Electric manipulator for numerical control machine tool

Abstract

The invention discloses an electric manipulator for a numerical control machine tool, and relates to the technical field of numerical control machine tool machining. The electric manipulator for the numerical control machine tool comprises a machine tool table body and a support base fixedly connected to the upper end face of the machine tool table body, a lathe head is installed on the left portion of the upper end face of the support base, and a self-adaptive accurate grinding mechanism used for automatically changing and adapting according to the surface shape of a machined part so as to polish the surface of the machined part is arranged on the rear portion of the support base. According to the self-adaptive fine grinding machine, two grinding belts in the self-adaptive fine grinding mechanism move in a self-adaptive mode to be attached to the outer wall of the I-shaped double-disc-shaped column barrel, the uniformity of the grinding process is ensured, the time for adjusting and replacing grinding tools is shortened, the grinding efficiency is improved, and the grinding efficiency is improved. And an inner jacking assembly and a side clamping assembly in the double-clamping mechanism are used for clamping the interior and the two ends of the workpiece correspondingly, the outer surface is prevented from being shielded, it is guaranteed that each surface of the workpiece can make contact with the grinding head, and a grinding blind area is avoided.

Description

Technical Field

[0001] The invention relates to the technical field of numerical control machine tool processing, in particular to an electric manipulator for numerical control machine tools. Background Art

[0002] CNC machine tools are highly automated processing equipment that usually rely on computer program control to achieve various processing operations. They automatically complete processing operations on workpieces according to pre-compiled processing programs. In the modern manufacturing process, the robotic arm of CNC machine tools plays a vital role. The main task of the robotic arm is to realize automatic loading, handling and processing of parts. During the processing, the robotic arm can achieve part clamping, positioning and transmission through precise control, reducing human intervention. Processing operations may include grinding, milling, drilling, welding, etc.; among them, grinding is one of the common processes in CNC machine tools, especially when surface treatment is performed on workpieces with high surface quality requirements (such as high-precision parts). Grinding plays an indispensable role. Grinding is usually used to remove burrs, oxide layers, rough layers on the surface of workpieces or correct processing errors to obtain a smooth and precise surface.

[0003] When grinding parts with special shapes, the difficulty and complexity of the operation increase. For example, when grinding a special-shaped part such as a double-disc cylinder (specific shape such as Fig.12 As shown in the figure, the double-disc cylindrical parts of the I-type usually contain multiple stepped surfaces. This stepped structure makes the surface of the part not smooth, but presents different height changes. Due to the different heights of the stepped surfaces, for parts of such complex shapes, existing CNC machine tool robots usually require manual intervention to replace different types of grinding heads when grinding them, or make frequent adjustments during the processing, which not only increases the complexity of the operation, but also may cause uneven grinding and affect the surface quality of the workpiece.

[0004] At the same time, when clamping, the existing robot arm usually adopts a single-sided clamping method from the outside, which can effectively ensure the stability and processing accuracy of the parts in the processing of many standard workpieces. However, for special-shaped parts such as the I-shaped double-disc cylinder, the outer part of the workpiece will be blocked by the robot arm clamping device, resulting in these areas being unable to directly contact the grinding head, resulting in incomplete grinding of some areas. Summary of the invention

[0005] The present invention provides an electric manipulator for a CNC machine tool, which solves the problem that when existing processing robots perform grinding processing on parts of special shapes such as double-disc cylinders, the stepped surface of the parts leads to surface structures of different heights, so that the processing process requires frequent replacement of grinding heads or adjustment of grinding positions, which not only increases the complexity of manual intervention, but also may cause uneven grinding and affect surface quality. In addition, existing robotic arms usually adopt a single-sided clamping method, which will block the outer parts of the workpiece, resulting in these areas being unable to contact the grinding head, thereby causing incomplete grinding of some areas, further affecting the processing accuracy and surface quality.

