An electric manipulator for CNC machine tools

Abstract

The present invention discloses an electric manipulator for a numerically controlled machine tool, and the present invention relates to the field of numerically controlled machine tool processing technology. The electric manipulator for a numerically controlled machine tool comprises a machine table and a support seat fixedly connected to the upper end face of the machine table, a headstock is installed on the left part of the upper end face of the support seat, and an adaptive fine grinding mechanism for automatically adapting to the surface shape of the workpiece in order to grind the surface of the workpiece is provided at the rear of the support seat, and a double clamping mechanism for clamping and limiting the inside and side of the workpiece is provided between the support seat and the main shaft. The present invention ensures the uniformity of the grinding process and reduces the time for adjusting and replacing the grinding tool by adaptively moving the two grinding belts in the adaptive fine grinding mechanism to fit the outer wall of the double-disc cylinder of the workpiece, and the inner top assembly and the side clamping assembly in the double clamping mechanism clamp the workpiece from the inside and both ends respectively to avoid blocking the external surface, ensuring that each surface of the workpiece can contact the grinding head, and avoiding grinding blind spots.

Description

Technical Field

[0001] The present 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 a type of highly automated processing equipment that usually relies 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 the automatic loading, handling and processing of parts. During the processing, the robotic arm can realize the clamping, positioning and transmission of parts through precise control, reducing human intervention. Processing operations can include grinding, milling, drilling, welding, etc.; among them, grinding is one of the common processes in CNC machine tools, especially when performing surface treatment 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 the workpiece or correct processing errors, aiming 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 Figure 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 may also cause uneven grinding and affect the surface quality of the workpiece.

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

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

[0006] The present invention provides an electric manipulator for a CNC machine tool, comprising a machine tool table and a bracket seat fixedly connected to the upper end surface of the machine tool table, a headstock being installed on the left portion of the upper end surface of the bracket seat, and an adaptive fine grinding mechanism being provided at the rear of the bracket seat for automatically adapting to the surface shape of the workpiece so as to grind the surface of the workpiece, the adaptive fine grinding mechanism comprising an L-shaped frame fixedly connected to the rear end surface of the bracket 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 plate slidably connected to 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 plate, a pushing assembly is arranged on the outside of the column seat for pushing the arc plate to move so that the grinding belt changes according to the shape of the workpiece, the headstock includes a main shaft, and 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 provided between the bracket and the main shaft.

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

[0008] In one possible implementation, a swivel is rotatably connected to the rear portion of the outer wall of the sliding rod, and the outside of the swivel is fixedly connected to a limiting column. 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 to the support plate, the left side of the support plate and the right end of the main shaft are respectively fixedly connected to the outer cylinder, the inner cylinder is slidably connected to the inner rod through a spline fit, an inner top assembly is commonly provided between the outer cylinder and the outer side 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 groove, a slide groove, a top rod, a spring telescopic column, an arc top plate, a shift rod and a push ring, the outer cylinder Several rectangular mounting slots are equidistantly provided on the circumference, and horizontal slide slots are symmetrically provided on opposite sides of the rectangular mounting slots. A push rod is hinged between the opposite slide slots through a slide column, and a spring telescopic column is hinged to the groove wall on the opposite side of the rectangular mounting 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 slots 2 that are equidistantly arranged on the outer cylinder in the circumferential direction. The walls of the rectangular mounting slots 2 are rotatably connected to a gear through a torsion spring and a rotating column. A folded support plate is fixedly connected to the outside of the gear. The end of the inner rod located inside the outer cylinder is fixedly connected to a plurality of racks that correspond to the gear position and are used to cooperate with the gear at equidistantly arranged circumferentially.

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

[0012] In one possible implementation, the tensioning assembly includes two sliding frames symmetrically fixedly connected to the outer wall of the column base 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 provided on the upper portion of the headstock, and a power motor for linking with the headstock to drive the main shaft to rotate is provided on the upper portion of the machine tool table.

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

[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 curved 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 tools, 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 press and clamp from the inside of the double-disc cylinder of the workpiece, and the workpiece is clamped and limited from both ends, 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 contacted with the grinding head, thereby avoiding the situation where certain areas cannot be effectively polished. At the same time, the double clamping limit 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 following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

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

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

[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 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 perspective.

