Gear surface grinding device for bevel gear wheel machining

Abstract

The invention belongs to the technical field of bevel gear machining, and particularly relates to a large bevel gear machining tooth surface grinding device which solves the problems that in the prior art, adaptability is poor, and the service life is short. A grinding device is installed at the bottom of a universal mover and composed of a grinding frame, and the grinding frame is installed at the bottom of the universal mover; a grinding assembly used for grinding the tooth surface of a bevel gear, a negative pressure assembly used for adsorbing grinding dust and a sweeping assembly used for sweeping the grinding assembly are installed in the grinding frame, and through structural arrangement of a universal mover, the grinding assembly and the like, the universal mover adopts three sets of rotating frames driven by a servo motor; the angle of the polisher can be automatically adjusted around X, Y and Z axes, six-degree-of-freedom space positioning is achieved in cooperation with a telescopic air cylinder, it is ensured that an abrasive belt is accurately attached to a tooth surface, a polishing assembly forms a continuous flexible grinding surface, and the problem that a traditional rigid grinding head is poor in adaptability to a curved surface tooth shape is effectively solved.

Description

Technical Field

[0001] The invention relates to the technical field of bevel gear processing, in particular to a tooth surface grinding device for processing large bevel gears. Background Art

[0002] In the field of precision machining of large bevel gears, tooth surface grinding is a key process to ensure gear meshing accuracy, reduce noise and extend service life. Traditional grinding devices generally have the following technical bottlenecks: Insufficient processing adaptability: Conventional grinding equipment mostly uses fixed grinding wheels or rigid grinding heads, which are difficult to adapt to the complex curved tooth shapes of large-module bevel gears, resulting in local over-grinding or under-grinding of the tooth surface contact area, requiring repeated adjustment of the clamping angle, and low processing efficiency. Dust control defects: The metal debris generated during the grinding process mixes with the coolant to form sticky dust. Traditional devices only use a single dust suction port or open structure to handle it, which can easily cause filter blockage and negative pressure attenuation. Fine particles can easily penetrate into bearings and transmission components, accelerating equipment wear. Summary of the Invention

[0003] The purpose of the present invention is to provide a large bevel gear processing tooth surface grinding device to solve the problems of poor adaptability and insufficient service life.

[0004] To achieve the above object, the present invention provides the following technical solution: a large bevel gear processing tooth surface grinding device, comprising a universal mover, a grinder is installed at the bottom of the universal mover;

[0005] The grinder consists of a grinding frame, which is installed at the bottom of the universal mover. The grinding frame is internally installed with a grinding component for grinding the bevel gear tooth surface, a negative pressure component for adsorbing grinding dust, and a cleaning component for cleaning the grinding component.

[0006] As a preferred solution of the present invention, the polishing frame is provided with a dust inlet, the interior of the dust inlet is fixedly connected to a first filter, the bottom of the polishing frame is fixedly connected to a second filter, the interior of the polishing frame is interference fitted with a dust collecting frame, and the dust collecting frame and the second filter fit together.

[0007] As a preferred solution of the present invention, the grinding assembly is composed of a grinding motor, which is installed inside the grinding frame. Four symmetrically arranged grinding shafts are rotatably installed inside the grinding frame, one of the grinding shafts is connected to the output end of the grinding motor through a coupling, and two symmetrically arranged transmission belts are commonly sleeved on the outer circumferences of every two of the grinding shafts, and grinding belts are commonly sleeved on the outer circumferences of the four grinding shafts.

[0008] As a preferred solution of the present invention, the negative pressure assembly is composed of two rotating motors, and the two rotating motors are symmetrically arranged and installed on the inner wall of the grinding frame. The output end of the rotating motor is connected to a coaxially arranged rotating shaft through a coupling, and a plurality of equally distributed active bevel gears are fixedly sleeved on the rotating shaft. The interior of the grinding frame is fixedly connected to a plurality of symmetrically arranged axial flow frames, and a straight shaft is rotatably installed inside the axial flow frame, and a follower bevel gear and axial flow fan blades are respectively fixedly sleeved on the straight shaft, and the active bevel gear and the follower bevel gear are engaged with each other.