[0006] The present invention provides an electric manipulator for a numerically controlled machine tool, comprising a machine tool platform and a support seat fixedly connected to the upper end surface of the machine tool platform, a headstock is installed on the left part of the upper end surface of the support seat, and an adaptive fine grinding mechanism for automatically adapting to the surface shape of a workpiece according to the shape of the workpiece surface is arranged at the rear of the support seat, the adaptive fine grinding mechanism comprises an L-shaped frame fixedly connected to the rear end surface of the support seat, a column seat slidably connected to the front end surface of the vertical section of the L-shaped frame through an electric telescopic rod, and two symmetrically fixedly connected to the front end of the column seat. A support sleeve and an arc-shaped plate slidably connected in the support sleeve, a tensioning assembly is symmetrically arranged on the column seat, two grooves are symmetrically opened in the column seat, a grinding belt passing through the groove is commonly sleeved between the tensioning assembly and the outside of the arc-shaped plate, a pushing assembly is arranged on the outside of the column seat for pushing the arc-shaped plate to move so that the grinding belt changes according to the shape of the workpiece, the front box includes a main shaft, a bracket is slidably installed on the upper part of the bracket seat through a transverse moving part, and a double clamping mechanism for clamping and limiting the inside and side of the workpiece is commonly arranged between the bracket seat and the main shaft.

[0007] In one possible implementation, the top moving assembly includes a sliding ring fixedly connected to the outside of the column base through a vertical rod and a transverse frame fixedly connected to the rear side of the arc plate, a sliding rod is slidably connected in the sliding ring, a hinge bar is rotatably connected to the front end of the sliding rod, a push block is slidably connected in the transverse frame, a top spring is fixedly connected between the push block and the transverse frame, a push column is rotatably connected to the upper end face of the push block, a connecting rod is hinged at the upper end of the push column, and the end of the connecting rod away from the push column is hinged to the end of the hinge bar.

[0008] In a possible implementation, a swivel is rotatably connected to the rear portion of the outer wall of the sliding rod, and the swivel is fixedly connected to a limiting column on the outside. The vertical section of the L-shaped frame is provided with a special-shaped groove that cooperates with the limiting column, and the special-shaped groove consists of a circular groove and a rectangular groove connected to the circular groove.

[0009] In a possible implementation, the double clamping mechanism includes a support plate, an outer cylinder, an inner rod, an inner top assembly and a side clamping assembly, the upper end surface of the bracket is fixedly connected with the support plate, the left side of the support plate and the right end of the main shaft are respectively fixedly connected with the outer cylinder, the inner cylinder is slidably connected with the inner rod through a spline fit, an inner top assembly is commonly provided between the outer cylinder and the outer part of the inner rod, and a side clamping assembly is commonly provided between the outer cylinder and the end of the inner rod, the inner top assembly includes a rectangular mounting through groove 1, a slide groove, a top rod, a spring telescopic column, an arc top plate, a lever and a push ring, the outer cylinder A plurality of rectangular installation through slots are equidistantly provided in the circumferential direction, and transverse slide slots are symmetrically provided on opposite sides of the rectangular installation through slots. A push rod is hingedly connected between the opposite slide slots through a slide column, and a spring telescopic column is hingedly connected to the groove wall on the opposite side of the rectangular installation through slot through a connecting column. The upper end of the spring telescopic column is fixedly connected to an arc-shaped top plate, and the upper end of the push rod is hinged to the upper part of the outer wall of the spring telescopic column. The lower end of the push rod away from the side clamp assembly is fixedly connected to a shift rod, and a push ring cooperating with the shift rod is slidably connected to the outside of the inner rod, and a limit spring is fixedly connected between the push ring and the inner rod.

[0010] In one possible implementation, the side clamp assembly includes a plurality of rectangular mounting through slots 2 that are equidistantly arranged on the outer cylinder in the circumferential direction, the groove walls of the rectangular mounting through slots 2 are rotatably connected to a gear through a torsion spring cooperating with a rotating column, a folded abutment plate is fixedly connected to the outside of the gear, and a plurality of racks that correspond to the position of the gear and are used to cooperate with the gear are fixedly connected to the end of the inner rod located inside the outer cylinder at equidistantly arranged circumferentially.

[0011] In a possible implementation, the opposite ends of the two outer cylinders are fixedly connected with annular blocks, the left annular block has a plurality of docking grooves equidistantly formed on the right side of the circumference, and the right annular block has a plurality of docking teeth equidistantly formed on the left side of the circumference for matching with the docking grooves.

[0012] In one possible implementation, the tensioning assembly includes two sliding frames symmetrically fixedly connected to the outer wall of the column base in an upper and lower manner and a roller rotatably connected between the two sliding frames through a rotating shaft. The sliding frame is slidably connected to a support block attached to the outside of the rotating shaft, and a compression spring is fixedly connected between the support block and the sliding frame.

