Nine-shaft deburring machine

Abstract

The invention discloses a nine-shaft deburring machine. The nine-shaft deburring machine comprises a base, a deburring device and a workpiece clamp. The base is used for mounting the deburring device and the workpiece clamp; the deburring device is used for polishing burrs on the surface of a workpiece, and the workpiece clamp is used for fixing the workpiece. The machine head adjusting structure is used for adjusting the positions of the deburring device on the X axis, the Y axis and the Z axis; the clamp adjusting structure is used for adjusting the position and the angle of the workpiece removing clamp; the clamp adjusting structure comprises a first-stage angle adjusting mechanism and a second-stage angle adjusting mechanism; two groups of secondary angle adjusting mechanisms are mounted on the primary angle adjusting mechanism; a third-stage angle adjusting mechanism is mounted on the second-stage angle adjusting mechanism; a multi-degree-of-freedom cooperative control system is formed through space linkage of the position adjusting mechanism and the angle adjusting mechanism, flexibility, precision and efficiency are considered, and the adaptability and machining quality of equipment to complex workpieces are remarkably improved.

Description

Technical Field

[0001] The present invention relates to the field of deburring machines, specifically a nine-axis deburring machine. Background Art

[0002] During the manufacturing process of metal parts, they will go through a series of processing techniques such as grinding, drilling, milling, turning, tapping, grooving, etc. After processing, it is inevitable to leave excess protrusions or spurs, which are what we usually call burrs. In order to ensure the normal use of the parts in the later stage, it is necessary to remove the burrs.

[0003] For example, the patent with the authorization announcement number CN118951977B discloses a deburring device for machining, including a bottom box. The top of the bottom box is fixedly connected with a top cover. Inside the top end of the top cover, a moving and adjusting mechanism is arranged. At the bottom of the moving and adjusting mechanism, a flexible deburring mechanism is arranged. On the top of the bottom box, a moving clamping mechanism is arranged. Inside the bottom box, an iron chip collecting mechanism is arranged. At the bottom end outside the bottom box, a water pump is fixedly connected. The output end of the water pump is fixedly connected with a hose. Outside the moving and adjusting mechanism, a water spray head is fixedly connected.

[0004] Through the setting of the pressing spring and the pushing spring in the flexible deburring mechanism of the above patent, the hard contact between the workpiece and the grinding and deburring device is avoided, so that the damage of the workpiece or the impairment of the surface beauty caused when the grinding device contacts the workpiece can be avoided. Therefore, the workpiece is protected, and the quality of the workpiece can be improved accordingly. However, the disadvantage of the above patent is that after the workpiece is clamped once, the burr mechanism can basically only perform deburring operations on one surface of the workpiece.

[0005] Therefore, it is necessary to improve such a structure to overcome the above defects. Summary of the Invention

[0006] The purpose of the present invention is to provide a nine-axis deburring machine to solve the problems raised in the above background art.

[0007] To achieve the above purpose, the present invention provides the following technical solutions:

[0008] A nine-axis deburring machine, including a base, a deburring device, and a workpiece fixture; the base is used to install the deburring device and the workpiece fixture; the deburring device is used to grind the burrs on the surface of the workpiece, and the workpiece fixture is used to fix the workpiece;

[0009] It further includes: a head adjustment structure for adjusting the position of the deburring device on the X-axis, Y-axis, and Z-axis;

[0010] The head adjustment structure includes:

[0011] The X-axis position adjustment mechanism is used to adjust the position of the deburring device in the front-back direction;

[0012] The Y-axis position adjustment mechanism is used to adjust the position of the deburring device in the left-right direction;

[0013] The Z-axis position adjustment mechanism is used to adjust the position of the deburring machine device in the vertical direction;

[0014] The machine head replacement mechanism is used to replace different deburring devices;

[0015] It further includes: a fixture adjustment structure for adjusting the position and angle of the workpiece fixture; the fixture adjustment structure includes a primary angle adjustment mechanism and a secondary angle adjustment mechanism; two groups of secondary angle adjustment mechanisms are installed on the primary angle adjustment mechanism; a tertiary angle adjustment mechanism is installed on the secondary angle adjustment mechanism.