[0009] As a preferred solution of the present invention, the cleaning assembly consists of two worms, which are respectively fixedly connected to the tops of the two rotating shafts. A long shaft is rotatably installed inside the grinding frame, and worm wheels are fixedly connected to both ends of the long shaft. The worm and the worm wheel are engaged with each other, and a reciprocating screw is fixedly sleeved on the long shaft.

[0010] As a preferred solution of the present invention, the interior of the grinding frame is fixedly connected to a limiting shaft, the reciprocating screw and the limiting shaft are jointly sleeved with a sliding plate, one side of the sliding plate is fixedly connected to a cleaning brush, and the cleaning brush and the grinding belt are in contact with each other.

[0011] As a preferred solution of the present invention, the universal mover consists of a mounting frame, a screw motor is installed on one side of the mounting frame, a transmission screw is installed on the output end of the screw motor, and a limit slider is movably sleeved on the outer peripheral surface of the transmission screw.

[0012] As a preferred solution of the present invention, a telescopic cylinder is installed at the bottom of the limiting slider, a telescopic shaft is installed at the output end of the telescopic cylinder, a first servo motor is installed at the bottom of the telescopic shaft, a first rotating shaft is installed at the output end of the first servo motor, a first rotating frame is fixedly connected to the bottom of the first rotating shaft, a second servo motor is installed on one side of the first rotating frame, a second rotating frame is installed at the output end of the second servo motor, a third servo motor is installed on one side of the second rotating frame, a third rotating frame is installed at the output end of the third servo motor, and the third rotating frame is fixedly connected to one side of the grinder.

[0013] Compared with the prior art, the present invention has the following beneficial effects:

[0014] 1. The present invention adopts a universal mover, a grinding assembly and other structural settings. The universal mover adopts three sets of rotating frames driven by a servo motor, which can automatically adjust the angle of the grinder around the X, Y, and Z axes. It cooperates with the telescopic cylinder to achieve six-degree-of-freedom spatial positioning, ensuring that the sanding belt and the tooth surface are precisely fitted. The grinding assembly forms a continuous flexible grinding surface, effectively solving the problem of poor adaptability of traditional rigid grinding heads to curved tooth shapes.

[0015] 2. The present invention significantly extends the service life of the core components of the equipment and reduces maintenance costs through the symmetrical layout of the dual motors of the negative pressure component and the reciprocating screw transmission structure of the cleaning component. The negative pressure component adopts a vertical reversing transmission of a bevel gear set to achieve efficient dust removal of dual axial flow fan blades in a limited space. Combined with the double-layer filter structure of the grinding frame, it effectively blocks large particles of debris from entering the fan blade area. The cleaning component uses a negative pressure power source to drive the worm gear mechanism, which drives the reciprocating screw to make the brush continuously clean the surface of the sanding belt, preventing metal chips from being embedded and causing the sanding belt to be blocked, avoiding manual shutdown for cleaning, and reducing the frequency of filter replacement. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0017] Figure 2 It is a bottom view of the overall structure of the present invention;

[0018] Figure 3 This is a schematic diagram of the overall structure of the polishing frame of the present invention;

[0019] Figure 4 This is a schematic diagram of the internal structure of the polishing frame of the present invention;

[0020] Figure 5 This is a schematic diagram of the grinding belt transmission structure of the present invention;

[0021] Figure 6 This is a schematic diagram of the transmission structure of the cleaning component of the present invention;

[0022] Figure 7 For the present invention Figure 6 The enlarged view of the mark A in FIG.

[0023] Figure 8 For the present invention Figure 6 Enlarged view of the area marked B in FIG.

[0024] In the figure: 1, sander; 11, sanding frame; 111, dust inlet; 112, first filter; 113, second filter; 114, dust collection frame;

[0025] 12. Grinding assembly; 121. Grinding motor; 122. Grinding shaft; 123. Drive belt; 124. Grinding belt;

[0026] 13. Negative pressure assembly; 131. Rotating motor; 132. Rotating shaft; 133. Active bevel gear; 134. Axial flow frame; 135. Straight shaft; 136. Follower bevel gear; 137. Axial flow fan blade;

[0027] 14. Cleaning assembly; 141. Long shaft; 142. Worm gear; 143. Reciprocating screw; 144. Worm; 145. Limiting shaft; 146. Sliding plate; 147. Cleaning brush;