[0013] In a possible implementation, a transfer arm for automatic loading and unloading of materials is disposed on the upper portion of the headstock, and a power motor for linkage with the headstock to drive the spindle to rotate is disposed on the upper portion of the machine tool table.

[0014] In a possible implementation, the transverse movement portion includes two guide rails that are symmetrically fixedly connected to the upper end surface of the bracket seat in front and back, two sliding sleeves are slidably connected to the outside of the guide rails, and a bracket is fixedly connected between the two sliding sleeves. A drive motor is fixedly connected to the left part of the upper end surface of the bracket seat, and the output shaft of the drive motor is fixedly connected to a screw rod that passes through the bracket seat, and the screw rod is threadedly connected to the bracket seat.

[0015] It can be seen from the above technical solutions that the present invention has the following advantages:

[0016] In the present invention, the two arc plates are driven to automatically adjust through the offset movement of the column seat and the sliding rod, so that the grinding belt can adaptively fit the outer wall of the industrial double-disc column, reducing the time for adjusting and replacing the grinding tool, ensuring that the grinding belt better fits the stepped surface of the industrial double-disc column, thereby ensuring the uniformity of the grinding process.

[0017] In the present invention, the inner top component and the side clamp component in the double clamping mechanism are used to perform top pressure clamping from the inside of the double-disc column of the workpiece, and the clamping and limiting are performed from both ends of the workpiece, thereby ensuring that the outer surface of the workpiece is not blocked during the clamping process, so that each surface of the workpiece can be freely exposed and contact the grinding head, thereby avoiding the situation that certain areas cannot be effectively ground. At the same time, the double clamping and limiting can also ensure that the workpiece can be firmly clamped in multiple directions, thereby improving the stability of the clamping. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0019] Figure 1 This is a schematic structural diagram of the electric manipulator for a CNC machine tool provided by the present invention.

[0020] Figure 2 The present invention provides Figure 1 Schematic diagram of the enlarged structure of part A in the figure.

[0021] Figure 3 This is a schematic diagram of the rear view of the overall structure provided by the present invention.

[0022] Figure 4 This is a schematic diagram of the layout structure of the adaptive fine grinding mechanism and the double clamping mechanism provided by the present invention.

[0023] Figure 5 The present invention provides Figure 4 Schematic diagram of the enlarged structure of part B.

[0024] Figure 6 This is a schematic diagram of the cross-sectional structure of the double clamping mechanism provided by the present invention from a front viewing angle.

[0025] Figure 7 The present invention provides Figure 6 Schematic diagram of the enlarged structure of part C in the figure.

[0026] Figure 8 The present invention provides Figure 6 Schematic diagram of the enlarged structure of part D in the figure.

[0027] Fig. 9 This is a schematic diagram of the overall structure of the adaptive fine grinding mechanism provided by the present invention.

[0028] Fig.10 This is a partial structural schematic diagram of the adaptive fine grinding mechanism provided by the present invention.

[0029] Fig.11 This is a schematic diagram of the cross-sectional structure of the column base provided by the present invention from a top view perspective.

[0030] Fig.12 This is a shape diagram of the processing object of the present invention.

[0031] The above drawings include the following reference numerals:

[0032] 1. Machine tool platform; 2. Bracket seat; 3. Head box; 4. Adaptive fine grinding mechanism; 41. L-shaped frame; 42. Electric telescopic rod; 43. Column seat; 44. Support sleeve; 45. Arc plate; 46. Tensioning assembly; 461. Slide frame; 462. Roller; 463. Support block; 47. Channel; 48. Grinding belt; 49. Top shift assembly; 491. Slip ring; 492. Horizontal frame; 493. Slide rod; 494. Articulated strip; 495. Top spring; 496. Push column; 497. Connecting rod; 5. Transverse shift part; 51. Guide rail; 52. Slide sleeve; 53. Screw; 6. Bracket ;7. Double clamping mechanism;71. Support plate;72. Outer cylinder;73. Inner rod;74. Inner top assembly;741. Rectangular mounting slot 1;742. Slide slot;743. Top rod;744. Spring telescopic column;745. Arc top plate;746. Push rod;747. Push ring;748. Limit spring;75. Side clamping assembly;751. Rectangular mounting slot 2;752. Gear;753. Folding plate;754. Rack;8. Limit column;9. Special-shaped slot;10. Ring block;11. Docking slot;12. Docking teeth;13. Removal arm;14. Power motor. DETAILED DESCRIPTION

[0033] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention, so the present invention is not limited by the specific embodiments disclosed below.