[0016] Furthermore, the X-axis position adjustment mechanism includes an X-axis slide rail, an X-axis moving table, and an X-axis drive structure for driving the X-axis moving table to move; the X-axis moving table is slidably connected to the X-axis slide rail through a slider, and two X-axis slide rails are provided and arranged on the base in the front-back direction; the X-axis drive structure is located between the two X-axis slide rails, and the X-axis drive structure includes an X-axis ball screw and an X-axis drive motor; the screw rod of the X-axis ball screw is fixedly installed at the top of the base through bearings and bearing seats at the front and back respectively, and the screw nut of the X-axis ball screw is fixedly installed at the bottom of the X-axis moving table through an X-axis nut seat; the X-axis drive motor is fixedly installed at the rear end of the base through an X-axis motor seat, and the output shaft of the X-axis drive motor is drivingly connected to the screw rod of the X-axis ball screw through a coupling.

[0017] Still further, the Y-axis position adjustment mechanism includes a Y-axis slide rail, a Y-axis moving table, and a Y-axis drive structure for driving the Y-axis moving table to move; the Y-axis moving table is slidably connected to the Y-axis slide rail through a slider, and two Y-axis slide rails are provided and arranged on the X-axis moving table in the left-right direction; the Y-axis drive structure is located between the two Y-axis slide rails, and the Y-axis drive structure includes a Y-axis ball screw and a Y-axis drive motor; the screw rod of the Y-axis ball screw is fixedly installed at the top of the X-axis moving table through bearings and bearing seats at the left and right ends respectively, and the screw nut of the Y-axis ball screw is fixedly installed at the bottom of the Y-axis moving table through a Y-axis nut seat; the Y-axis drive motor is fixedly installed at the left end of the X-axis moving table through a Y-axis motor seat, and the output shaft of the Y-axis drive motor is drivingly connected to the screw rod of the Y-axis ball screw through a coupling.

[0018] Furthermore, the Y-axis moving stage is arranged with a smaller upper part and a larger lower part, and the front end of the Y-axis moving stage is flush; the Z-axis position adjusting mechanism includes a Z-axis slide rail, a machine head support, and a Z-axis driving structure for driving the machine head support to move; the front end of the Z-axis slide rail is slidably connected to the machine head support through a slider, and there are two Z-axis slide rails in total, which are arranged on the X-axis moving stage along the left-right direction; the Z-axis driving structure is located between the two Z-axis slide rails, and the Z-axis driving structure includes a Z-axis ball screw and a Z-axis driving motor; the upper and lower ends of the screw rod of the Z-axis ball screw are respectively fixedly installed at the front end of the Y-axis moving stage through bearings and bearing seats, the screw nut of the Z-axis ball screw is fixedly installed at the rear end of the machine head support through a Z-axis nut seat, and the Z-axis driving motor is fixedly installed at the rear end of the base through a Z-axis motor seat, and the output shaft of the Z-axis driving motor is drivingly connected to the screw rod of the Z-axis ball screw through a coupling.

[0019] Furthermore, the machine head support is integrally in the shape of a rectangular frame, and the machine head replacement mechanism is fixedly installed at the front end of the machine head support; the machine head replacement mechanism includes a replacement motor, a replacement speed reducer, and a machine head mounting plate; the replacement speed reducer is fixedly installed at the front end of the machine head support, and the replacement motor is fixedly installed at the rear end of the replacement speed reducer and is drivingly connected thereto; the front end of the output shaft of the replacement speed reducer is fixedly installed with a machine head mounting plate, and a plurality of deburring devices are arranged in a circular array on the machine head mounting plate.

[0020] Furthermore, the first-level angle adjustment mechanism includes a first-level angle adjustment motor, a first-level angle adjustment speed reducer, and a first-level angle adjustment stage; a first-level mounting stage is integrally formed at the front end of the top of the base, the first-level angle adjustment speed reducer is fixedly installed on the first-level mounting stage, and the first-level angle adjustment motor is fixedly installed at the lower end of the first-level angle adjustment speed reducer and is drivingly connected thereto; a first-level angle adjustment stage is fixedly installed on the output shaft of the first-level angle adjustment speed reducer; the first-level angle adjustment stage includes an angle adjustment stage seat; at the center of the top of the angle adjustment stage seat, an angle adjustment stage support is vertically fixedly installed, and connecting stages are symmetrically arranged at both ends of the angle adjustment stage support; rotating mounting seats are symmetrically arranged at the front and rear ends of the connecting stage.

[0021] Furthermore, the second-level angle adjustment mechanism includes a second-level angle adjustment stage, a second-level angle adjustment speed reducer, and a second-level angle adjustment motor; the second-level angle adjustment stage is in the shape of a rectangular plate, and first connection ears and second connection ears are symmetrically arranged at both ends of the second-level angle adjustment stage; the second-level angle adjustment speed reducer is fixedly installed on the outside of the rotating mounting seat, the second-level angle adjustment motor is fixedly installed on the outside of the second-level angle adjustment speed reducer and is drivingly connected thereto; the output shaft of the second-level angle adjustment speed reducer is fixedly connected to the outside of the second connection ear; at the same time, the outside of the first connection ear is rotatably connected to another rotating mounting seat on the same side as the above-mentioned rotating mounting seat through a rotating shaft and a bearing.

