Transmission shaft system for over-hemispherical surface grinding machining and grinding method

Abstract

The invention relates to a transmission shaft system for over-hemispherical surface grinding and a grinding method. The transmission shaft system comprises a positioning and supporting structure, a spherical hinge part clamping and positioning structure, a power transmission structure, a buffering and limiting structure, a grinding ball cutter and a control system. In order to achieve a spherical hinge composed of a base, a ball journal and a ball gland, on the premise that three ball centers cannot coincide in machining, the spherical surface grinding technology is utilized, three-piece combined grinding is carried out, positioning and clamping of the spherical hinge, rotation of the ball journal along the axis and rotation around the axis are achieved, and the automatic grinding technology is achieved through servo drive control. And the technical requirements of three-piece sphere center coincidence, high spherical surface contact rate and flexible rotation are met. According to the grinding method, the relative position of the rotating center of the first guide mandrel and the grinding ball cutter is accurately adjusted, and accurate grinding of different angles of the semi-spherical surface is achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mechanical processing, in particular to a transmission shaft system and a grinding method for grinding a hemispherical surface. BACKGROUND

[0002] With the continuous development of modern industry, the precision requirements of parts are becoming higher and higher. In the field of precision instruments and meters, spherical hinge structure parts are widely used, and the inner spherical surface of the parts has very strict requirements on surface precision and shape precision.

[0003] In the field of mechanical processing, the traditional grinding method has many problems when the spherical hinge parts composed of a ball gland and a ball seat are used to process a hemispherical surface. The traditional grinding method usually uses a simple shaft system structure, which is difficult to achieve precise processing of complex hemispherical surfaces. For the special shape of the hemispherical surface, the traditional processing method cannot guarantee the processing precision and surface quality, and problems such as shape deviation and uneven surface roughness are prone to occur.

[0004] In view of the above technical problems, a transmission shaft system and a grinding method for grinding a hemispherical surface are needed, which can improve the processing efficiency, ensure the processing precision, and realize effective processing of hemispherical surfaces of different sizes and shapes. SUMMARY

[0005] The present application aims to overcome the shortcomings of the prior art and provide a transmission shaft system for grinding a hemispherical surface. In order to realize the positioning and clamping of the spherical hinge composed of a base, a ball shaft neck and a ball gland, when the machining cannot satisfy the condition that the centers of the three parts coincide, the spherical grinding technology is used to carry out three-part combined grinding, the ball shaft neck is rotated along the axis and rotated around the axis, and the automatic grinding technology is realized by using servo drive control, so as to achieve the technical requirements of high spherical contact rate and flexible rotation.

[0006] The present application also provides a grinding method for the transmission shaft system for grinding a hemispherical surface, which accurately adjusts the relative position of the rotation center of the guide spindle and the grinding ball cutter, ensures the installation precision of the grinding ball cutter and the positioning precision of the spherical hinge part, and thus realizes accurate grinding of the hemispherical surface at different angles.

[0007] The present application solves the technical problem by the following technical scheme: A transmission shaft system for more than half spherical surface grinding processing, comprising a positioning support structure, a ball hinge part clamping positioning structure, a power transmission structure, a buffer limiting structure, a grinding ball cutter and a control system, the ball hinge part clamping positioning structure, the power transmission structure and the buffer limiting structure are respectively installed on the positioning support structure, one end of the grinding ball cutter is connected with the power transmission structure, and the other end is installed on the ball hinge part clamping positioning structure; the ball hinge part clamping positioning structure comprises a positioning base, a compression spring, a pressing part, a guide part, a bottom plate, a guide seat, a vertical shaft, a guide shaft, a side plate, a push-pull electromagnet and a guide sleeve; the power transmission structure comprises a wheel system support assembly, a transmission assembly, a universal head guide assembly and a driving assembly; the buffer limiting structure comprises a limiting support frame, a limiting movable part, a positioning guide column and a spring.

[0008] Further, the positioning support structure comprises a positioning support frame, a positioning plate one and a positioning plate two, the ball hinge part clamping positioning structure is installed on the horizontal plate of the positioning support frame, and the positioning plate one and the positioning plate two are installed in parallel on the vertical plate of the positioning support frame.