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

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

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

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

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

[0030] Figure 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 table; 2. Support base; 3. Headstock; 4. Adaptive fine grinding mechanism; 41. L-shaped frame; 42. Electric telescopic rod; 43. Column base; 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. Transverse frame; 493. Slide rod; 494. Hinge bar; 495. Top spring; 496. Push column; 497. Connecting rod; 5. Transverse shift unit; 51. Guide rail; 52. Slide sleeve; 53. Screw; 6. Support base ;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-shaped 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 groove;10. Ring block;11. Docking groove;12. Docking teeth;13. Removal arm;14. Power motor. DETAILED DESCRIPTION

[0033] To make the above-mentioned objects, features, and advantages of the present invention more readily apparent, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings. The following description sets forth numerous specific details to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways than those described herein, and those skilled in the art may make similar modifications without departing from the scope of the present invention. Therefore, the present invention is not limited to 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 CNC machine tool, comprising a machine tool platform 1 and a support base 2 fixedly connected to the upper end surface of the machine tool platform 1, a headstock 3 is installed on the left side of the upper end surface of the support base 2, and an adaptive fine grinding mechanism 4 is provided at the rear of the support base 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 mounted on the upper part of the support base 2 through a transverse portion 5. A double clamping mechanism 7 for clamping and limiting the inside and side of the workpiece is provided between the bracket 6 and the spindle. A transfer arm 13 for automatic loading and unloading of materials is provided on the upper part of the headstock 3, and a power motor 14 for linking with the headstock 3 to drive the main shaft to rotate is provided on the upper part of the machine tool table 1. The transverse moving part 5 includes two guide rails 51 symmetrically fixedly connected to the upper end face of the bracket seat 2 in the front and rear directions. Two sliding sleeves 52 are slidingly 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 face of the bracket seat 2, and a screw 53 that passes through the bracket 6 is fixedly connected to the output shaft of the driving motor. The screw 53 is threadedly connected to the bracket 6.

[0035] See also Figure 4 and Figure 6 The cam 72 is engaged with the bolt 71 and the bolt 72 is engaged with the bolt 71 and the bolt 72 is engaged with the bolt 71. 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 to 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 to the outer cylinder 72. The inner cylinder 72 is slidably connected to the inner rod 73 through a spline fit. An inner top assembly 74 is commonly provided between the outer cylinder 72 and the outer side of the inner rod 73, and a 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 to the annular blocks 10. The right side of the annular block 10 located on the left is circumferentially equidistantly provided with a number of docking grooves 11. The left side of the annular block 10 located on the right is circumferentially equidistantly provided with a number of docking teeth 12 that cooperate with 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 shift rod 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. A horizontal slide slot 742 is symmetrically provided on the opposite side of the rectangular installation slot 741. The opposite slide slots 742 are hinged with a push rod 743 through a slide column. The rectangular installation slots 741 are symmetrically provided with a horizontal slide slot 742. The opposite 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, and 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 shift rod 746, and the outside of the inner rod 73 is slidably connected to a push ring 747 that cooperates with the shift rod 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 grooves 751 equidistantly arranged on the outer cylinder 72 in the circumferential direction. The wall of the rectangular mounting groove 751 is rotatably connected to a gear 752 through a torsion spring and a rotating column. The outside of the gear 752 is fixedly connected to a folded support plate 753. 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 corresponding to the position of the gear 752 and 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. 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. Then, the transverse movement part 5 is controlled to operate, and the drive motor drives the screw 53 to rotate the screw 53 and then drives the bracket 6 to move to the left. The bracket 6 drives the sliding sleeve 52 to move synchronously on the slide rail. The bracket 6 then drives the support plate 71 to move 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] When the outer cylinder 72 on the right moves to the left, it also drives the inner rod 73 to move. When the inner rod 73 on the right moves to the left and conflicts with the end of the inner rod 73 on the left, the outer cylinder 72 that continues to move will cause the two inner rods 73 to push each other, thereby causing the inner rod 73 to gradually retract into the outer cylinder 72. During this process, the inner rod 73 will drive the push ring 747 to move through the limit spring 748. The push ring 747 then conflicts with the lever 746 and pushes the lever 746 to move. The lever 746 then drives the push rod 743 to move, and 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 drives 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-type double-disc column. At this time, the push ring 747 stops moving, and the inner rod 73 will continue to retract into the inner part of the outer tube 72, so that the limit spring 748 is compressed.