[0022] Furthermore, the three - stage angle adjustment mechanism includes a three - stage angle adjustment motor, a three - stage angle adjustment speed reducer, and a three - stage angle adjustment table; a three - stage installation table is integrally formed at the center of the top of the second - stage angle adjustment table. The three - stage angle adjustment speed reducer is fixedly installed on the three - stage installation table. The three - stage angle adjustment motor is fixedly installed at the lower end of the three - stage angle adjustment speed reducer and is drivingly connected thereto; a three - stage angle adjustment table is fixedly installed on the output shaft of the three - stage angle adjustment speed reducer; the three - stage angle adjustment motor drives the second - stage angle adjustment table to rotate around the output shaft of the three - stage angle adjustment speed reducer through the three - stage angle adjustment speed reducer.

[0023] Furthermore, an X - axis slide rail mounting seat is provided at the rear end of the top of the base, and the X - axis slide rail is fixedly installed on the top of the X - axis slide rail mounting seat.

[0024] Furthermore, a chip - discharging groove is opened on the base. At the same time, the chip - discharging groove is located at the lowest position of the top of the base, that is, the height of the top of the base gradually decreases towards the chip - discharging groove direction, so that the metal chips falling on the top surface of the base can be collected in the chip - discharging groove and discharged due to gravity; a bucket placement groove is also opened on the base, and the bucket placement groove is located directly below the chip - discharging groove and is communicated with it.

[0025] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0026] Multi - dimensional precise positioning. The X - axis, Y - axis, and Z - axis position adjustment mechanisms work in coordination with the three - stage angle adjustment mechanism to achieve all - round precise positioning of the workpiece in space; through the linkage of position adjustment and angle adjustment, the relative posture between the tool and the workpiece surface can be precisely controlled to meet the deburring requirements of complex curved surfaces or irregular workpieces.

[0027] High - efficiency collaborative processing ability: The Y - axis and the second - stage angle adjustment mechanism, and the Z - axis and the three - stage angle adjustment mechanism form a vertical linkage relationship, which can simultaneously correct the tilt angle while adjusting the height of the workpiece, avoiding error accumulation caused by step - by - step adjustment and significantly improving the processing efficiency.

[0028] Adapt to complex working conditions: The first - stage angle adjustment mechanism (horizontal rotation) cooperates with the X - axis position adjustment mechanism to adjust the overall orientation of the workpiece; the second - stage and third - stage angle adjustment mechanisms refine local angle correction; the multi - mechanism cooperation enables the equipment to process large workpieces or batch parts that require multi - angle processing.

[0029] Smooth continuous operation: When a set of workpiece fixtures is processing, the other set can be quickly clamped through position and angle adjustment, and seamless switching is achieved through multi - axis linkage, reducing the idle - stroke time and improving the overall production capacity.

[0030] Processing Precision and Stability: The angle adjustment mechanism driven by the RV reducer is combined with the ball screw position adjustment system to ensure high-precision positioning and repeat positioning stability, avoid errors caused by motion interference between mechanisms, and meet the requirements of precision deburring. Brief Description of the Drawings

[0031] Figure 1 It is a schematic structural diagram of a nine-axis deburring machine.

[0032] Figure 2 It is a front view of a nine-axis deburring machine.

[0033] Figure 3 It is a side view of a nine-axis deburring machine.

[0034] Figure 4 It is a top view of a nine-axis deburring machine.

[0035] Figure 5 It is another schematic structural diagram of the X-axis position adjustment mechanism in a nine-axis deburring machine at a different angle.

[0036] Figure 6 It is another schematic structural diagram of the Y-axis position adjustment mechanism in a nine-axis deburring machine at a different angle.

[0037] Figure 7 It is another schematic structural diagram of the Z-axis position adjustment mechanism in a nine-axis deburring machine at a different angle.

[0038] Figure 8 It is another schematic structural diagram of the X-axis position tool head replacement mechanism in a nine-axis deburring machine at a different angle.

[0039] Figure 9 It is another schematic structural diagram of the base in a nine-axis deburring machine at a different angle.

[0040] Figure 10 It is another schematic structural diagram of the base with a bucket in a nine-axis deburring machine at a different angle.

[0041] Figure 11 It is a schematic structural diagram of the fixture adjustment structure in a nine-axis deburring machine.