[0009] Further, the ball seat of the ball hinge part is installed in the positioning base, the pressing part is installed in the pressing positioning hole of the positioning base and located at the right end of the ball seat, the compression spring is sleeved on the right end cylinder of the pressing part, the guide part is installed on the bottom surface of the positioning base, the right end of the guide part is matched with the right end of the pressing part, and the pressing part is fastened to the right end of the guide part through a screw, the bottom plate is installed on the bottom surface of the positioning base and located at the lower end of the guide part, the upper surface of the bottom plate is in contact with the bottom surface of the guide part, the guide seat is installed on the upper surface of the left end of the positioning base, the guide shaft is installed on the upper end of the guide seat, the vertical shaft passes through the circular hole of the guide shaft, the lower end circumferential section of the vertical shaft is a rectangle with different width dimensions, the outer shape is a three-dimensional triangle, the upper end is an elongated cylinder, the upper end of the vertical shaft is fixedly connected with the mandrel of the push-pull electromagnet through a pin, the push-pull electromagnet is installed on the left end of the positioning base through the side plate and located at the left end of the guide seat, the inclined surface of the lower end of the vertical shaft is matched with the inclined surface of the left end of the guide part, the guide sleeve is sleeved on the guide shaft, the guide frame is installed on the guide sleeve, the guide mandrel two is pressed into the cylindrical hole at the lower end of the guide frame, and the push-pull electromagnet 32 works by electrification, the ball seat is pressed by the vertical shaft, the guide part and the pressing part, and the guide frame realizes the follow-up of the ball gland through the guide mandrel two.

[0010] Further, the wheel train support assembly comprises a wheel train support, a set of angular contact ball bearings, a bearing cover plate, a guide gear ring, the wheel train support is installed on the vertical plate of the positioning support frame through a positioning plate one, a set of angular contact ball bearings are installed in the middle circular hole of the wheel train support, the bearing cover plate is used for pressing the outer ring of the angular contact ball bearings and is connected through screws, and the guide gear ring is installed at the lower end opening of the wheel train support and is connected through screws; the transmission assembly comprises a planetary gear and a transmission gear, the planetary gear and the transmission gear are connected through a bearing seat provided with a ball bearing and are positioned and pressed through a set screw, and the main shaft of the transmission gear is provided with a transition ring; the universal joint head guide assembly comprises an output shaft connecting piece, a connecting head, a guide block, a guide shaft seat and a guide mandrel one, the shaft end of the planetary gear is connected with the connecting head through the output shaft connecting piece, the connecting head is connected with the guide shaft seat through the guide block, and the connecting head is connected with the guide mandrel one through the guide block; the driving assembly is a servo motor, the servo motor is installed on the upper end of the wheel train support through a motor support, and the main shaft of the servo motor and the main shaft of the transmission gear are connected through a motor connecting piece.

[0011] Further, the buffer limiting structure is installed on the vertical plate of the positioning support frame through a positioning plate two, the limiting support frame is fixedly installed at the lower end of the positioning plate two through screws, the limiting movable part is installed at the center of the limiting support frame, the positioning guide columns are circumferentially and symmetrically arranged on the limiting movable part, and the springs are installed in the circumferentially and symmetrically arranged mounting holes of the limiting support frame and are sleeved on the positioning guide columns.

[0012] A grinding method for a transmission shaft system for grinding a hemispherical surface, comprising the following steps: Step 1, ball hinge part positioning and clamping: fixing the hemispherical surface ball hinge part to be ground on the ball hinge part clamping and positioning structure, and adjusting the ball center of the ball hinge part to coincide with the rotation center of the transmission shaft system; Step 2, grinding parameter setting: setting the transmission shaft rotation speed, grinding ball cutter feed speed and grinding pressure through the control system according to the material, hardness and machining precision requirement of the ball hinge part; Step 3, grinding process control: in the grinding process, the control system monitors the rotation speed, torque of the transmission shaft and the wear condition of the grinding tool in real time, and automatically adjusts the grinding parameters according to the preset algorithm; Step 4, precision detection and compensation: in different stages of the grinding process, high-precision measuring instruments are used to detect the shape precision and surface roughness of the spherical surface of the ball hinge part, and the detection results are fed back to the control system, the control system automatically adjusts the eccentric adjustment mechanism of the transmission shaft system and the grinding parameters according to the detection results, and realizes real-time compensation of the machining precision.