[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 engage with the gear 752, and the rack 754 will push 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, so that the I-type double-disc column can be doubly clamped and limited from the inside and the side without affecting the outside of the I-type double-disc column.

[0041] After the I-type double-disc cylinder 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 I-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 I-type double-disc cylinder.

[0042] See also Figure 3 、 Figure 4 、 Figure 9 、 Figure 10 and Figure 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-shaped plate 45 slidably connected to the support sleeve 44. A tensioning assembly 46 is symmetrically provided on the column seat 43, and two grooves 47 are symmetrically provided in the column seat 43. A transmission is jointly provided between the tensioning assembly 46 and the outer portion of the arc-shaped plate 45. There is a grinding belt 48 passing through the groove 47. A lifting assembly 49 is provided 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 that is attached to the outside of the rotating shaft. A compression spring is fixedly connected between the support block 463 and the sliding frame 461.

[0043] See also Figure 4 、 Figure 5 、 Figure 9 and Figure 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 the 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, and a top spring 495 is fixedly connected between the push block and the transverse frame 492. The upper end surface of the push block is rotatably connected to a push column 496, and the upper end of the push column 496 is hinged with a connecting rod 497. The end of the connecting rod 497 away from the push column 496 is hinged to the end of the hinge bar 494, and the rear end 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. The special-shaped groove 9 consists 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 curved plate 45 forward until the grinding belt 48 at the front of the curved 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 curved plates 45 is the shortest distance. At the same time, the grinding belts 48 at the opposite sides of the two curved 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 rotated to make the limit column 8 turn from the initial horizontal position to the vertical position.

[0045] Then, the external driving device drives the roller 462 to rotate, and the roller 462 then drives the grinding belt 48 to rotate. The rotation of the grinding belt 48 plus the outer cylinder 72 drives the industrial double-disc column to rotate to grind the surface of the industrial double-disc column. At the same time, the electric telescopic rod 42 is controlled to slowly contract to drive the column base 43 to gradually move backward. During the backward movement of the column base 43, the curved plate 45 is driven to move. The curved plate 45 then drives the grinding belt 48 located on its side to move along the outer surface of the industrial 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 base 43 moves backward, and when the slide bar 493 remains stationary, the slide bar 493 moves forward relative to the column base 43. The slide bar 493 then pushes the hinge bar 494 forward, and 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 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 curved plate 45 to move backward to the second stepped 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. The transverse frame 492 then drives the curved plate 45 to move, causing the two curved plates 45 to move away from each other until the curved plate 45 drives the grinding belt 48 located outside it to fit the second stepped outer surface of the I-type double-disc column from the middle to the two ends, thereby grinding the next surface of the I-type double-disc column; the two curved 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 stepped 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 through the rotating shaft to move in the slide frame 461, 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 reversed and changed 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 retract 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 moving 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, first, the removal arm 13 is controlled to clamp the industrial double-disc column and place 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 side of the double-clamping mechanism 7 to move closer to the outer cylinder 72 on the left side, so that the double-clamping mechanism 7 completely clamps the industrial 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 drives the industrial double-disc column to rotate, and then the adaptive fine grinding mechanism 4 is controlled to operate to contact the surface of the industrial double-disc column, and adaptively adjust according to the changes in the surface of the industrial double-disc column, so as to complete the grinding process of the industrial 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 to 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, rather than indicating or implying that the device or element referred to 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] Furthermore, the terms "first," "second," "number one," and "number two" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature designated as "first," "second," "number one," or "number two" may explicitly or implicitly include at least one such feature. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0052] In the present invention, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection; direct connection, or indirect connection through an intermediate medium; internal communication between two components, or interaction between two components, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on 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 scope of protection of the present invention. Therefore, any equivalent changes made based on the structure, shape, and principle of the present invention should be included in the scope of protection of the present invention.