[0042] Figure 12 It is another schematic structural diagram of the fixture adjustment structure in a nine-axis deburring machine at a different angle. Detailed Implementation Modes

[0043] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. The components of the embodiments of the present invention usually described and illustrated in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed present invention, but merely represents selected embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts belong to the scope of protection of the present invention.

[0044] Please refer to Figures 1-4 , a nine-axis deburring machine, including a base 100, a deburring device 200, and a workpiece fixture 300;

[0045] The base 100 is used to mount the deburring device 200 and the workpiece fixture 300; the deburring device 200 is used to grind the burrs on the surface of the workpiece, and the workpiece fixture 300 is used to fix the workpiece;

[0046] It further includes: a head adjustment structure for adjusting the position of the deburring device 200 in the X-axis, Y-axis, and Z-axis directions;

[0047] A fixture adjustment structure for adjusting the position and angle of the workpiece fixture 300;

[0048] The head adjustment structure includes:

[0049] An X-axis position adjustment mechanism 400 for adjusting the position of the deburring device 200 in the front-back direction;

[0050] A Y-axis position adjustment mechanism 500 for adjusting the position of the deburring device 200 in the left-right direction:

[0051] A Z-axis position adjustment mechanism 600 for adjusting the position of the deburring machine device 200 in the vertical direction;

[0052] A head replacement mechanism 700 for replacing different deburring devices 200.

[0053] As Figure 5 shown, specifically, the X-axis position adjustment mechanism 400 includes an X-axis slide rail 401, an X-axis moving table 402, and an X-axis drive structure 403 for driving the X-axis moving table 402 to move; the X-axis moving table 402 is slidably connected to the X-axis slide rail 401 through a slider,

[0054] There are two X-axis slide rails 401 in total and they are arranged on the base 100 along the front-back direction; AsFigure 9 As shown, specifically, an X-axis slide rail mounting base 101 is provided at the rear end of the top of the base 100, and the top of the X-axis slide rail mounting base 101 is fixedly mounted on the X-axis slide rail 401;

[0055] The X-axis drive structure 403 is located between the two X-axis slide rails 401. The X-axis drive structure 403 includes an X-axis ball screw 404 and an X-axis drive motor 405. The screw rod of the X-axis ball screw 404 is fixedly mounted on the top of the base 100 through bearings and bearing seats at the front and rear respectively, and the screw nut of the X-axis ball screw 404 is fixedly mounted on the bottom of the X-axis moving platform 402 through the X-axis nut seat 406. The X-axis drive motor 405 is fixedly mounted on the rear end of the base 100 through the X-axis motor seat 407, and the output shaft of the X-axis drive motor 405 drives and connects the screw rod of the X-axis ball screw 404 through a coupling;

[0056] When the X-axis drive motor 405 operates, it drives the screw rod of the X-axis ball screw 404 to rotate. The screw rod drives the X-axis moving platform 402 to move back and forth along the X-axis slide rail 401 through the screw nut and the X-axis nut seat 406.

[0057] As Figure 6 shown, specifically, the Y-axis position adjustment mechanism 500 includes a Y-axis slide rail 501, a Y-axis moving platform 502, and a Y-axis drive structure 503 for driving the Y-axis moving platform 502 to operate. The Y-axis moving platform 502 is slidably connected to the Y-axis slide rail 501 through a slider. There are two Y-axis slide rails 501 in total, which are arranged along the left and right directions on the X-axis moving platform 402. The Y-axis drive structure 503 is located between the two Y-axis slide rails 501. The Y-axis drive structure 503 includes a Y-axis ball screw 504 and a Y-axis drive motor 505. The screw rod of the Y-axis ball screw 504 is fixedly mounted on the top of the X-axis moving platform 402 through bearings and bearing seats at the left and right ends respectively, and the screw nut of the Y-axis ball screw 504 is fixedly mounted on the bottom of the Y-axis moving platform 502 through the Y-axis nut seat 506. The Y-axis drive motor 505 is fixedly mounted on the left end of the X-axis moving platform 402 through the Y-axis motor seat 507, and the output shaft of the Y-axis drive motor 505 drives and connects the screw rod of the Y-axis ball screw 504 through a coupling;

[0058] When the Y-axis drive motor 505 operates, it drives the screw rod of the Y-axis ball screw 504 to rotate. The screw rod drives the Y-axis moving platform 502 to move left and right along the Y-axis slide rail 501 through the screw nut and the Y-axis nut seat 506.