[0013] The advantages and positive effects of the present application are: 1. The transmission shaft system for over-hemispherical surface grinding processing has a unique power transmission structure design, which can better adapt to the special needs of over-hemispherical surface grinding and ensure stable power transmission at different angles and positions. The transmission assembly with a new type of gear structure improves the efficiency and reliability of transmission, reduces the probability of energy loss and mechanical failure.

[0014] 2. The transmission shaft system for over-hemispherical surface grinding processing has high-precision motion control capability, which can realize micron-level or even higher-precision grinding processing. The control system monitors and adjusts the motion state of the transmission shaft system in real time to ensure the accuracy and consistency of the grinding track. The shaft positioning support frame and the buffer limiting structure effectively reduce the vibration and deformation of the shaft system, and improve the precision and surface quality of the grinding processing.

[0015] 3. The transmission shaft system for over-hemispherical surface grinding processing can be flexibly adjusted and adapted according to different sizes and shapes of hemispherical workpieces. It has adjustable length, angle and diameter parameters to meet the processing requirements of different workpieces and adapt to different grinding processes and materials, thereby expanding its application range.

[0016] 4. The transmission shaft system for over-hemispherical surface grinding processing has a ball hinge part clamping positioning structure at one end to ensure the installation precision of the grinding ball cutter and the positioning precision of the ball hinge part. The other end is designed as a power transmission structure and a buffer limiting structure. The driving assembly drives the transmission assembly to rotate and move the universal head guide assembly. The axial size of the sliding adjustment can accurately adjust the relative position between the rotating center of the guide spindle and the grinding ball cutter, thereby realizing accurate grinding of different angles of the over-hemispherical surface. A high-precision servo motor is used, which has adjustable speed and torque. According to different grinding materials and processing requirements, the motor provides appropriate power output. The servo motor and the transmission shaft system are connected through a special connecting piece to ensure the stability and accuracy of power transmission. The buffer limiting structure provides limiting buffer for the rotation of the guide spindle.

[0017] 5. The grinding method of the transmission shaft system for over-hemispherical surface grinding processing has a unique grinding track planning method, which can effectively remove the material on the surface of the workpiece, reduce the heat generation and surface damage during grinding, and realize uniform and efficient grinding on the hemispherical surface. Personalized grinding solutions are developed for specific materials. By accurately controlling the motion track and speed of the grinding ball cutter, differential grinding of different areas of the hemispherical surface can be realized. It has good operability and reliability to meet the actual needs of industrial production. BRIEF DESCRIPTION OF DRAWINGS

[0018] Fig. 1This is a schematic diagram of the transmission shaft system used in the hemispherical grinding process of the present invention; Fig. 2 This is a partial cross-sectional schematic diagram of the transmission shaft system used for hemispherical grinding of the present invention; Fig. 3 This is a schematic diagram of the buffer limiting structure of the transmission shaft system used for hemispherical grinding processing according to the present invention; Fig. 4 This is a schematic diagram of the hinge component structure of the transmission shaft system used for hemispherical grinding processing according to the present invention. In the picture: 01. Ball bearing cap; 02. Ball seat; 1. Set screw; 2. Ball bearing; 3. Transmission gear; 4. Transition ring; 5. Bearing cover plate; 6. Guide gear ring; 7. Gear train support; 8. Angular contact ball bearing; 9. Motor support; 10. Servo motor; 11. Motor connector; 12. Lock nut; 13. Planetary gear; 14. Bearing seat; 15. Output shaft connector; 16. Connector; 17. Guide block; 18. Guide shaft seat; 19. Guide spindle; 20. Grinding ball cutter; 21. Fixed... 22. Base; 23. Screw; 24. Compression spring; 25. Clamping component; 26. Base plate; 27. Guide component; 28. Guide seat; 29. ​​Vertical shaft; 30. Guide shaft; 31. Pin; 32. Side plate; 33. Push-pull electromagnet; 34. Guide sleeve; 35. Guide frame; 36. Guide spindle II; 37. Positioning plate I; 38. Positioning support frame; 39. Positioning movable component; 40. Positioning guide post; 41. Spring; 42. Positioning support frame; 43. Buffer limiting structure. Detailed Implementation

[0019] The present invention will be further described in detail below through specific embodiments. The following embodiments are merely descriptive and not limiting, and should not be used to limit the scope of protection of the present invention.