[0034] See also Figure 1 , Figure 2 and Figure 3The present invention provides a technical solution: an electric manipulator for a numerically controlled machine tool, comprising a machine tool platform 1 and a support seat 2 fixedly connected to the upper end surface of the machine tool platform 1, a headstock 3 is installed on the left part of the upper end surface of the support seat 2, and an adaptive fine grinding mechanism 4 is arranged at the rear of the support seat 2 for automatically adapting to the surface shape of the workpiece so as to grind the surface of the workpiece. The headstock 3 includes a spindle, and a bracket 6 is slidably installed on the upper part of the support seat 2 through a transverse moving part 5. A double clamping mechanism 7 for clamping and limiting the inside and side of the workpiece is arranged between the bracket 6 and the spindle. A transfer arm 13 for automatic loading and unloading of materials is arranged on the upper part of the head box 3, and a power motor 14 for linkage with the head box 3 to drive the main shaft to rotate is arranged on the upper part of the machine tool table 1. The transverse movement part 5 includes two guide rails 51 which are symmetrically fixedly connected to the upper end surface of the bracket seat 2 front and back, and two sliding sleeves 52 are slidably connected to the outside of the guide rails 51, and a bracket 6 is fixedly connected between the two sliding sleeves 52. A driving motor is fixedly connected to the left part of the upper end surface of the bracket seat 2, and a screw 53 which passes through the bracket 6 is fixedly connected to the output shaft of the driving motor, and the screw 53 is threadedly connected to the bracket 6.

[0035] See also Figure 4 and Figure 6 In this embodiment, the double clamping mechanism 7 includes a support plate 71, an outer cylinder 72, an inner rod 73, an inner top assembly 74 and a side clamping assembly 75. The upper end surface of the bracket 6 is fixedly connected with the support plate 71, and the left side of the support plate 71 and the right end of the main shaft are respectively fixedly connected with the outer cylinder 72, the inner rod 73 is slidably connected inside the outer cylinder 72 through spline cooperation, the inner top assembly 74 is commonly provided between the outer cylinder 72 and the outer part of the inner rod 73, and the side clamping assembly 75 is commonly provided between the outer cylinder 72 and the end of the inner rod 73. The opposite ends of the two outer cylinders 72 are fixedly connected with annular blocks 10, and the right side of the annular block 10 located on the left is circumferentially equidistantly provided with a plurality of docking grooves 11, and the left side of the annular block 10 located on the right is circumferentially equidistantly provided with a plurality of docking teeth 12 matching the docking grooves 11.

[0036] See also Figure 4 , Figure 6 and Figure 7The inner top assembly 74 includes a rectangular installation slot 741, a slide slot 742, a push rod 743, a spring telescopic column 744, an arc-shaped top plate 745, a lever 746 and a push ring 747. The outer cylinder 72 is provided with a plurality of rectangular installation slots 741 equidistantly in the circumferential direction. The opposite sides of the rectangular installation slots 741 are symmetrically provided with horizontal slide slots 742. The push rods 743 are hinged between the opposite slide slots 742 through slide columns. The opposite side groove wall is hinged with a spring telescopic column 744 through a connecting column, and the upper end of the spring telescopic column 744 is fixedly connected to an arc-shaped top plate 745, the upper end of the top rod 743 is hinged to the upper part of the outer wall of the spring telescopic column 744, and the lower end of the top rod 743 away from the side clamp assembly 75 is fixedly connected to a lever 746, and the outer part of the inner rod 73 is slidably connected to a push ring 747 that cooperates with the lever 746, and a limiting spring 748 is fixedly connected between the push ring 747 and the inner rod 73.

[0037] See also Figure 6 and Figure 8 The side clamp assembly 75 includes a plurality of rectangular mounting through slots 751 equidistantly arranged on the outer cylinder 72 in the circumferential direction. The groove wall of the rectangular mounting through slot 751 is rotatably connected to a gear 752 through a torsion spring and a rotating column. A folded abutment plate 753 is fixedly connected to the outside of the gear 752. The end of the inner rod 73 located inside the outer cylinder 72 is fixedly connected to a plurality of racks 754 equidistantly arranged in the circumferential direction, which correspond to the position of the gear 752 and are used to cooperate with the gear 752.