[0059] As Figure 7 shown, specifically, the Y-axis moving platform 502 is arranged with a smaller top and a larger bottom, and the front end of the Y-axis moving platform 502 is flush;

[0060] The Z-axis position adjustment mechanism 600 includes a Z-axis slide rail 601, a machine head support 602, and a Z-axis drive structure 603 for driving the movement of the machine head support 602; the front end of the Z-axis slide rail 601 is slidably connected to the machine head support 602 through a slider, and there are two Z-axis slide rails 601 in total, which are arranged along the left-right direction on the X-axis moving table 402; the Z-axis drive structure 603 is located between the two Z-axis slide rails 601, and the Z-axis drive structure 603 includes a Z-axis ball screw 604 and a Z-axis drive motor 605; the upper and lower ends of the screw rod of the Z-axis ball screw 604 are respectively fixedly installed at the front end of the Y-axis moving table 502 through bearings and bearing seats, the screw nut of the Z-axis ball screw 604 is fixedly installed at the rear end of the machine head support 602 through a Z-axis nut seat 606, and the Z-axis drive motor 605 is fixedly installed at the rear end of the base 100 through a Z-axis motor seat 607, and the output shaft of the Z-axis drive motor 605 is drivingly connected to the screw rod of the Z-axis ball screw 604 through a coupling;

[0061] When the Z-axis drive motor 605 operates, it drives the rotation of the screw rod of the Z-axis ball screw 604, and the screw rod drives the machine head support 602 to move up and down along the Z-axis slide rail 601 through the screw nut and the Z-axis nut seat 606;

[0062] As Figures 7-8 shown, the machine head support 602 is integrally in the shape of a rectangular frame, and the machine head replacement mechanism 700 is fixedly installed at the front end of the machine head support 602; the machine head replacement mechanism 700 includes a replacement motor 701, a replacement reducer 702, and a machine head mounting disk 703; the replacement reducer 702 is fixedly installed at the front end of the machine head support 602, and the replacement motor 701 is fixedly installed at the rear end of the replacement reducer 702 and is drivingly connected thereto; the front end of the output shaft of the replacement reducer 702 is fixedly installed with the machine head mounting disk 703, and a number of deburring devices 200 are arranged in a circular array on the machine head mounting disk 703;

[0063] The deburring device 200 includes a deburring motor 201 and a cutter 202 installed on the output shaft of the deburring motor 201;

[0064] In this solution, different cutters are installed on different deburring devices 200. When the replacement motor 701 drives the machine head mounting disk 703 to rotate through the replacement reducer 702, different deburring devices 200 are aligned with the workpiece.

[0065] As Figures 11-12 shown, the fixture adjustment structure includes a primary angle adjustment mechanism 800 and a secondary angle adjustment mechanism 900;

[0066] Two sets of secondary angle adjustment mechanisms 900 are installed on the primary angle adjustment mechanism 800; a tertiary angle adjustment mechanism 1000 is installed on the secondary angle adjustment mechanism 900;

[0067] The primary angle adjustment mechanism 800 includes a primary angle adjustment motor 801, a primary angle adjustment speed reducer 802, and a primary angle adjustment table 803; As Figure 9 shown, a primary installation table 102 is integrally formed at the front end of the top of the base 100. The primary angle adjustment speed reducer 802 is fixedly installed on the primary installation table 102. The primary angle adjustment motor 801 is fixedly installed at the lower end of the primary angle adjustment speed reducer 802 and is drivingly connected thereto; A primary angle adjustment table 803 is fixedly installed on the output shaft of the primary angle adjustment speed reducer 802;

[0068] The primary angle adjustment table 803 includes an angle adjustment table base 804; An angle adjustment table support 805 is vertically fixedly installed at the center of the top of the angle adjustment table base 804. Connecting tables 806 are symmetrically arranged at both ends of the angle adjustment table support 805; Rotating mounting seats 807 are symmetrically arranged at the front and rear ends of the connecting table 806;

[0069] The primary angle adjustment motor 801 drives the primary angle adjustment table 803 to rotate horizontally through the primary angle adjustment speed reducer 802;

[0070] The secondary angle adjustment mechanism 900 includes a secondary angle adjustment table 901, a secondary angle adjustment speed reducer 902, and a secondary angle adjustment motor 903; The secondary angle adjustment table 901 is in the shape of a rectangular plate, and first connecting ears 904 and second connecting ears 905 are symmetrically arranged at both ends of the secondary angle adjustment table 901;