[0020] like Figs. 1 to 4 As shown, a transmission shaft system for hemispherical grinding includes a positioning support structure, a ball joint clamping and positioning structure, a power transmission structure, a buffer limiting structure 43, a grinding ball cutter 20, and a control system. The ball joint clamping and positioning structure, the power transmission structure, and the buffer limiting structure 43 are respectively mounted on the positioning support structure. One end of the grinding ball cutter 20 is connected to the power transmission structure, and the other end is mounted on the ball joint clamping and positioning structure. The control system controls the power transmission structure.

[0021] The positioning support structure includes a positioning support frame 42, a positioning plate 36, and a positioning plate 37. A ball joint component is installed on the horizontal plate of the positioning support frame 42 to clamp the positioning structure, and the positioning plate 36 and the positioning plate 37 are installed in parallel on the vertical plate of the positioning support frame 42.

[0022] The ball hinge part clamping positioning structure comprises a positioning base 21, a compression spring 23, a pressing part 24, a guide part 26, a bottom plate 25, a guide seat 27, a vertical shaft 28, a guide shaft 29, a side plate 31, a push-pull electromagnet 32 and a guide sleeve 33. The ball seat 02 of the ball hinge part is installed in the positioning base 21, the pressing part 24 is installed in the pressing positioning hole of the positioning base 21 and located at the right end of the ball seat 02, the compression spring 23 is sleeved on the right end cylinder of the pressing part 24, the bottom surface of the positioning base 21 is provided with the guide part 26, the right end of the guide part 26 is matched with the right end of the pressing part 24, and the pressing part 24 is fastened to the right end of the guide part 26 through the screw 22, the bottom plate 25 is installed on the bottom surface of the positioning base 21 and located at the lower end of the guide part 26, the upper surface of the bottom plate 25 is in contact with the bottom surface of the guide part 26 to support the guide part 26, and the guide part 26 is slidably supported when moving leftward and rightward; the guide seat 27 is installed on the upper surface of the left end of the positioning base 21 and used for guiding the vertical shaft 28, the guide shaft 29 is installed on the upper end of the guide seat 27, the upper end of the vertical shaft 28 penetrates through the circular hole of the guide shaft 29, the vertical shaft 28 is aligned and positioned during installation, the lower end of the vertical shaft 28 is a rectangle with different width dimensions in the circumferential section, the shape is a three-dimensional triangle, the upper end is an elongated cylinder, the upper end of the vertical shaft 28 is fixedly connected with the mandrel of the push-pull electromagnet 32 through the pin 30, the push-pull electromagnet 32 is installed on the left end of the positioning base 21 through the side plate 31 and located at the left end of the guide seat 27, the inclined surface of the lower end of the vertical shaft 28 is matched with the inclined surface of the left end of the guide part 26, the guide sleeve 33 is sleeved on the outer cylinder of the guide shaft 29, the guide frame 34 is installed on the guide sleeve 33, the guide mandrel two 35 is press-fitted in the lower end circular hole of the guide frame 34, and the guide frame 34 is freely moved up and down along the outer cylinder of the guide shaft 29 and rotated; the push-pull electromagnet 32 is electrified to work, the ball seat 02 is pressed by the vertical shaft 28, the guide part 26 and the pressing part 24, and the guide frame 34 drives the ball gland 01 through the guide mandrel two 35.

[0023] The power transmission structure comprises a wheel train support assembly, a transmission assembly, a universal head guide assembly and a driving assembly. The wheel train support assembly comprises a wheel train support 7, a set of angular contact ball bearings 8, a bearing cover plate 5 and a guide gear ring 6. The wheel train support 7 is installed on the vertical plate of the positioning support frame 42 through the positioning plate one 36, a set of angular contact ball bearings 8 are installed in the middle circular hole of the wheel train support 7, the bearing cover plate 5 is used for pressing the outer ring of the angular contact ball bearings 8 and is connected by screws, and the guide gear ring 6 is installed at the lower end opening of the wheel train support 7 and is connected by screws.

