiny sphere in a vertical plane.

5. A multi-axis spiny ball grinding device according to claim 4, characterized in that: A ring-shaped grinding piece (411) is arranged on the inner wall of the ring-shaped track (41), and the grinding surface of the ring-shaped grinding piece (411) is in contact with the end surface of the thorn column.

6. A multi-axis grinding device for processing spiny spheres according to claim 5, characterized in that: A first annular limiting frame (7) and a second annular limiting frame (8) are symmetrically arranged around the outer side of the annular bracket (4).

7. A multi-axis spiny ball grinding device according to claim 6, characterized in that: The outer wall extension rod of the first pushing plate (5) is connected to a first driving assembly (71) arranged in a first annular limiting frame (7), and the outer wall of the second pushing plate (6) is movably sleeved with an insertion rod (62), and the insertion rod (62) is connected to a second driving assembly (81) arranged in a second annular limiting frame (8).

8. A multi-axis grinding device for processing spiny spheres according to claim 7, characterized in that: The first driving assembly (71) comprises a fixed plate (711), a driving shaft (712) and a driving gear (713); a first arc-shaped groove (72) is provided in the first annular limiting frame (7); a first arc-shaped rack (721) meshing with the driving gear (713) is provided on the inner wall of the first arc-shaped groove (72); a motor connected to one end of the driving shaft (712) is installed on the fixed plate (711); an arc-shaped limiting groove is provided on one side of the first annular limiting frame (7); and a limiting rod engaged with the arc-shaped limiting groove is provided at one end of the fixed plate (711).

9. A multi-axis spiny ball grinding device according to claim 8, characterized in that: The structure of the second driving assembly (81) is the same as that of the first driving assembly (71). The outer wall of the driving shaft (712) of the second driving assembly (81) is sleeved with a winding sleeve (82), and the outer surface of the winding sleeve (82) is wound with a pulling rope. An arc-shaped plate (83) that fits the arc-shaped inner wall of the second annular limiting frame (8) extends from one end of the fixing plate (711) of the second driving assembly (81), and the arc-shaped outer wall of the second pushing plate (6) and the arc-shaped plate (83) are connected by a spring.

10. A multi-axis grinding device for processing spiny spheres according to claim 9, characterized in that: A second arc-shaped groove (84) is provided in the second annular limiting frame (8); a second arc-shaped rack (841) meshing with the driving gear (713) of the second driving assembly (81) is provided on the inner wall of the second arc-shaped groove (84); a winding tooth groove (842) is provided on the inner wall of the upper end of the second arc-shaped groove (84); and a winding gear movably meshing with the winding tooth groove (842) is sleeved on the winding shaft sleeve (82).

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