Superhard blade numerical control grinding machine

Abstract

The invention belongs to the technical field of grinding machines, and particularly relates to a superhard blade numerical control grinding machine. Comprising a manipulator, a lathe bed and a spindle seat vertically arranged on one side of the lathe bed, a first workbench is slidably arranged on the lathe bed, a second workbench is rotatably arranged on the first workbench, a clamp assembly is arranged on the second workbench, and a first spindle and a second spindle are arranged on the spindle seat. A coarse grinding wheel and a fine grinding wheel are arranged on the first spindle and the second spindle respectively, the first spindle is arranged on a base, the base is driven by a first driving mechanism to move up and down on a spindle seat, and the first spindle is driven by a second driving mechanism to rotate on the base to adjust the elevation angle. A visual measurement mechanism for shooting and measuring a workpiece to be machined is arranged above the clamp assembly, and the manipulator is used for clamping the machined workpiece and clamping the workpiece to be machined; according to the full-automatic machining device, the feeding, machining and discharging processes can be fully automatically completed, the automation degree is high, and high machining precision and excellent product consistency are achieved.

Description

Technical field:

[0001] The invention belongs to the technical field of grinders, in particular to a superhard blade numerical control grinder. Background technology:

[0002] The super-hard blade CNC grinder is a high-precision device used to process super-hard material blades. It uses a high-speed rotating grinding wheel for grinding.

[0003] The existing CNC grinding machine for super-hard blades includes a visual measurement mechanism, a display screen, a workpiece fixture, and a grinding mechanism. The workpiece is clamped on the workpiece fixture, and the real-time image of the workpiece is obtained through the visual measurement mechanism and displayed on the display screen. The operator manually controls the grinding angle and grinding depth of the grinding wheel according to the image on the display screen. However, the automation level of this equipment is low, and reliance on manual operation can easily lead to problems such as insufficient processing accuracy and poor product consistency. Summary of the invention:

[0004] The object of the present invention is to provide a CNC grinder for super-hard blades which can realize full-automatic loading, processing and unloading and has high processing accuracy and excellent product consistency.

[0005] The present invention is achieved in that:

[0006] A CNC grinding machine for superhard blades comprises a manipulator, a bed and a spindle seat erected on one side of the bed, a first worktable is slidably provided on the bed, a second worktable is rotatably provided on the first worktable, a fixture assembly is provided on the second worktable, a first spindle and a second spindle are provided on the spindle seat, a rough grinding wheel and a fine grinding wheel are provided on the first spindle and the second spindle respectively, the first spindle is provided on a base, the base is driven by a first driving mechanism to move up and down on the spindle seat to adjust the up and down position of the first spindle, and the first spindle is driven by a second driving mechanism to rotate on the base to adjust the elevation angle, a visual measurement mechanism for photographing and measuring a workpiece to be processed is provided above the fixture assembly, the manipulator is used to clamp the processed workpiece and clamp the workpiece to be processed.

[0007] In the above-mentioned super-hard blade CNC grinder, the rough grinding wheel, fine grinding wheel, visual measurement mechanism, and fixture assembly are located in an independent first space, and the manipulator is located in a second space. The first space and the second space are isolated and connected by a lifting plate, and the lifting plate is driven by a third driving mechanism. A material tray is arranged in the second space.

[0008] In the above-mentioned super-hard blade CNC grinder, the second spindle is driven by the fourth driving mechanism to rotate on the spindle seat to adjust the elevation angle.

[0009] In the above-mentioned super-hard blade CNC grinder, the fourth driving mechanism includes a fourth driving member, a fourth driving rod, a rotating seat arranged at the front end of the second spindle, a first fixed seat and a second fixed seat arranged on the spindle seat, the rotating seat is rotatably connected to the first fixed seat, and the second fixed seat is provided with a lifting seat that moves up and down, the lifting seat is connected to the end of the second spindle, and the lifting seat is connected to the fourth driving rod.

[0010] In the above-mentioned super-hard blade CNC grinder, the first driving mechanism includes a first driving member and a first driving rod arranged on the spindle seat, the first driving member drives the first driving rod to move, the first driving rod is connected to the base to drive the base to move up and down on the spindle seat and then drive the first spindle to adjust the up and down position.