[0028] 2. Universal mover; 20. Mounting frame; 21. Screw motor; 211. Drive screw; 212. Limit slider; 22. Telescopic cylinder; 221. Telescopic shaft; 23. First servo motor; 231. First rotating shaft; 232. First rotating frame; 24. Second servo motor; 241. Second rotating frame; 25. Third servo motor; 251. Third rotating frame. DETAILED DESCRIPTION

[0029] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0030] See also Figure 1-8 A tooth surface grinding device for processing a large bevel gear comprises a universal mover 2, a grinder 1 is installed at the bottom of the universal mover 2;

[0031] The grinder 1 consists of a grinding frame 11, which is installed at the bottom of the universal mover 2. The interior of the grinding frame 11 is respectively equipped with a grinding component 12 for grinding the bevel gear tooth surface, a negative pressure component 13 for adsorbing grinding dust, and a cleaning component 14 for cleaning the grinding component 12.

[0032] Specifically, this embodiment provides a large bevel gear processing tooth surface grinding device, the core of which is composed of a universal mover 2 and a grinder 1. The grinder 1 is connected to the bottom of the universal mover 2 through a grinding frame 11, and the grinding frame 11 integrates a grinding assembly 12, a negative pressure assembly 13 and a cleaning assembly 14. The grinding assembly 12 adopts an annular sanding belt structure, and the four grinding shafts 122 are driven to rotate by a motor. The sanding belt wraps around the shaft to form a continuous grinding surface, which is suitable for curved surface processing of bevel gear tooth surfaces. The negative pressure assembly 13 is based on the principle of an axial flow fan, and transmits power to the fan blades through a bevel gear set, forming a negative pressure in the grinding frame 11, so that the dust generated by grinding enters the dust collection area through the dust inlet 111. The cleaning assembly 14 uses a reciprocating screw 143 to drive the brush to remove embedded metal debris in real time during the operation of the sanding belt to avoid clogging of the grinding surface. The three modules achieve synchronous operation through mechanical linkage: negative pressure adsorption and cleaning actions are automatically started during grinding, ensuring a clean processing environment and continuous and efficient operation of the sanding belt. This is particularly suitable for tooth surface finishing scenarios of large-module bevel gears.

[0033] In this embodiment, the grinding frame 11 is provided with a dust inlet 111, the interior of the dust inlet 111 is fixedly connected to a first filter 112, the bottom of the grinding frame 11 is fixedly connected to a second filter 113, and the interior of the grinding frame 11 is interference-fitted with a dust collecting frame 114, and the dust collecting frame 114 and the second filter 113 fit together.

[0034] Specifically, the polishing frame 11 adopts a sealed cavity design, with strip-shaped dust inlets 111 symmetrically provided on both sides of its top, and a first filter 112 embedded inside to block large particles of debris. The second filter 113 at the bottom adopts a high-density metal mesh to prevent it from entering the negative pressure system. The dust collecting frame 114 is embedded in the bottom of the polishing frame 11 through an interference fit, and its upper edge fits tightly with the lower surface of the second filter 113 to form an independent dust collecting space. When the negative pressure component 13 is running, the dust-laden air flows through the dust inlet 111 into the dust collecting frame 114, and the dust settles due to gravity and accumulates at the bottom of the frame, and the clean air is discharged through the second filter 113. The operator can regularly remove the dust collecting frame 114 to dump waste debris through the quick disassembly structure to avoid frequent shutdowns for cleaning. This design effectively separates coarse and fine dust, extends the service life of the filter, and prevents large particles from causing impact damage to the negative pressure component 13.

[0035] In this embodiment, the grinding assembly 12 is composed of a grinding motor 121, which is installed inside the grinding frame 11. Four symmetrically arranged grinding shafts 122 are rotatably installed inside the grinding frame 11. One of the grinding shafts 122 is connected to the output end of the grinding motor 121 through a coupling. Two symmetrically arranged transmission belts 123 are commonly sleeved on the outer circumferences of every two grinding shafts 122, and a grinding belt 124 is commonly sleeved on the outer circumferences of the four grinding shafts 122.