[0024] The transmission assembly includes a planet wheel 13 and a transmission gear 3. The planet wheel 13 is connected with the transmission gear 3 through a bearing seat 14 provided with a ball bearing 2 and is positioned and compressed by a set screw 1. A main shaft of the transmission gear 3 is provided with a transition ring 4 and is located at the upper end of an angular contact ball bearing 8. The upper end shaft of the transmission gear 3 of the transmission assembly passes through the inner hole of the angular contact ball bearing 8 of the gear train support assembly and is fastened by a lock nut 12. In this process, the gear teeth of the planet wheel 13 of the transmission assembly need to be engaged with the inner teeth of the guide gear ring 6 of the gear train support assembly, and the planet wheel 13 rotates around the axis of the transmission gear 3 in the gear train. In the engagement of the gear train, the rotation of the planet wheel 13 axis and the rotation around the transmission gear 3 are realized.

[0025] The gimbal head guide assembly includes an output shaft connector 15, a connecting head 16, a guide block 17, a guide shaft seat 18, and a guide spindle 19. The shaft end of the planet wheel 13 is connected with the connecting head 16 through the output shaft connector 15. The connecting head 16 is connected with the guide shaft seat 18 through the guide block 17. The connecting head 16 is connected with the guide spindle 19 through the guide block 17. The upper end of the guide spindle 19 penetrates into the guide hole of the guide shaft seat 18.

[0026] The driving assembly is a servo motor 10. The servo motor 10 is installed at the upper end of the gear train support 7 through a motor support 9. The main shaft of the servo motor 10 is connected with the main shaft of the transmission gear 3 through a motor connector 11.

[0027] The buffer limiting structure 43 includes a limiting support frame 38, a limiting movable part 39, a positioning guide column 40, and a spring 41. The buffer limiting structure 43 is installed on the vertical plate of the positioning support frame 42 through the second positioning plate 37. The limiting support frame 38 is fixedly installed at the lower end of the second positioning plate 37 through a screw. The limiting movable part 39 is installed at the center of the limiting support frame 38. The positioning guide column 40 is circumferentially and symmetrically arranged on the limiting movable part 39. The spring 41 is installed in the circumferentially and symmetrically arranged mounting hole of the limiting support frame 38 and is sleeved on the positioning guide column 40.

[0028] A grinding method for a transmission shaft train for grinding a hemispherical surface, characterized by comprising the following steps: Step 1, ball hinge part positioning and clamping: fixing the hemispherical surface ball hinge part to be ground on the ball hinge part clamping and positioning structure, adjusting the ball center of the ball hinge part to coincide with the rotation center of the transmission shaft train; Step 2, grinding parameter setting: setting the transmission shaft rotation speed, the feed speed of the grinding ball cutter 20, and the grinding pressure through the control system according to the material, hardness, and processing precision requirement of the ball hinge part; Step 3, grinding process control: in the grinding process, the control system monitors the rotation speed, torque, and wear condition of the grinding tool of the transmission shaft in real time, and automatically adjusts the grinding parameters according to the preset algorithm to ensure the stability of the grinding process and the processing quality. Step 4, precision detection and compensation: During different stages of the grinding process, high-precision measuring instruments are used to detect the spherical surface shape precision and surface roughness of the spherical hinge parts, and the detection results are fed back to the control system. The control system automatically adjusts the eccentric adjustment mechanism of the transmission shaft system and the grinding parameters according to the detection results, realizing real-time compensation of the machining precision.

[0029] The transmission shaft system for over-hemispherical surface grinding processing has a unique power transmission structure design, which can better adapt to the special needs of over-hemispherical surface grinding and ensure stable power transmission at different angles and positions. The transmission assembly with a new type of gear structure improves the efficiency and reliability of transmission, reduces the probability of energy loss and mechanical failure. It has high-precision motion control capability, can realize micron-level or even higher precision grinding processing, and through the control system, the motion state of the transmission shaft system is monitored and adjusted in real time to ensure the accuracy and consistency of the grinding track. The shaft positioning support frame and the buffer limiting structure effectively reduce the vibration and deformation of the shaft system, and improve the precision and surface quality of the grinding processing. It can be flexibly adjusted and adapted to different sizes and shapes of hemispherical workpieces. It has adjustable length, angle and diameter parameters to meet the processing requirements of different workpieces and adapt to different grinding processes and materials, expanding its application range.