[0011] In the above-mentioned CNC grinding machine for super-hard blades, the second driving mechanism includes a second driving member rotatably arranged on the spindle seat, a worm and a turbine arranged on the base, and a first arc guide rail and a second arc guide rail arranged on the first inner wall and the second inner wall of the base. The first spindle is passed between the two inner walls, the turbine is rotatably arranged on the first spindle, and the first slider is eccentrically connected to the turbine. The first slider can move along the first arc guide rail. A second slider is also arranged on the first spindle, and the second slider can move along the second arc guide rail.

[0012] In the above-mentioned super-hard blade CNC grinder, a third driving member is arranged on the second inner side wall in the up and down directions, and the third driving member includes a third driving rod that can move up and down, one end of the pull rope is fixed on the spindle seat, and the other end is fixed on the first spindle, and the pull rope is wound around the top of the third driving rod, and the third driving member drives the pull rope to be always in a tensioned state.

[0013] In the above-mentioned super-hard blade CNC grinder, the visual measurement mechanism includes a monitoring system, which is arranged in a first shell. An opening is arranged on the first shell, and the monitoring system can capture the image of the workpiece through the opening. An opening and closing plate for opening or closing the opening is arranged at the opening. The movement of the opening and closing plate is driven by a fifth driving member, and the fifth driving member is arranged in the second shell. The first shell is slidably arranged on the focusing mechanism, and the focusing mechanism adjusts the longitudinal and lateral positions of the first shell by a longitudinal adjustment mechanism and a lateral adjustment mechanism. The lateral adjustment mechanism is arranged on the bed through a bracket.

[0014] In the above-mentioned super-hard blade CNC grinder, a driving motor is arranged on the rough grinding wheel, a cleaning grinding wheel is arranged on the rotating shaft of the driving motor, one end of the rotating shaft extends out of the cleaning grinding wheel and is provided with a limiting member, a spring sleeve is arranged on the rotating shaft between the cleaning grinding wheel and the limiting member, and two ends of the spring are respectively placed on the cleaning grinding wheel and the limiting member, and the cleaning grinding wheel is attached to the cleaning surface of the rough grinding wheel.

[0015] In the above-mentioned super-hard blade CNC grinder, the clamping assembly includes a base fixed on the second workbench, a workpiece slot is arranged at one end of the base, a driving arm is rotatably connected to the base, a pressure plate capable of pressing the workpiece in the workpiece slot is arranged at one end of the driving arm, and a sixth driving member for driving the driving arm to rotate is arranged at the other end.

[0016] The outstanding advantages of the present invention compared with the prior art are:

[0017] 1. The present invention can fully automatically complete the process of loading, processing and unloading, with a high degree of automation, high processing accuracy and excellent product consistency;

[0018] 2. The up and down position and elevation angle of the first spindle of the present invention are adjustable, and the elevation angle of the second spindle is adjustable, thereby significantly expanding the processing range;

[0019] 3. The present invention integrates the visual measurement mechanism and the manipulator on the bed, which has a compact structure and does not require repeated lifting of the visual measurement mechanism, thereby improving the detection accuracy;

[0020] 4. The present invention is provided with a cleaning grinding wheel, which can clean the surface of the rough grinding wheel during the grinding process to ensure that the grinding performance is not affected. Description of the drawings:

[0021] Figure 1 It is a three-dimensional schematic diagram of the present invention;

[0022] Figure 2 It is a schematic diagram of the rough grinding wheel, the fine grinding wheel, the visual measurement mechanism, and the fixture assembly of the present invention being located in the first space;

[0023] Figure 3 is a schematic diagram of the manipulator of the present invention being located in the second space;

[0024] Figure 4 It is a partial schematic diagram of the first main shaft of the present invention being connected to the base through the second driving mechanism;

[0025] Figure 5 It is a partial schematic diagram of the first main shaft of the present invention being connected to the base through a pull rope and a third driving member;

[0026] Figure 6 It is a partial schematic diagram of the front end of the second spindle of the present invention being connected to the spindle seat through the rotating seat and the first fixed seat;

[0027] Figure 7 It is a partial schematic diagram of the end of the second main shaft of the present invention being connected to the second fixing seat through the fourth driving mechanism;

[0028] Figure 8is a schematic diagram of the visual measurement mechanism of the present invention;

[0029] Fig. 9 It is a schematic diagram of the visual measurement mechanism of the present invention, in which the bottom is arranged upward;