[0071] The secondary angle adjustment speed reducer 902 is fixedly installed on the outside of the rotating mounting seat 807. The secondary angle adjustment motor 903 is fixedly installed on the outside of the secondary angle adjustment speed reducer 902 and is drivingly connected thereto; The output shaft of the secondary angle adjustment speed reducer 902 is fixedly connected to the outside of the second connecting ear 905; At the same time, the outside of the first connecting ear 904 is rotationally connected to another rotating mounting seat 807 on the same side as the above-mentioned rotating mounting seat 807 through a rotating shaft and a bearing;

[0072] The secondary angle adjustment motor 903 drives the secondary angle adjustment table 901 to rotate around the output shaft of the secondary angle adjustment speed reducer 902 through the secondary angle adjustment speed reducer 902;

[0073] The tertiary angle adjustment mechanism 1000 includes a tertiary angle adjustment motor 1001, a tertiary angle adjustment speed reducer 1002, and a tertiary angle adjustment table 1003;

[0074] At the center of the top of the secondary angle adjustment table 901, a tertiary installation table 1004 is integrally formed. A tertiary angle adjustment reduction gear 1002 is fixedly installed on the tertiary installation table 1004. The tertiary angle adjustment motor 1001 is fixedly installed at the lower end of the tertiary angle adjustment reduction gear 1002 and is drivingly connected thereto; a tertiary angle adjustment table 1003 is fixedly installed on the output shaft of the tertiary angle adjustment reduction gear 1002;

[0075] The tertiary angle adjustment motor 1001 drives the secondary angle adjustment table 901 to rotate around the output shaft of the tertiary angle adjustment reduction gear 1002 through the tertiary angle adjustment reduction gear 1002;

[0076] The workpiece fixture 300 can be a fixture in the prior art, that is, it can play the role of fixing the workpiece.

[0077] In this solution, the workpiece fixture 300 includes a workpiece installation table 301 and a plurality of lever cylinders 302 fixedly installed on the workpiece installation table 301; the workpiece installation table 301 is fixedly installed on the top of the tertiary angle adjustment table 1003; the workpiece can be fixed on the workpiece installation table 301 through the lever cylinders 302, so as to facilitate the deburring device 200 to process the workpiece.

[0078] When this solution operates, first place the workpiece on the workpiece fixture 300, and then fix the workpiece through the lever cylinders 302.

[0079] The X-axis drive motor 405 operates to drive the screw rod of the X-axis ball screw 404 to rotate. The screw rod drives the X-axis moving table 402 to move back and forth along the X-axis slide rail 401 through the screw nut and the X-axis nut seat 406, thereby adjusting the position of the deburring device 200 in the front and back directions. The Y-axis drive motor 505 operates to drive the screw rod of the Y-axis ball screw 504 to rotate. The screw rod drives the Y-axis moving table 502 to move left and right along the Y-axis slide rail 501 through the screw nut and the Y-axis nut seat 506, thereby adjusting the position of the deburring device 200 in the left and right directions. The Z-axis drive motor 605 operates to drive the screw rod of the Z-axis ball screw 604 to rotate. The screw rod drives the headstock support 602 to move up and down along the Z-axis slide rail 601 through the screw nut and the Z-axis nut seat 606; thereby adjusting the position of the deburring device 200 in the vertical direction;

[0080] At the same time, when in use, different tools are installed on different deburring devices 200, and different deburring devices 200 can also be replaced through the headstock replacement mechanism 700 to meet the deburring requirements at different positions;

[0081] Meanwhile, in this solution, the angle of the workpiece in one direction can be adjusted by the three-stage angle adjustment mechanism 1000, the angle in the second direction can be adjusted by the two-stage angle adjustment mechanism 900, and the angle in the third direction can also be adjusted by the one-stage angle adjustment mechanism 800.

[0082] Meanwhile, it can also be realized by the cooperation of the one-stage angle adjustment mechanism 800 and two sets of workpiece clamps 300. While the workpiece on one set of workpiece clamps 300 is being processed, the workpiece on the other set of workpiece clamps 300 is being clamped and fixed.

[0083] Meanwhile, in this solution, for large workpieces, two sets of workpiece clamps 300 can be used to fix the two ends of the large workpiece respectively, so as to realize the clamping and fixing of the large workpiece.

[0084] Such as Figures 9-10 , meanwhile, in this solution, a chip removal groove 103 is opened on the base 100, and the chip removal groove 103 is located at the lowest point of the top of the base 100, that is, the height of the top of the base 100 gradually decreases in the direction of the chip removal groove 103, so that the metal chips falling on the top surface of the base 100 can be collected in the chip removal groove 103 and discharged due to the action of gravity.