[0036] Specifically, the grinding assembly 12 uses the grinding motor 121 as the core power source, and its output shaft directly drives the main grinding shaft 122 to rotate through a coupling. The four grinding shafts 122 are arranged in a rectangular array, and the main shaft and the slave shaft are connected by a double-sided toothed transmission belt 123 to ensure that the four shafts run synchronously and at the same speed. The annular grinding belt 124 uses a polyester fiber base material composite corundum abrasive, and a chip guide groove is provided on the surface to improve the chip removal capacity. When the motor is started, the main shaft drives the slave shaft to rotate through the belt, so that the grinding belt 124 forms a continuously running grinding surface. The sanding belt envelope angle can be changed by adjusting the spacing between the four axes to adapt to the tooth surface curvature of different bevel gears. The tension of the transmission belt 123 is controlled by the adjusting bolt on the side wall of the grinding frame 11 to ensure smooth power transmission and prevent the sanding belt from slipping or deflecting.

[0037] In this embodiment, the negative pressure assembly 13 is composed of two rotating motors 131, which are symmetrically arranged and installed on the inner wall of the grinding frame 11. The output end of the rotating motor 131 is connected to a coaxially arranged rotating shaft 132 through a coupling. A plurality of equally spaced active bevel gears 133 are fixedly sleeved on the rotating shaft 132. The interior of the grinding frame 11 is fixedly connected to a plurality of symmetrically arranged axial flow frames 134. A straight shaft 135 is rotatably installed inside the axial flow frame 134. A follower bevel gear 136 and an axial flow fan blade 137 are respectively fixedly sleeved on the straight shaft 135. The active bevel gear 133 and the follower bevel gear 136 are meshed with each other.

[0038] Specifically, the negative pressure component 13 adopts a dual-motor symmetrical layout, and the output shaft of each rotating motor 131 is connected to multiple sets of active bevel gears 133. The axial flow frame 134 is fixed to the inner wall of the grinding frame 11, and the follower bevel gears 136 and axial flow fan blades 137 are installed at both ends of the internal straight shaft 135. When the rotating motor 131 is running, the active bevel gear 133 drives the follower bevel gear 136 to rotate, driving the straight shaft 135 and the fan blades to rotate at high speed. The fan blades adopt a backward curved blade design to form a directional airflow in the axial flow frame 134, and the airflow path is optimized to reduce turbulence. The two sets of negative pressure modules work together to generate a uniform negative pressure field in the grinding frame 11, ensuring that dust is evenly sucked in from the dust inlet 111. The bevel gear transmission mechanism realizes vertical reversing of power, effectively utilizes the internal space of the grinding frame 11, and reduces transmission noise.

[0039] In this embodiment, the cleaning assembly 14 is composed of two worm gears 144, which are respectively fixedly connected to the top of the two rotating shafts 132. A long shaft 141 is rotatably installed inside the grinding frame 11, and a worm gear 142 is fixedly connected to both ends of the long shaft 141. The worm gear 144 and the worm gear 142 are engaged with each other, and a reciprocating screw 143 is fixedly sleeved on the long shaft 141.

[0040] Specifically, the cleaning component 14 uses the power output of the negative pressure component 13 to achieve linked cleaning. The top extension section of the rotating shaft 132 is processed with a worm 144 thread, which engages with the worm wheel 142 at both ends of the long shaft 141 to form a worm 144 transmission mechanism. The long shaft 141 is supported in the polishing frame 11 by bearings, and a reciprocating screw 143 is sleeved in the middle. When the rotating shaft 132 rotates, the worm 144 drives the worm wheel 142 to drive the long shaft 141 to rotate, and the reciprocating screw 143 converts the rotational motion into a linear reciprocating motion of the sliding plate 146. Linear bearings are embedded on both sides of the sliding plate 146, which cooperate with the limit shaft 145 fixed to the polishing frame 11 to ensure the accuracy of the motion trajectory. The cleaning brush 147 uses densely arranged nylon bundles, and the end of the bristles is arc-shaped to fit the surface of the polishing belt 124, effectively removing embedded metal chips during reciprocating motion. This design does not require an additional power source, and achieves synchronous control of the cleaning action and negative pressure adsorption through mechanical transmission.

[0041] In this embodiment, the interior of the grinding frame 11 is fixedly connected to a limiting shaft 145, and a sliding plate 146 is jointly sleeved on the reciprocating screw 143 and the limiting shaft 145. A cleaning brush 147 is fixedly connected to one side of the sliding plate 146, and the cleaning brush 147 is in contact with the grinding belt 124.