[0030] Fig.10 It is a schematic diagram of a grinding wheel cleaning device provided on a rough grinding wheel of the present invention;

[0031] Fig.11 It is a front schematic diagram of the cleaning grinding wheel of the present invention;

[0032] Fig.12 It is a schematic diagram of the back side of the cleaning grinding wheel of the present invention;

[0033] Fig.13 is a schematic diagram of a clamp assembly of the present invention;

[0034] Fig.14 It is one of the schematic diagrams of one of the implementation structures of the pressing plate of the present invention;

[0035] Fig.15 This is a second schematic diagram of one of the implementation structures of the pressing plate of the present invention;

[0036] Fig.16 is a schematic diagram of a pressure column of the present invention;

[0037] Fig.17 It is a schematic diagram of another implementation structure of the pressing plate of the present invention.

[0038] In the figure: 1. manipulator; 2. bed; 3. spindle seat; 4. slide; 5. cross workbench; 6. fixture assembly; 7. first spindle; 8. second spindle; 9. rough grinding wheel; 10. fine grinding wheel; 11. base; 12. visual measurement mechanism; 13. first space; 14. second space; 15. lifting plate; 16. material tray; 17. first guide rail; 18. rodless cylinder; 19. fourth driving member; 20. fourth driving rod; 21. rotating seat; 22. first fixed seat; 23. second fixed seat; 24. lifting seat; 25. worm; 26. turbine; 27. first arc guide rail; 28 , second arc guide rail; 29, third driving member; 30, pull rope; 31, first shell; 32, opening; 33, opening and closing plate; 34, focusing mechanism; 35, longitudinal adjustment mechanism; 36, lateral adjustment mechanism; 37, bracket; 38, second shell; 39, arc guide hole; 40, rotating shaft; 41, cleaning grinding wheel; 42, limit member; 43, spring; 44, straight groove; 45, boss; 46, through hole; 47, base; 48, driving arm; 49, sixth driving member; 50, pressure plate body; 51, pressure column; 52, ball head; 53, mounting portion; 54, screw; 55, set screw. Specific implementation method:

[0039] The present invention will be further described below with specific embodiments:

[0040] like Figure 1-Figure 17 As shown, the present invention provides a CNC grinding machine for superhard blades, which includes a manipulator 1, a bed 2 and a spindle seat 3 erected on one side of the bed, a first worktable is slidably provided on the bed, a second worktable is rotatably provided on the first worktable, and a clamp assembly 6 is provided on the second worktable 5. In this embodiment, the first worktable is a slide 4, and the second worktable is a cross worktable 5. The cross worktable 5 can adjust the lateral and longitudinal positions of the clamp assembly 6, and the workpiece is clamped on the clamp assembly 6. A first spindle 7 and a second spindle 8 are provided on the spindle seat 3, and a rough grinding wheel 9 and a fine grinding wheel 10 are provided on the first spindle 7 and the second spindle 8, respectively. After the rough grinding of the workpiece is completed, the fine grinding wheel 10 is used for fine grinding, and no secondary clamping is required, so the processing efficiency and precision are high. In addition, the first spindle 7 of the present invention is arranged on a base 11, and the base 11 is driven by a first driving mechanism to move up and down on the spindle seat 3 to adjust the up and down position of the first spindle 7, and the first spindle 7 is driven by a second driving mechanism to rotate on the base 11 to adjust the elevation angle, and a visual measurement mechanism 12 for photographing and measuring the workpiece to be processed is arranged above the fixture assembly 6, and the manipulator 1 is used to clamp the processed workpiece and clamp the workpiece to be processed. The present invention realizes full automation of loading, processing, and unloading of workpieces, and the elevation angle of the first spindle 7 is adjustable, which expands the processing range.

[0041] like Figure 1 , Figure 2 and Figure 3 As shown, the rough grinding wheel 9, the fine grinding wheel 10, the visual measurement mechanism 12, and the fixture assembly 6 are located in an independent first space 13, and the manipulator 1 is located in a second space 14. The first space 13 and the second space 14 are isolated and connected by a lifting plate 15, and the lifting plate 15 is driven by a third driving mechanism. A material tray 16 is arranged in the second space 14. The workpiece to be processed and the workpiece completed by processing are arranged on the material tray 16.