[0085] Meanwhile, in this solution, a bucket placement groove 104 is also opened on the base 100. The bucket placement groove 104 is located directly below the chip removal groove 103 and is communicated with it. During use, the bucket 105 can be placed in the bucket placement groove 104 to collect metal chips centrally.

[0086] The reducers used in this solution are all RV reducers, which have a series of advantages such as small volume, light weight, large transmission ratio range, long service life, stable accuracy retention, high efficiency, and smooth transmission, and are adapted to the stable use requirements that need to be maintained after the adjustment of the three-stage angle adjustment mechanism 1000 in this solution.

[0087] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by terms such as "upper", "lower", "inner", "outer", "left", "right", etc. is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of the invention is customarily placed during use, or the orientation or positional relationship commonly understood by those skilled in the art. It is 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 construed as a limitation on the present invention. In addition, terms such as "first", "second", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance. In the description of the present invention, it should also be noted that unless otherwise clearly specified and limited, terms such as "set", "connect" should be understood in a broad sense. For example, "connect" 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, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

Claims

1. Nine-axis deburring machine, comprising a base, a deburring device and a workpiece fixture; the base is used for installing the deburring device and the workpiece fixture; the deburring device is used for grinding the burrs on the surface of the workpiece, and the workpiece fixture is used for fixing the workpiece; characterized in that: It further includes: a head adjustment structure for adjusting the position of the deburring device on the X-axis, Y-axis and Z-axis; The head adjustment structure includes: X-axis position adjustment mechanism for adjusting the position of the deburring device in the front-back direction; Y-axis position adjustment mechanism for adjusting the position of the deburring device in the left-right direction; Z-axis position adjustment mechanism for adjusting the position of the deburring machine device in the vertical direction; Head replacement mechanism for replacing different burr devices; It further includes: a fixture adjustment structure for adjusting the position and angle of the workpiece fixture; the fixture adjustment structure includes a primary angle adjustment mechanism and a secondary angle adjustment mechanism; two groups of secondary angle adjustment mechanisms are installed on the primary angle adjustment mechanism; a tertiary angle adjustment mechanism is installed on the secondary angle adjustment mechanism.

2. The nine-axis deburring machine according to claim 1, wherein The X-axis position adjustment mechanism includes an X-axis slide rail, an X-axis moving table and an X-axis drive structure for driving the X-axis moving table to move; the X-axis moving table is slidably connected to the X-axis slide rail through a slider, and two X-axis slide rails are provided and arranged on the base in the front-back direction; the X-axis drive structure is located between the two X-axis slide rails, and the X-axis drive structure includes an X-axis ball screw and an X-axis drive motor; the screw rod of the X-axis ball screw is fixedly installed on the top of the base through bearings and bearing seats at the front and back respectively, and the screw nut of the X-axis ball screw is fixedly installed on the bottom of the X-axis moving table through an X-axis nut seat; the X-axis drive motor is fixedly installed at the rear end of the base through an X-axis motor seat, and the output shaft of the X-axis drive motor is drivingly connected to the screw rod of the X-axis ball screw through a coupling.

3. The nine-axis deburring machine according to claim 2, characterized in that, The Y-axis position adjustment mechanism includes a Y-axis slide rail, a Y-axis moving table and a Y-axis drive structure for driving the Y-axis moving table to move; the Y-axis moving table is slidably connected to the Y-axis slide rail through a slider, and two Y-axis slide rails are provided and arranged on the X-axis moving table in the left-right direction; the Y-axis drive structure is located between the two Y-axis slide rails, and the Y-axis drive structure includes a Y-axis ball screw and a Y-axis drive motor; the screw rod of the Y-axis ball screw is fixedly installed on the top of the X-axis moving table through bearings and bearing seats at the left and right ends respectively, and the screw nut of the Y-axis ball screw is fixedly installed on the bottom of the Y-axis moving table through a Y-axis nut seat; the Y-axis drive motor is fixedly installed at the left end of the X-axis moving table through a Y-axis motor seat, and the output shaft of the Y-axis drive motor is drivingly connected to the screw rod of the Y-axis ball screw through a coupling.