Claims

1. An electric manipulator for a CNC machine tool, comprising a machine tool table and a bracket fixedly connected to the upper end surface of the machine tool table, characterized in that: A headstock is mounted on the left side of the upper end surface of the support seat, and an adaptive fine grinding mechanism is provided at the rear of the support seat for automatically adapting to the surface shape of the workpiece so as to grind the surface of the workpiece; The adaptive fine grinding mechanism includes an L-shaped frame fixedly connected to the rear end face of the bracket seat, a column seat slidably connected to the front end face of the vertical section of the L-shaped frame through an electric telescopic rod, two support sleeves symmetrically fixedly connected to the front end of the column seat, and an arc plate slidably connected to the support sleeve. A tensioning assembly is symmetrically arranged on the column seat, and two grooves are symmetrically opened in the column seat. A grinding belt passing through the groove is jointly sleeved between the tensioning assembly and the outside of the arc plate. A lifting assembly is provided on the outside of the column seat for pushing the arc plate to move so that the grinding belt changes according to the shape of the workpiece; The headstock includes a main shaft, and a bracket is slidably mounted on the upper part of the bracket seat through a transverse moving part. A double clamping mechanism for clamping and limiting the inside and side of the workpiece is provided between the bracket and the main shaft. The lifting 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, and the front end of the sliding rod is rotatably connected to a hinge bar. A push block is slidably connected to the transverse frame, and a top spring is fixedly connected between the push block and the transverse frame. The upper end surface of the push block is rotatably connected to a push column, and the upper end of the push column is hinged with a connecting rod, and the end of the connecting rod away from the push column is hinged to the end of the hinge bar.

2. The electric manipulator for a CNC machine tool according to claim 1, characterized in that: The rear part of the outer wall of the slide rod is rotatably connected with a swivel, and the outside of the swivel is fixedly connected to a limiting column. The vertical section of the L-shaped frame is provided with a special-shaped groove that cooperates with the limiting column. The special-shaped groove consists of a circular groove and a rectangular groove connected to the circular groove.

3. The electric manipulator for a CNC machine tool according to claim 1, characterized in that: 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 to the support plate, the left side of the support plate and the right end of the main shaft are respectively fixedly connected to the outer cylinder, the inner cylinder is slidably connected to the inner rod through a spline fit, an inner top assembly is commonly provided between the outer cylinder and the outer side 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 groove, a slide groove, a push rod, a spring telescopic column, an arc top plate, a shift rod and a push ring, and the outer cylinder is equidistantly opened in the circumferential direction A plurality of rectangular mounting slots are provided, and horizontal slide slots are symmetrically opened on opposite sides of the rectangular mounting slots. A push rod is hinged between the opposite slide slots through a slide column, and a spring telescopic column is hinged to the groove wall on the opposite side of the rectangular mounting 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 the outside of the inner rod is slidably connected to a push ring that cooperates with the shift rod, and a limit spring is fixedly connected between the push ring and the inner rod.

4. The electric manipulator for a CNC machine tool according to claim 3, characterized in that: The side clamp assembly includes a plurality of rectangular mounting slots 2 that are equidistantly arranged on the outer cylinder in the circumferential direction. The walls of the rectangular mounting slots 2 are connected to a gear through a torsion spring and a rotating column for rotation. A folded support plate is fixedly connected to the outside of the gear. The end of the inner rod located inside the outer cylinder is fixedly connected to a plurality of racks that correspond to the gear position and are used to cooperate with the gear in the circumferential direction and are equidistantly arranged.

5. The electric manipulator for a CNC machine tool according to claim 3, characterized in that: The opposite ends of the two outer cylinders are fixedly connected with annular blocks. The right side of the left annular block is circumferentially and equidistantly provided with a plurality of docking grooves. The left side of the right annular block is circumferentially and equidistantly provided with a plurality of docking teeth matching the docking grooves.

6. The electric manipulator for a CNC machine tool according to claim 1, characterized in that: The tensioning assembly includes two sliding frames symmetrically fixedly connected to the outer wall of the column base 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.

7. The electric manipulator for a CNC machine tool according to claim 1, characterized in that: The upper part of the headstock is provided with a transfer arm for automatic loading and unloading of materials, and the upper part of the machine tool table is provided with a power motor for linking with the headstock to drive the main shaft to rotate.

8. The electric manipulator for a CNC machine tool according to claim 1, characterized in that: The transverse movement part includes two guide rails that are symmetrically fixedly connected to the upper end surface of the bracket seat in the front and rear directions. Two sliding sleeves are slidably connected to the outside of the guide rails. 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. The output shaft of the drive motor is fixedly connected to a screw that passes through the bracket, and the screw is threadedly connected to the bracket.

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