[0042] As can be seen from the above, the manipulator 1 of the present invention is arranged on the bed 2, has a compact structure, does not need to be provided with a truss, and can also be applicable to some smaller spaces.

[0043] Specifically, if Figure 3As shown, the third driving mechanism includes a first guide rail 17 and a rodless cylinder 18 arranged in the up-down direction, and the lifting plate 15 is connected to the first guide rail 17, and the lifting plate 15 is also connected to the slider of the rodless cylinder 18. When the processing is completed, the control system sends a signal to control the rodless cylinder 18 to operate, open the lifting plate 15, and one of the grippers of the manipulator 1 clamps the workpiece to be processed and extends into the first space 14, and the other gripper of the manipulator 1 clamps the workpiece that has been processed on the fixture assembly 6, and then rotates the gripper so that the other gripper loads the clamped workpiece to be processed into the fixture assembly 6. After clamping is completed, the manipulator 1 is reset, and the processed workpiece is transferred to the corresponding position of the material tray 16. The lifting plate 15 is also reset.

[0044] Since cooling liquid is required during the processing, the provision of the lifting plate 15 can prevent the liquid and flying chips in the first space 13 from entering the second space 14. Usually, the lifting plate 15 is provided as a transparent plate, and the operator can observe the situation of the robot 1 through the lifting plate 15.

[0045] In order to further expand the processing range, the second spindle 8 of the present invention is driven by a fourth driving mechanism to rotate on the spindle seat 3 to adjust the elevation angle.

[0046] like Figure 6 and Figure 7 As shown, the fourth driving mechanism includes a fourth driving member 19, a fourth driving rod 20, a rotating seat 21 arranged at the front end of the second spindle 8, a first fixed seat 22 and a second fixed seat 23 arranged on the spindle seat 3, the rotating seat 21 is rotatably connected with the first fixed seat 22, and a lifting seat 24 that moves up and down is arranged on the second fixed seat 23, the lifting seat 24 is connected to the end of the second spindle 8, and the lifting seat 24 is connected to the fourth driving rod 20. It should be noted that in this embodiment, the fourth driving member 19 adopts a motor, and the fourth driving rod 20 adopts a screw rod.

[0047] In order to ensure stable lifting, a second guide rail is provided between the lifting seat 24 and the second fixed seat 23 in the present invention, and the lifting seat 24 is slidably connected to the second guide rail via a second slider.

[0048] When adjusting the elevation angle of the second spindle 8, the control system controls the fourth motor 19 to work, drives the fourth screw 20 to rotate, and then drives the lifting seat 24 to rise and fall. Since the lifting seat 24 is connected to the end of the second spindle 8, the front end of the second spindle 8 will rotate on the first fixed seat 22 through the rotating seat 21, thereby achieving the purpose of adjusting the elevation angle of the second spindle 8. It should be noted that the rotation axis of the rotating seat 21 and the axis of the second spindle 8 are perpendicular to each other.

[0049] In addition, the first driving mechanism of the present invention includes a first driving member and a first driving rod disposed on the spindle seat 3, the first driving member drives the first driving rod to move, the first driving rod is connected to the base 11 to drive the base 11 to move up and down on the spindle seat 3, and then drives the first spindle 7 to adjust the up and down position. It should be noted that in this embodiment, the first driving member is a motor and the first driving rod is a screw.

[0050] In order to make the adjustment smooth, the present invention arranges a third guide rail and a third slider between the spindle seat 3 and the base 11 .

[0051] like Figure 4 As shown, the second driving mechanism includes a second driving member rotatably arranged on the spindle seat 3, a worm 25 and a turbine 26 arranged on the base 11, and a first arc guide rail 27 and a second arc guide rail 28 arranged on the first inner side wall and the second inner side wall of the base 11, the first spindle 7 is inserted between the two inner side walls, the turbine 26 is rotatably arranged on the first spindle 7, and the first slider is eccentrically connected to the turbine 26, the first slider can move along the first arc guide rail 27, and a second slider is also arranged on the first spindle 7, and the second slider can move along the second arc guide rail 28. In this embodiment, the second driving member is a motor.

[0052] like Figure 5 As shown, in order to achieve buffering of the first main shaft 7 when adjusting the elevation angle, the present invention provides a third driving member 29 on the second inner side wall along the up-down direction, one end of the pull rope 30 is fixed on the base 11, and the other end is fixed on the first main shaft 7, and the pull rope 30 is wound around the top of the piston rod of the third driving member 29, and the third driving member 29 drives the pull rope 30 to be always in a tensioned state. In this embodiment, the third driving member 29 is preferably a cylinder.