[0042] Specifically, the sliding plate 146 of the cleaning assembly 14 adopts a lightweight design of aluminum alloy, and a copper nut is embedded inside it to cooperate with the reciprocating screw 143. The surface of the limiting shaft 145 is chrome-plated to reduce friction resistance, and both ends are fixed to the inner wall of the grinding frame 11 through support seats. When the reciprocating screw 143 rotates, the sliding plate 146 performs axial reciprocating motion along the limiting shaft 145, and the stroke covers the entire width of the grinding belt 124. The cleaning brush 147 is fixed to the surface of the sliding plate 146 by bolts, and the brush body adopts a segmented structure. Each section of the brush bundle is independently elastically supported to ensure continuous contact with the surface of the grinding belt 124. The reciprocating frequency is adjusted by the speed of the rotating motor 131 to adapt to the cleaning requirements under different grinding loads. This mechanism effectively prevents the grinding belt 124 from being blocked, extends the service life of the sanding belt, and avoids downtime losses caused by manual cleaning.

[0043] In this embodiment, the universal mover 2 is composed of a mounting frame 20, a screw motor 21 is mounted on one side of the mounting frame 20, a transmission screw 211 is mounted on the output end of the screw motor 21, and a limit slider 212 is movably sleeved on the outer peripheral surface of the transmission screw 211.

[0044] Specifically, the universal mover 2 has a mounting frame 20 as the main structure, and a screw motor 21 is installed on its side wall to drive the transmission screw 211 to rotate. The limit slider 212 has a built-in ball nut that cooperates with the screw, and the bottom is connected to the telescopic cylinder 22 through an adapter plate. When the screw motor 21 is running, the slider makes a horizontal linear motion along the guide rail, driving the cylinder and the grinder 1 to achieve X-axial positioning. The telescopic cylinder 22 adopts a two-stage piston structure, and controls the extension length of the telescopic shaft 221 through air pressure regulation to achieve Z-axial height adjustment. A damping shock absorber is set between the cylinder body and the slider to absorb the grinding vibration energy. Through the combined movement of the motor and pneumatic components, this module enables the grinder 1 to have basic position adjustment capabilities, providing reference coordinates for subsequent multi-degree-of-freedom adjustments.

[0045] In this embodiment, a telescopic cylinder 22 is installed at the bottom of the limiting slider 212, and a telescopic shaft 221 is installed at the output end of the telescopic cylinder 22. A first servo motor 23 is installed at the bottom of the telescopic shaft 221, and a first rotating shaft 231 is installed at the output end of the first servo motor 23. The bottom of the first rotating shaft 231 is fixedly connected to a first rotating frame 232, and a second servo motor 24 is installed on one side of the first rotating frame 232. A second rotating frame 241 is installed on the output end of the second servo motor 24, and a third servo motor 25 is installed on one side of the second rotating frame 241. A third servo motor 25 is installed on the output end of the third servo motor 25. The third rotating frame 251 is fixedly connected to one side of the grinder 1.

[0046] Specifically, the universal mover 2 adopts a three-degree-of-freedom robotic arm structure. The first servo motor 23 drives the first rotating shaft 231 to drive the first rotating frame 232 to rotate around the Z axis to achieve horizontal rotation positioning of the grinder 1. The second rotating frame 241 is connected to the first rotating frame 232 through a cross roller bearing, and is driven by the second servo motor 24 to adjust the pitch around the Y axis to adapt to the installation angles of different bevel gears. The third rotating frame 251 is rigidly connected to the grinder 1 and is fine-tuned around the X axis by the third servo motor 25 to ensure that the grinding belt 124 fits precisely with the tooth surface. The three sets of rotating frames are all equipped with high-precision encoders to form a closed-loop control system. The telescopic cylinder 22 works in conjunction with the servo motor to enable the grinder 1 to have six degrees of freedom in space adjustment capability, which can automatically compensate for gear installation errors and is suitable for adaptive grinding processing of complex curved tooth shapes.