4. The nine-axis deburring machine according to claim 3, characterized in that, The Y-axis moving stage is arranged with a smaller upper part and a larger lower part, and the front end of the Y-axis moving stage is flush; the Z-axis position adjusting mechanism includes a Z-axis slide rail, a machine head support, and a Z-axis driving structure for driving the machine head support to move; the front end of the Z-axis slide rail is slidably connected with the machine head support through a slider, and there are two Z-axis slide rails in total, which are arranged on the X-axis moving stage along the left-right direction; the Z-axis driving structure is located between the two Z-axis slide rails, and the Z-axis driving structure includes a Z-axis ball screw and a Z-axis driving motor; the upper and lower ends of the screw rod of the Z-axis ball screw are respectively fixedly installed at the front end of the Y-axis moving stage through bearings and bearing seats, the screw nut of the Z-axis ball screw is fixedly installed at the rear end of the machine head support through a Z-axis nut seat, the Z-axis driving motor is fixedly installed at the rear end of the base through a Z-axis motor seat, and the output shaft of the Z-axis driving motor is drivingly connected to the screw rod of the Z-axis ball screw through a coupling.

5. The nine-axis deburring machine according to claim 4, characterized in that, The machine head support is integrally in the shape of a rectangular frame, and the machine head replacement mechanism is fixedly installed at the front end of the machine head support; the machine head replacement mechanism includes a replacement motor, a replacement speed reducer, and a machine head mounting plate; the replacement speed reducer is fixedly installed at the front end of the machine head support, and the replacement motor is fixedly installed at the rear end of the replacement speed reducer and is drivingly connected thereto; the front end of the output shaft of the replacement speed reducer is fixedly installed with a machine head mounting plate, and a plurality of deburring devices are arranged in a circular array on the machine head mounting plate.

6. The nine-axis deburring machine according to claim 1, wherein The first-level angle adjusting mechanism includes a first-level angle adjusting motor, a first-level angle adjusting speed reducer, and a first-level angle adjusting stage; a first-level mounting table is integrally formed at the front end of the top of the base, the first-level angle adjusting speed reducer is fixedly installed on the first-level mounting table, and the first-level angle adjusting motor is fixedly installed at the lower end of the first-level angle adjusting speed reducer and is drivingly connected thereto; a first-level angle adjusting stage is fixedly installed on the output shaft of the first-level angle adjusting speed reducer; the first-level angle adjusting stage includes an angle adjusting stage seat; a vertically fixed angle adjusting stage support is installed at the center of the top of the angle adjusting stage seat, and connecting platforms are symmetrically arranged at both ends of the angle adjusting stage support; rotating mounting seats are symmetrically arranged at the front and rear ends of the connecting platform.

7. The nine-axis deburring machine according to claim 6, characterized in that, The second-level angle adjusting mechanism includes a second-level angle adjusting stage, a second-level angle adjusting speed reducer, and a second-level angle adjusting motor; the second-level angle adjusting stage is in the shape of a rectangular plate, and first connecting ears and second connecting ears are symmetrically arranged at both ends of the second-level angle adjusting stage; the second-level angle adjusting speed reducer is fixedly installed on the outside of the rotating mounting seat, and the second-level angle adjusting motor is fixedly installed on the outside of the second-level angle adjusting speed reducer and is drivingly connected thereto; the output shaft of the second-level angle adjusting speed reducer is fixedly connected to the outside of the second connecting ear; at the same time, the outside of the first connecting ear is rotatably connected to another rotating mounting seat on the same side as the above-mentioned rotating mounting seat through a rotating shaft and a bearing.

8. The nine-axis deburring machine according to claim 7, characterized in that, The three-stage angle adjustment mechanism includes a three-stage angle adjustment motor, a three-stage angle adjustment speed reducer, and a three-stage angle adjustment table; a three-stage installation table is integrally formed at the center of the top of the second-stage angle adjustment table, the three-stage angle adjustment speed reducer is fixedly installed on the three-stage installation table, the three-stage angle adjustment motor is fixedly installed at the lower end of the three-stage angle adjustment speed reducer and is drivingly connected thereto; a three-stage angle adjustment table is fixedly installed on the output shaft of the three-stage angle adjustment speed reducer; the three-stage angle adjustment motor drives the second-stage angle adjustment table to rotate around the output shaft of the three-stage angle adjustment speed reducer through the three-stage angle adjustment speed reducer.

9. The nine-axis deburring machine according to claim 2, characterized in that, An X-axis slide rail mounting seat is provided at the rear end of the top of the base, and the X-axis slide rail is fixedly installed on the top of the X-axis slide rail mounting seat.

10. The nine-axis deburring machine according to any one of claims 1-9, characterized in that, A chip removal groove is formed on the base, and at the same time, the chip removal groove is located at the lowest position of the top of the base, that is, the height of the top of the base gradually decreases in the direction of the chip removal groove, so that the metal chips falling on the top surface of the base can be collected in the chip removal groove and discharged due to gravity; a bucket placement groove is also formed on the base, and the bucket placement groove is located directly below the chip removal groove and is communicated with it.

Images