[0053] When adjusting the elevation angle of the first main shaft 7, the control system controls the second driving member to operate, driving the worm 25 to rotate, and the turbine 26 engages with it to rotate. The first slider located on the turbine 26 moves along the first arc-shaped guide rail 26 as the turbine 26 moves. During this process, the third driving member 29 operates, driving the second slider to move along the second arc-shaped guide rail 28.

[0054] like Figure 1 , Figure 2 , Figure 8 and Fig. 9As shown, the present invention needs to photograph and measure the workpiece during processing. The visual measurement mechanism 12 includes a monitoring system, which includes a CCD camera and a lens barrel. The monitoring system is arranged in a first shell 31. An opening 32 is arranged on the first shell 31. The monitoring system can take pictures of the workpiece through the opening 32. An opening and closing plate 33 for opening or closing the opening 32 is arranged at the opening 32. The movement of the opening and closing plate 33 is driven by a fifth driving member, and the fifth driving member is arranged in the second shell 38. Specifically, the fifth driving member is a rotary cylinder or a motor. The first shell 31 is slidably arranged on the focusing mechanism 34. The focusing mechanism 34 adjusts the longitudinal and lateral positions of the shell by a longitudinal adjustment mechanism 35 and a lateral adjustment mechanism 36. The lateral adjustment mechanism 36 is arranged on the bed 2 through a bracket 37. The focusing mechanism 34 can adopt a screw transmission mechanism, a screw nut is arranged on the first housing 31, the screw nut is arranged on the screw, and an adjustment nut is arranged at the lower end of the screw. The adjustment nut is manually adjusted to adjust the upper and lower positions of the first housing 31, thereby adjusting the focal length of the monitoring system (such as a camera). The longitudinal adjustment mechanism 35 and the lateral adjustment mechanism 36 can adjust the corresponding position of the visual measurement mechanism 12 according to the position of the workpiece.

[0055] In order to ensure smooth rotation, the present invention provides an arc-shaped guide hole 39 on the opening and closing plate 33 and a guide rod on the second shell 38 . The guide rod extends into the arc-shaped guide hole 39 . The arc length of the arc-shaped guide hole 39 limits the rotation stroke of the opening and closing plate 33 .

[0056] The first shell 31 and the second shell 38 can prevent the coolant, flying chips, etc. in the first space 13 from affecting the monitoring system and the driving parts, and the visual measurement mechanism 12 can be built into the first space 13 .

[0057] In addition, after the grinding wheel is ground, impurities such as metal chips, abrasive particles and oil stains will accumulate on the grinding surface of the grinding wheel, affecting its grinding performance, so the grinding wheel must be cleaned. Figure 1 , Figure 2 , Figure 10-12 As shown, the present invention is provided with a driving motor on the rough grinding wheel 9, and a cleaning grinding wheel 41 is provided on the rotating shaft 40 of the driving motor. One end of the rotating shaft 40 extends out of the cleaning grinding wheel 41 and is provided with a limiting member 42. A spring 43 is sleeved on the rotating shaft 40 between the cleaning grinding wheel 41 and the limiting member 42, and the two ends of the spring 43 are respectively supported on the cleaning grinding wheel 41 and the limiting member 42. The cleaning grinding wheel 41 is attached to the cleaning surface of the rough grinding wheel 9.

[0058] Specifically, a mounting joint is provided at the center of the cleaning grinding wheel 41 of the present invention, and the specific structure of the mounting joint is as follows: it includes a straight groove 44 located on the inner wall of the cleaning grinding wheel 41 and a convex column 45 located on the outer wall of the cleaning grinding wheel 41, and there are more than two threaded holes distributed circumferentially on the convex column 45, and the mounting joint is provided with a through hole 46 for the rotating shaft 40 to pass through.

[0059] The rotating shaft 40 is provided with a joint with a straight-shaped protrusion at one end. During installation, the cleaning grinding wheel 41 is installed into the rotating shaft 40 and is connected with the straight-shaped protrusion through a straight-shaped groove 44, and is fixed to the rotating shaft 40 by being screwed into a threaded hole on the protrusion 45.