[0047] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A tooth surface grinding device for processing large bevel gears, comprising a universal mover (2), a grinder (1) being installed at the bottom of the universal mover (2), characterized in that ； The grinder (1) is composed of a grinding frame (11), which is installed at the bottom of the universal mover (2). A grinding assembly (12) for grinding the bevel gear tooth surface, a negative pressure assembly (13) for absorbing grinding dust, and a cleaning assembly (14) for cleaning the grinding assembly (12) are respectively installed inside the grinding frame (11).

2. A large bevel gear tooth surface grinding device according to claim 1, characterized in that: The polishing frame (11) is provided with a dust inlet (111), a first filter (112) is fixedly connected to the interior of the dust inlet (111), a second filter (113) is fixedly connected to the bottom of the polishing frame (11), a dust collecting frame (114) is interference-fitted inside the polishing frame (11), and the dust collecting frame (114) and the second filter (113) are in contact with each other.

3. The tooth surface grinding device for large bevel gears according to claim 1, characterized in that: The grinding assembly (12) is composed of a grinding motor (121), which is installed inside the grinding frame (11). Four symmetrically arranged grinding shafts (122) are rotatably installed inside the grinding frame (11), one of the grinding shafts (122) is connected to the output end of the grinding motor (121) through a coupling, two symmetrically arranged transmission belts (123) are commonly sleeved on the outer circumferences of every two of the grinding shafts (122), and a grinding belt (124) is commonly sleeved on the outer circumferences of the four grinding shafts (122).

4. A large bevel gear tooth surface grinding device according to claim 3, characterized in that: The negative pressure assembly (13) is composed of two rotating motors (131). The two rotating motors (131) are symmetrically arranged and mounted on the inner wall of the grinding frame (11). The output end of the rotating motor (131) is connected to a coaxial rotating shaft (132) through a coupling. A plurality of equally spaced active bevel gears (133) are fixedly sleeved on the rotating shaft (132). The interior of the grinding frame (11) is fixedly connected to a plurality of symmetrically arranged axial flow frames (134). A straight shaft (135) is rotatably mounted inside the axial flow frame (134). A follower bevel gear (136) and an axial flow fan blade (137) are fixedly sleeved on the straight shaft (135). The active bevel gear (133) and the follower bevel gear (136) are meshed with each other.

5. The tooth surface grinding device for large bevel gears according to claim 4, characterized in that: The cleaning assembly (14) is composed of two worms (144), which are respectively fixedly connected to the tops of the two rotating shafts (132). A long shaft (141) is rotatably installed inside the polishing frame (11), and worm wheels (142) are fixedly connected at both ends of the long shaft (141). The worms (144) and the worm wheels (142) are meshed with each other, and a reciprocating screw rod (143) is fixedly sleeved on the long shaft (141).

6. The tooth surface grinding device for large bevel gears according to claim 5, characterized in that: The grinding frame (11) is fixedly connected to a limiting shaft (145) inside, and a sliding plate (146) is sleeved on the reciprocating screw rod (143) and the limiting shaft (145). A cleaning brush (147) is fixedly connected to one side of the sliding plate (146), and the cleaning brush (147) and the grinding belt (124) are in contact with each other.

7. The tooth surface grinding device for large bevel gears according to claim 1, characterized in that: The universal mover (2) is composed of a mounting frame (20), a screw motor (21) is mounted on one side of the mounting frame (20), a transmission screw (211) is mounted on the output end of the screw motor (21), and a limit slider (212) is movably sleeved on the outer peripheral surface of the transmission screw (211).

8. The tooth surface grinding device for large bevel gears according to claim 7, characterized in that: A telescopic cylinder (22) is installed at the bottom of the limiting slider (212), a telescopic shaft (221) is installed at the output end of the telescopic cylinder (22), a first servo motor (23) is installed at the bottom of the telescopic shaft (221), a first rotating shaft (231) is installed at the output end of the first servo motor (23), a first rotating frame (232) is fixedly connected to the bottom of the first rotating shaft (231), a second servo motor (24) is installed at one side of the first rotating frame (232), a second rotating frame (241) is installed at the output end of the second servo motor (24), a third servo motor (25) is installed at one side of the second rotating frame (241), a third rotating frame (251) is installed at the output end of the third servo motor (25), and the third rotating frame (251) is fixedly connected to one side of the grinder (1).

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