[0038] First, the I-type double-disc column is clamped and moved between the two outer cylinders 72 by controlling the removal arm 13, and the axis of the I-type double-disc column is made to be colinear with the axis of the outer cylinder 72, and then the I-type double-disc column is moved to the left to the outer position of the outer cylinder 72 sleeved on the left, and then the transverse movement part 5 is controlled to operate, and the driving motor drives the screw 53 to rotate the screw 53 and then drives the bracket 6 to move to the left, and the bracket 6 drives the sliding sleeve 52 to move synchronously on the slide rail, and the bracket 6 then drives the support plate 71 to move to the left, and the support plate 71 then drives the outer cylinder 72 on the right to move outward, so that the outer cylinder 72 on the right extends into the I-type double-disc column. At this time, the removal arm 13 is controlled to put down the I-type double-disc column, and the removal arm 13 is moved away.

[0039] The outer cylinder 72 on the right moves to the left and drives the inner rod 73 to move at the same time. When the inner rod 73 on the right moves to the left and contacts the end of the inner rod 73 on the left, the outer cylinder 72 that continues to move causes the two inner rods 73 to push against each other, thereby causing the inner rod 73 to gradually retract into the outer cylinder 72. During this process, the inner rod 73 drives the push ring 747 to move through the limit spring 748. The push ring 747 then contacts the lever 746 and drives the lever 746 to move. The lever 746 then drives the push rod 743 to move. The push rod 743 drives The sliding column at its lower part slides in the sliding groove 742 toward the direction close to the spring telescopic column 744, and then the upper end of the push rod 743 pushes the spring telescopic column 744 to extend, and the spring telescopic column 744 then leads another push rod 743 to move outward. At the same time, the spring telescopic column 744 drives the arc-shaped top plate 745 to move until the arc-shaped top plate 745 moves outward and touches the inner wall of the I-shaped double-disc column tube. At this time, the push ring 747 stops moving, and the inner rod 73 will continue to retract into the outer tube 72 to compress the limit spring 748.

[0040] When the push ring 747 stops moving and the inner rod 73 continues to move, the inner rod 73 will drive the rack 754 to move to mesh with the gear 752, and the rack 754 will drive the gear 752 to rotate, and the gear 752 will then drive the folding plate 753 to rotate until the folding plate 753 rotates to touch the end side of the I-type double-disc column cylinder, so that the I-type double-disc column cylinder can be doubly clamped and limited from the inside and the side without affecting the outside of the I-type double-disc column cylinder.

[0041] After the double-disc cylinder of the industrial type is completely clamped, the annular blocks 10 at the ends of the two outer cylinders 72 will be driven to collide with each other, and the docking teeth 12 on the right annular block 10 will be inserted into the docking groove 11 on the left annular block 10, and then the power motor 14 is controlled to drive the main shaft to rotate, and the main shaft then drives the left outer cylinder 72 to rotate, and the left outer cylinder 72 then drives the right outer cylinder 72 to rotate synchronously through the docking teeth 12 and the docking groove 11, and the outer cylinder 72 then drives the industrial type double-disc cylinder to rotate synchronously through the inner top assembly 74 and the side clamp assembly 75, and then the adaptive fine grinding mechanism 4 is controlled to operate to grind the surface of the rotating industrial type double-disc cylinder.

[0042] See also Figure 3 , Figure 4 , Fig. 9 , Fig.10 and Fig.11In this embodiment, the adaptive fine grinding mechanism 4 includes an L-shaped frame 41 fixedly connected to the rear end face of the bracket seat 2, a column seat 43 slidably connected to the front end face of the vertical section of the L-shaped frame 41 through an electric telescopic rod 42, two support sleeves 44 symmetrically fixedly connected to the front end of the column seat 43, and an arc plate 45 slidably connected to the support sleeve 44. A tensioning assembly 46 is symmetrically arranged on the column seat 43, and two grooves 47 are symmetrically opened in the column seat 43. A transmission is jointly arranged between the tensioning assembly 46 and the outer part of the arc plate 45. There is a grinding belt 48 passing through the groove 47, and a pushing assembly 49 is arranged on the outside of the column seat 43 for pushing the arc plate 45 to move so that the grinding belt 48 changes according to the shape of the workpiece. The tensioning assembly 46 includes two sliding frames 461 symmetrically fixedly connected to the outer wall of the column seat 43 and a roller 462 rotatably connected between the two sliding frames 461 through a rotating shaft. The sliding frame 461 is slidably connected to a support block 463 fitted on the outside of the rotating shaft, and a compression spring is fixedly connected between the support block 463 and the sliding frame 461.