[0060] The present invention is provided with a cleaning grinding wheel 41, which can clean the surface of the rough grinding wheel 9 during the grinding process to ensure that the grinding performance is not affected.

[0061] In addition, if Figure 1 , Figure 2 and Figure 13-Figure 16 As shown, the clamp assembly 6 of the present invention includes a base 47 fixed on the cross workbench 4, a workpiece slot is provided at one end of the base 47, a driving arm 48 is rotatably connected to the base 47, a pressing plate capable of pressing the workpiece in the workpiece slot is provided at one end of the driving arm 48, and a sixth driving member 49 for driving the driving arm 48 to rotate is provided at the other end. In this embodiment, the sixth driving member 49 is preferably a cylinder.

[0062] Further, the pressure plate includes a pressure plate body 50, on which a pressure column 51 is provided, and the pressure column 51 is detachably connected to the pressure plate body 50. The pressure column 51 includes a ball head 52, and the ball head 52 protrudes from the bottom surface of the pressure plate body 50. The pressure plate body 50 is also provided with a mounting portion 53. The mounting portion 53 is connected to one end of the driving arm 48 through a pin shaft.

[0063] During clamping, the sixth driving member 49 drives one end of the driving arm 48 to move downward, so that the pressure plate is lifted, and the robot 1 transfers the workpiece to be processed into the workpiece slot, and the sixth driving member 49 is reset, so that the pressure plate is pressed on the upper surface of the workpiece to be processed, and the ball head 52 of the pressure plate is set in the center hole of the workpiece to be processed.

[0064] After multiple clamping, the ball head 52 may be worn, resulting in defects such as inaccurate positioning. After the wear, the pressing column 51 can be replaced to reduce the cost of use. In addition, since the diameters of the center holes of the workpieces to be processed are different, the ball head 52 of the corresponding size must be used, which can also be achieved by replacing the pressing column 51.

[0065] It should be noted that if Figure 14-16As shown, as one of the embodiments in which the pressure column 51 and the pressure plate body 50 are detachably connected, a threaded hole is provided on the bottom surface of the pressure plate body 50 facing upward, and the pressure column 51 includes a screw rod 54 and a ball head 52 located at the bottom of the screw rod 54. The pressure column 51 is detachably connected to the pressure plate body 50 by screwing the screw rod 54 and the threaded hole.

[0066] like Fig.17 As shown, as another embodiment in which the pressure column 51 and the pressure plate body 50 are detachably connected, the bottom surface of the pressure plate body 50 is provided with a mounting hole facing upward, and the pressure column 51 includes a rod and a ball head 52 located at the bottom of the rod, and a locking screw 55 is provided on the pressure plate body 50, and one end of the locking screw 55 abuts against the rod to fix the abutting column 51 on the pressure plate body 50.

[0067] The above embodiment is only one of the preferred embodiments of the present invention, and is not intended to limit the scope of implementation of the present invention. Therefore, any equivalent changes made based on the shape, structure, and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A superhard blade CNC grinding machine, characterized in that: The invention comprises a manipulator (1), a bed (2) and a spindle seat (3) vertically arranged on one side of the bed (2); a first worktable is slidably arranged on the bed (2); a second worktable is rotatably arranged on the first worktable; a fixture assembly (6) is arranged on the second worktable; a first spindle (7) and a second spindle (8) are arranged on the spindle seat (3); a rough grinding wheel (9) and a fine grinding wheel (10) are respectively arranged on the first spindle (7) and the second spindle (8); the first spindle (7) and the second spindle (8) are arranged on a base (11); the base (11) is driven by a first driving mechanism to move up and down on the spindle seat (3) to adjust the up and down position of the first spindle (7); and the first spindle (7) is driven by a second driving mechanism to rotate on the base (11) to adjust the elevation angle; a visual measurement mechanism (12) for photographing and measuring a workpiece to be processed is arranged above the fixture assembly (6); the manipulator (1) is used to clamp the processed workpiece and clamp the workpiece to be processed.

2. The superhard blade CNC grinding machine according to claim 1, characterized in that: The rough grinding wheel (9), the fine grinding wheel (10), the visual measurement mechanism (12), and the fixture assembly (6) are located in an independent first space (13); the manipulator (1) is located in a second space (14); the first space (13) and the second space (14) are isolated and connected by a lifting plate (15); the lifting plate (15) is driven by a third driving mechanism; and a material tray (16) is arranged in the second space (14).