[0030] The transmission shaft system for over-hemispherical surface grinding processing has a unique power transmission structure design, which can better adapt to the special needs of over-hemispherical surface grinding and ensure stable power transmission at different angles and positions. The transmission assembly with a new type of gear structure improves the efficiency and reliability of transmission, reduces the probability of energy loss and mechanical failure. It has high-precision motion control capability, can realize micron-level or even higher precision grinding processing, and through the control system, the motion state of the transmission shaft system is monitored and adjusted in real time to ensure the accuracy and consistency of the grinding track. The shaft positioning support frame and the buffer limiting structure effectively reduce the vibration and deformation of the shaft system, and improve the precision and surface quality of the grinding processing. It can be flexibly adjusted and adapted to different sizes and shapes of hemispherical workpieces. It has adjustable length, angle and diameter parameters to meet the processing requirements of different workpieces and adapt to different grinding processes and materials, expanding its application range.

[0031] The grinding method of the transmission shaft system for over-hemispherical surface grinding processing has a unique grinding track planning method, which can effectively remove the material on the surface of the workpiece, reduce the heat generation and surface damage during the grinding process, and realize uniform and efficient grinding on the hemispherical surface. Formulate individualized grinding scheme for specific materials. By accurately controlling the motion trajectory and speed of the grinding ball cutter, differential grinding of different regions of the hemispherical surface can be realized. It has good operability and reliability to meet the actual needs of industrial production.

[0032] Although the embodiments of the present application and the drawings disclose the present application for illustrative purposes, those skilled in the art can understand that various substitutions, changes and modifications are possible without departing from the spirit and scope of the present application and the appended claims, and therefore the scope of the present application is not limited to the disclosed embodiments and drawings.

Claims

1. A drive train for over-hemispherical lapping, characterized by: Including positioning support structure, ball hinge part clamping positioning structure, power transmission structure, buffer limiting structure (43), grinding ball cutter (20) and control system, the ball hinge part clamping positioning structure, power transmission structure and buffer limiting structure (43) are installed on positioning support structure respectively, one end of grinding ball cutter (20) is connected power transmission structure, and the other end is installed in ball hinge part clamping positioning structure;The ball hinge part clamping positioning structure includes positioning base (21), compression spring (23), pressing part (24), guide part (26), bottom plate (25), guide seat (27), vertical shaft (28), guide shaft (29), side plate (31), push-pull electromagnet (32) and guide sleeve (33);The power transmission structure includes wheel system support assembly, transmission assembly, universal head guide assembly and drive assembly;The buffer limiting structure (43) includes limiting support frame (38), limiting movable part (39), positioning guide column (40) and spring (41).

2. The drive train for over-hemispherical lapping according to claim 1, wherein: The positioning support structure includes positioning support frame (42), positioning plate one (36) and positioning plate two (37), the horizontal plate of positioning support frame (42) installs ball hinge part clamping positioning structure, and the vertical plate of positioning support frame (42) is installed in parallel with positioning plate one (36) and positioning plate two (37).

3. The drive train for over-hemispherical lapping according to claim 2, wherein: The ball seat (02) of the ball hinge part is installed in the positioning base (21), the pressing part (24) is installed in the pressing positioning hole of the positioning base (21) and located at the right end of the ball seat (02), the compression spring (23) is sleeved on the right end cylinder of the pressing part (24), the bottom surface of the positioning base (21) is provided with the guide part (26), the right end of the guide part (26) is matched with the right end of the pressing part (24), the pressing part (24) is fastened to the right end of the guide part (26) through the screw (22), the bottom plate (25) is installed on the bottom surface of the positioning base (21) and located at the lower end of the guide part (26), the upper surface of the bottom plate (25) is in contact with the bottom surface of the guide part (26), the guide seat (27) is installed on the upper surface of the left end of the positioning base (21), the guide shaft (29) is installed on the upper end of the guide seat (27), the vertical shaft (28) penetrates the circular hole of the guide shaft (29), the lower end of the vertical shaft (28) is a rectangle with different width dimensions in the circumferential section, the shape is a three-dimensional triangle, the upper end is an elongated cylinder, the upper end of the vertical shaft (28) is fixedly connected with the mandrel of the push-pull electromagnet (32) through the pin (30), the push-pull electromagnet (32) is installed on the left end of the positioning base (21) through the side plate (31) and located at the left end of the guide seat (27), the inclined surface of the lower end of the vertical shaft (28) is matched with the inclined surface of the left end of the guide part (26), the guide sleeve (33) is sleeved on the guide shaft (29), the guide frame (34) is installed on the guide sleeve (33), the guide mandrel two (35) is press-fitted in the cylindrical hole of the lower end of the guide frame (34), the push-pull electromagnet 32 is energized to work, the ball seat (02) is pressed through the vertical shaft (28), the guide part (26) and the pressing part (24), and the guide frame (34) realizes the follow-up of the ball pressing cover (01) through the guide mandrel two (35).