[0043] See also Figure 4 , Figure 5 , Fig. 9 and Fig.10 The top moving assembly 49 includes a sliding ring 491 fixedly connected to the outside of the column seat 43 through a vertical rod and a transverse frame 492 fixedly connected to the rear side of the arc plate 45, a sliding rod 493 is slidably connected in the sliding ring 491, and a hinge strip 494 is rotatably connected to the front end of the sliding rod 493, a push block is slidably connected in the transverse frame 492, and a top spring 495 is fixedly connected between the push block and the transverse frame 492, a push column 496 is rotatably connected to the upper end surface of the push block, and a connecting rod 497 is hinged at the upper end of the push column 496, and the end of the connecting rod 497 away from the push column 496 is hinged to the end of the hinge strip 494, a swivel is rotatably connected to the rear part of the outer wall of the sliding rod 493, and a limiting column 8 is fixedly connected to the outside of the swivel, and a special-shaped groove 9 cooperating with the limiting column 8 is opened in the vertical section of the L-shaped frame 41, and the special-shaped groove 9 is composed of a circular groove and a rectangular groove connected to the circular groove.

[0044] First, the electric telescopic rod 42 is controlled to extend to drive the column seat 43 to move forward, and the column seat 43 then drives the arc plate 45 forward until the grinding belt 48 at the front of the arc plate 45 hits the outer wall of the shortest radius section of the industrial double-disc column. At this time, the distance between the two arc plates 45 is the shortest distance. At the same time, the grinding belts 48 at the opposite sides of the two arc plates 45 hit the side of the first step from the middle to the two ends of the industrial double-disc column. The column seat 43 moves forward and then drives the sliding rod 493 forward through the slip ring 491. When the grinding belt 48 is driven to the contact position with the surface of the industrial double-disc column, the rear end of the sliding rod 493 moves to the front side of the L-shaped frame 41, and then the limit column 8 is turned to make the limit column 8 change from the initial horizontal position to the vertical position.

[0045] Then, the roller 462 is driven to rotate by an external driving device, and the roller 462 then drives the grinding belt 48 to rotate. The rotation of the grinding belt 48 and the outer cylinder 72 drive the double-disc column to rotate to grind the surface of the double-disc column. At the same time, the electric telescopic rod 42 is controlled to slowly contract to drive the column seat 43 to gradually move backward. During the backward movement of the column seat 43, the arc plate 45 is driven to move. The arc plate 45 then drives the grinding belt 48 located on its side to move along the outer surface of the double-disc column perpendicular to its own axis. At the same time, the rear end of the slide bar 493 will contact the L-shaped frame 41 and remain stationary. The column seat 43 moves backward, and the slide bar 493 remains stationary. When moving, the slide bar 493 moves forward relative to the column seat 43, and the slide bar 493 then pushes the hinge bar 494 forward. The hinge bar 494 then pushes the connecting rod 497 to move, so that the front ends of the two connecting rods 497 move away from each other.

[0046] The connecting rod 497 then pushes the two push blocks to move away from each other through the push column 496, and the push blocks then push the top spring 495 to compress the top spring 495. When the column seat 43 drives the arc plate 45 to move backward to the second step-shaped position of the I-type double-disc column from the middle to the two ends, the compressed compression spring will reset and push the transverse frame 492 to move, and the transverse frame 492 then drives the arc plate 45 to move, so that the two arc plates 45 move away from each other until the arc plate 45 drives the grinding belt 48 located outside it to fit the second step-shaped outer surface of the I-type double-disc column from the middle to the two ends, so that the next surface of the I-type double-disc column can be polished; the two arc plates 45 are moved away from each other by gradually moving the column seat 43 backward and the dislocation movement of the sliding rod 493, so that they can be adaptively adjusted according to the different step-shaped positions of the I-type double-disc column.

[0047] During the change process of the grinding belt 48, the roller 462 will be pressed to move, and the roller 462 will then press the support block 463 to move in the slide frame 461 through the rotating shaft, and the support block 463 will be pushed by the compression spring to indirectly apply pressure to the grinding belt 48, ensuring that the grinding belt 48 is always in a taut state during the change process.