3. The superhard blade CNC grinding machine according to claim 1, characterized in that: The second main shaft (8) is driven by a fourth driving mechanism to rotate on the main shaft seat (3) to adjust the elevation angle.

4. The superhard blade CNC grinding machine according to claim 3, characterized in that: The fourth driving mechanism comprises a fourth driving member (19), a fourth driving rod (20), a rotating seat (21) arranged at the front end of the second main shaft (8), a first fixed seat (22) and a second fixed seat (23) arranged on the main shaft seat (3), the rotating seat (21) is rotatably connected to the first fixed seat (22), and a lifting seat (24) that moves up and down is arranged on the second fixed seat (23), the lifting seat (24) is connected to the end of the second main shaft (8), and the lifting seat (24) is connected to the fourth driving rod (20).

5. A superhard blade CNC grinding machine according to any one of claims 1 to 4, characterized in that: The first driving mechanism comprises a first driving member and a first driving rod arranged on the spindle seat (3); the first driving member drives the first driving rod to move; the first driving rod is connected to the base (11) to drive the base (11) to move up and down on the spindle seat (3) and thereby drive the first spindle (7) to adjust the up and down position.

6. A superhard blade CNC grinding machine according to any one of claims 1 to 4, characterized in that: The second driving mechanism comprises a second driving member rotatably arranged on the main shaft seat (3), a worm (25) and a turbine (26) arranged on the base (11), and a first arc guide rail (27) and a second arc guide rail (28) arranged on the first inner side wall and the second inner side wall of the base (11); the first main shaft (7) is arranged between the two inner side walls; the turbine (26) is rotatably arranged on the first main shaft (7); a first slider is eccentrically connected to the turbine (26); the first slider can move along the first arc guide rail (27); a second slider is also arranged on the first main shaft (7); the second slider can move along the second arc guide rail (28).

7. The superhard blade CNC grinding machine according to claim 6, characterized in that: A third driving member (29) is arranged on the second inner side wall along the up and down direction, and the third driving member (29) includes a third driving rod that can move up and down, one end of a pull rope (30) is fixed on the main shaft seat (3), and the other end is fixed on the first main shaft (7), and the pull rope (30) is wound around the top of the third driving rod. The third driving member drives the pull rope (30) to be always in a tensioned state.

8. A superhard blade CNC grinding machine according to any one of claims 1 to 4, characterized in that: The visual measurement mechanism (12) comprises a monitoring system, the monitoring system is arranged in a first shell (31), the first shell (31) is provided with an opening (32), the monitoring system can capture an image of a workpiece through the opening (32), the opening (32) is provided with an opening and closing plate (33) for opening or closing the opening (32), the movement of the opening and closing plate (33) is driven by a fifth driving member, the fifth driving member is arranged in a second shell (38), the first shell (31) is slidably arranged on a focusing mechanism (34), the focusing mechanism (34) is adjusted by a longitudinal adjustment mechanism (35) and a transverse adjustment mechanism (36) to adjust the longitudinal and transverse positions of the first shell (31), and the transverse adjustment mechanism (36) is arranged on a bed (2) through a bracket (37).

9. A superhard blade CNC grinding machine according to any one of claims 1 to 4, characterized in that: The rough grinding wheel (9) is provided with a driving motor, and a cleaning grinding wheel (41) is provided on a rotating shaft (40) of the driving motor. One end of the rotating shaft (40) extends out of the cleaning grinding wheel (41) and is provided with a limiting member (42). A spring (43) is sleeved on the rotating shaft (40) between the cleaning grinding wheel (41) and the limiting member (42), and two ends of the spring (43) are respectively supported on the cleaning grinding wheel (41) and the limiting member (42). The cleaning grinding wheel (41) is attached to the cleaning surface of the rough grinding wheel (9).

10. A superhard blade CNC grinding machine according to any one of claims 1 to 4, characterized in that: The clamp assembly (6) comprises a base (47) fixed on the second workbench, a workpiece groove is arranged at one end of the base (47), a driving arm (48) is rotatably connected to the base (47), a pressing plate capable of pressing the workpiece in the workpiece groove is arranged at one end of the driving arm (48), and a sixth driving member (49) for driving the driving arm (48) to rotate is arranged at the other end.

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