4. The drive train for over-hemispherical lapping according to claim 3, wherein: The wheel train support assembly comprises a wheel train support (7), a set of angular contact ball bearings (8), a bearing cover plate (5), a guide gear ring (6), the wheel train support (7) is installed on the vertical plate of the positioning support frame (42) through a positioning plate one (36), a set of angular contact ball bearings (8) are installed in the middle circular hole of the wheel train support (7), the bearing cover plate (5) is used for pressing the outer ring of the angular contact ball bearing (8) and is connected through a screw, the guide gear ring (6) is installed at the lower end opening of the wheel train support (7) and is connected through a screw; the transmission assembly comprises a planetary gear (13) and a transmission gear (3), the planetary gear (13) and the transmission gear (3) are connected through a bearing seat (14) provided with a ball bearing (2) and are positioned and pressed through a set screw (1), the main shaft of the transmission gear (3) is provided with a transition ring (4); the universal joint head guide assembly comprises an output shaft connecting piece (15), a connecting head (16), a guide block (17), a guide shaft seat (18) and a guide mandrel one (19), the shaft end of the planetary gear (13) is connected with the connecting head (16) through the output shaft connecting piece (15), the connecting head (16) is connected with the guide shaft seat (18) through the guide block (17), and the connecting head (16) is connected with the guide mandrel one (19) through the guide block (17); the driving assembly is a servo motor (10), the servo motor (10) is installed on the upper end of the wheel train support (7) through a motor support (9), and the main shaft of the servo motor (10) is connected with the main shaft of the transmission gear (3) through a motor connecting piece (11).

5. The drive train for over-hemispherical lapping according to claim 4, wherein: The buffer limiting structure (43) is installed on the vertical plate of the positioning support frame (42) through a positioning plate two (37), the limiting support frame (38) is fixedly installed at the lower end of the positioning plate two (37) through a screw, the limiting movable part (39) is installed at the center of the limiting support frame (38), the limiting movable part (39) is circumferentially provided with a positioning guide column (40), and the spring (41) is installed in the circumferentially provided mounting hole of the limiting support frame (38) and is sleeved on the positioning guide column (40).

6. A method of lapping a drive train for lapping more than half a spherical surface according to any one of claims 1 to 5, characterized in that: The method comprises the following steps: Step 1, ball hinge part positioning and clamping: fixing the to-be-ground half-spherical ball hinge part on the ball hinge part clamping and positioning structure, and adjusting the coincidence of the ball center of the ball hinge part and the rotation center of the transmission shaft system; Step 2, grinding parameter setting: setting the transmission shaft rotation speed, the feed speed of the grinding ball cutter (20) and the grinding pressure through the control system according to the material, hardness and machining precision requirement of the ball hinge part; Step 3, grinding process control: in the grinding process, the control system monitors the rotation speed, torque of the transmission shaft and the wear condition of the grinding tool in real time, and automatically adjusts the grinding parameters according to the preset algorithm; Step 4, precision detection and compensation: in different stages of the grinding process, high-precision measuring instruments are used to detect the shape precision and surface roughness of the spherical surface of the ball hinge part, and the detection results are fed back to the control system, the control system automatically adjusts the eccentric adjusting mechanism of the transmission shaft system and the grinding parameters according to the detection results, and realizes the real-time compensation of the machining precision.

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