[0048] After the surface of the industrial double-disc column is completely polished, the limit column 8 is reversely toggled from a vertical state to a horizontal state. After becoming horizontal, the shape of the limit column 8 plus the swivel coincides with the shape of the special-shaped groove 9, and then the two connecting rods 497 are pushed closer to each other under the reset of the top spring 495. The connecting rod 497 then pushes the slide bar 493 backward through the hinge bar 494, and the slide bar 493 pushes the limit column 8 to pass through the special-shaped groove 9 until the slide bar 493 is reset to the initial position, and then the electric telescopic rod 42 is controlled to shrink to the shortest state, driving the column seat 43 to move backward to the initial position, and then the right outer cylinder 72 is driven to move to the right through the transverse movement part 5, so that the right outer cylinder 72 is removed from the industrial double-disc column, and then the removal arm 13 is controlled to move again to clamp and remove the industrial double-disc column.

[0049] During operation, firstly, the removal arm 13 is controlled to clamp the double-disc column of the industrial type and put it into the double-clamping mechanism 7, and then the transverse movement part 5 is controlled to move to drive the outer cylinder 72 on the right of the double-clamping mechanism 7 to move closer to the outer cylinder 72 on the left, so that the double-clamping mechanism 7 completely clamps the industrial type double-disc column to a limit position, and then the power motor 14 is controlled to operate to drive the main shaft to rotate, and the main shaft then drives the double-clamping mechanism 7 to rotate, and the double-clamping mechanism 7 then drives the industrial type double-disc column to rotate, and then, the adaptive fine grinding mechanism 4 is controlled to operate to contact the surface of the industrial type double-disc column, and adaptively adjust according to the changes in the surface of the industrial type double-disc column, so as to complete the grinding process of the industrial type double-disc column.

[0050] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0051] In addition, the terms "first", "second", "number one", "number two" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first", "second", "number one", "number two" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "multiple" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0052] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0053] The embodiments of this specific implementation method are all preferred embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Therefore, all equivalent changes made based on the structure, shape, and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An electric manipulator for a numerically controlled machine tool, comprising a machine tool body (1) and a support seat (2) fixedly connected to the upper end surface of the machine tool body (1), characterized in that: A headstock (3) is installed on the left part of the upper end surface of the support seat (2), and an adaptive fine grinding mechanism (4) is arranged at the rear part of the support seat (2) for automatically adapting to the surface shape of the workpiece so as to grind the surface of the workpiece; The adaptive fine grinding mechanism (4) comprises an L-shaped frame (41) fixedly connected to the rear end face of the bracket seat (2), a column seat (43) slidably connected to the front end face of the vertical section of the L-shaped frame (41) through an electric telescopic rod (42), two support sleeves (44) symmetrically fixedly connected to the front end of the column seat (43), and an arc plate (45) slidably connected in the support sleeve (44), a tensioning assembly (46) is symmetrically arranged on the column seat (43), two grooves (47) are symmetrically arranged in the column seat (43), a grinding belt (48) passing through the groove (47) is jointly sleeved and transmitted between the tensioning assembly (46) and the outside of the arc plate (45), and a pushing assembly (49) is arranged outside the column seat (43) for pushing the arc plate (45) to move so that the grinding belt (48) changes according to the shape of the workpiece; The headstock (3) comprises a main shaft, and a support seat (6) is slidably mounted on the upper part of the bracket seat (2) via a transverse moving part (5), and a double clamping mechanism (7) for clamping and limiting the inside and side of the workpiece is provided between the support seat (6) and the main shaft.

2. The electric manipulator for a CNC machine tool according to claim 1, characterized in that: The lifting assembly (49) comprises a sliding ring (491) fixedly connected to the outside of the column seat (43) through a vertical rod and a transverse frame (492) fixedly connected to the rear side of the arc plate (45); a sliding rod (493) is slidably connected in the sliding ring (491); a front end of the sliding rod (493) is rotatably connected to a hinge bar (494); a push block is slidably connected in the transverse frame (492); a lifting spring (495) is fixedly connected between the push block and the transverse frame (492); a push column (496) is rotatably connected to the upper end surface of the push block; a connecting rod (497) is hingedly connected to the upper end of the push column (496); an end of the connecting rod (497) away from the push column (496) is hingedly connected to the end of the hinge bar (494).

3. The electric manipulator for a CNC machine tool according to claim 2, characterized in that: The rear part of the outer wall of the sliding rod (493) is rotatably connected to a swivel, and the outside of the swivel is fixedly connected to a limiting column (8). The vertical section of the L-shaped frame (41) is provided with a special-shaped groove (9) that cooperates with the limiting column (8), and the special-shaped groove (9) is composed of a circular groove and a rectangular groove connected to the circular groove.

4. The electric manipulator for a CNC machine tool according to claim 1, characterized in that: The double clamp mechanism (7) comprises a support plate (71), an outer cylinder (72), an inner rod (73), an inner top assembly (74) and a side clamp assembly (75); the upper end surface of the bracket (6) is fixedly connected with the support plate (71); the left side of the support plate (71) and the right end of the main shaft are respectively fixedly connected with the outer cylinder (72); the inner rod (73) is slidably connected to the inner cylinder (72) through a spline fit; an inner top assembly (74) is provided between the outer cylinder (72) and the outer part of the inner rod (73); a side clamp assembly (75) is provided between the outer cylinder (72) and the end of the inner rod (73); the inner top assembly (74) comprises a rectangular installation through groove (741), a slide groove (742), a top rod (743), a spring telescopic column (744), an arc top plate (745), a shifting rod (746) and a push ring (747); the outer cylinder (7 2) A plurality of rectangular installation slots (741) are equidistantly provided on the circumferential direction, and a horizontal slide slot (742) is symmetrically provided on the opposite side of the rectangular installation slot (741), and a push rod (743) is hingedly connected between the opposite slide slots (742) through a slide column, and a spring telescopic column (744) is hingedly connected to the groove wall on the opposite side of the rectangular installation slot (741) through a connecting column, and the upper end of the spring telescopic column (744) is fixedly connected to an arc top plate (745), and the upper end of the push rod (743) is hingedly connected to the upper part of the outer wall of the spring telescopic column (744), and the lower end of the push rod (743) away from the side clamp assembly (75) is fixedly connected to a lever (746), and a push ring (747) cooperating with the lever (746) is slidably connected to the outside of the inner rod (73), and a limit spring (748) is fixedly connected between the push ring (747) and the inner rod (73).

5. The electric manipulator for a CNC machine tool according to claim 4, characterized in that: The side clamp assembly (75) comprises a plurality of rectangular installation slots (751) equidistantly arranged on the outer cylinder (72) in the circumferential direction, the slot wall of the rectangular installation slot (751) being rotatably connected to a gear (752) through a torsion spring cooperating with a rotating column, a folding abutment plate (753) being fixedly connected to the outside of the gear (752), and a plurality of racks (754) equidistantly fixedly connected to the end of the inner rod (73) located inside the outer cylinder (72) corresponding to the position of the gear (752) and used to cooperate with the gear (752) in the circumferential direction.

6. The electric manipulator for a CNC machine tool according to claim 4, characterized in that: The opposite ends of the two outer cylinders (72) are fixedly connected with an annular block (10), the right side of the annular block (10) located on the left is provided with a plurality of docking grooves (11) equidistantly arranged in the circumferential direction, and the left side of the annular block (10) located on the right is provided with a plurality of docking teeth (12) matching with the docking grooves (11) equidistantly arranged in the circumferential direction.

7. The electric manipulator for a CNC machine tool according to claim 1, characterized in that: The tensioning assembly (46) comprises two sliding frames (461) symmetrically fixedly connected to the outer wall of the column seat (43) in an upper and lower manner and a rotating roller (462) rotatably connected between the two sliding frames (461) via a rotating shaft, a supporting block (463) slidably connected to the outside of the rotating shaft in the sliding frame (461), and a compression spring is fixedly connected between the supporting block (463) and the sliding frame (461).

8. The electric manipulator for a CNC machine tool according to claim 1, characterized in that: The upper part of the headstock (3) is provided with a transfer arm (13) for automatically loading and removing materials, and the upper part of the machine tool platform (1) is provided with a power motor (14) for linking with the headstock (3) to drive the main shaft to rotate.

9. The electric manipulator for a CNC machine tool according to claim 1, characterized in that: The transverse displacement portion (5) comprises two guide rails (51) symmetrically fixedly connected to the upper end surface of the support seat (2) in a front-to-back manner; two sliding sleeves (52) are slidably connected to the outside of the guide rails (51); a support seat (6) is fixedly connected between the two sliding sleeves (52); a drive motor is fixedly connected to the left portion of the upper end surface of the support seat (2); a screw rod (53) penetrating the support seat (6) is fixedly connected to the output shaft of the drive motor; and the screw rod (53) is threadedly connected to the support seat (6).

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