Grinding and polishing machine for complex curved surface machining

Abstract

The invention relates to the technical field of polishing machines, and provides a grinding and polishing machine for complex curved surface machining, which comprises a shell, a base arranged in the shell and a rack arranged on the base, the rack is provided with a Z-axis driving mechanism, the Z-axis driving mechanism is connected with a grinding head mechanism, the base is provided with a Y-axis driving mechanism, the Y-axis driving mechanism is provided with an X-axis driving mechanism, and the X-axis driving mechanism is connected with the X-axis driving mechanism. The X-axis driving mechanism is provided with an AC-axis rotary table, the AC-axis rotary table comprises a four-axis assembly and a five-axis assembly which are rotationally connected, a force control sensor is arranged between the bottom of the five-axis assembly and the X-axis driving mechanism, and air pipes and electric wires of the four-axis assembly and the five-axis assembly are led out from the bottom of the five-axis assembly. The four-axis assembly is provided with a force control sensor, the force control sensor is led out of the AC-axis rotary table through a first through hole of the force control sensor, a workpiece clamp is arranged at the top of the four-axis assembly, and the force control sensor is connected with the workpiece clamp through the AC-axis rotary table and used for detecting and controlling the machining force in real time and is suitable for complex curved surface grinding, and the machining consistency and the automation level are improved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of polishing machines, and particularly relates to a polishing machine for machining complex curved surfaces. BACKGROUND

[0002] At present, workpieces often need to be polished after cutting machining, and this process has an important influence on the surface quality of the workpieces. Especially for high-end equipment and precision parts, polishing can effectively eliminate tool marks, micro-cracks and residual stress, improve surface smoothness and contour accuracy, and thus enhance the fatigue strength, wear resistance and corrosion resistance of the workpieces.

[0003] However, the existing polishing equipment mostly uses constant pressure for machining, which is suitable for flat surfaces or simple curved surfaces, but has obvious deficiencies when processing complex curvature curved surfaces. Due to the change of the normal direction and curvature of each point of the curved surface, constant polishing force is easy to cause over-polishing in the convex area and under-polishing in the concave area, affecting the machining consistency. The operator needs to frequently manually adjust the position of the workpiece, which not only has high labor intensity and low efficiency, but also is difficult to ensure the machining quality.

[0004] The present application is designed to solve the above technical problems, and provides a polishing machine for machining complex curved surfaces. SUMMARY

[0005] The present application provides a polishing machine for machining complex curved surfaces, which aims to solve the problems of over-polishing or under-polishing of the workpiece surface caused by uneven polishing force and low efficiency and machining consistency caused by manual intervention in the prior art.

[0006] To achieve the above-mentioned purpose, the present application provides the following technical scheme: a polishing machine for machining complex curved surfaces, comprising a housing, a base arranged in the housing, and a rack arranged on the base, wherein the rack is provided with a Z-axis driving mechanism, the Z-axis driving mechanism is connected with a grinding head mechanism, the base is provided with a Y-axis driving mechanism, the Y-axis driving mechanism is provided with an X-axis driving mechanism, the X-axis driving mechanism is provided with an AC-axis turntable, the AC-axis turntable comprises a four-axis assembly and a five-axis assembly which are rotationally connected, a force control sensor is arranged between the bottom of the five-axis assembly and the X-axis driving mechanism, air pipes and wires of the four-axis assembly and the five-axis assembly are led out from the bottom of the five-axis assembly, led out to the outside of the AC-axis turntable through the first through hole of the force control sensor, the top of the four-axis assembly is provided with a workpiece clamp, and the force control sensor is connected with the workpiece clamp through the AC-axis turntable.

[0007] On the basis of the above technical scheme, the four-shaft assembly comprises a four-shaft rotating shaft, a four-shaft shell, a rotating output plate, a four-shaft sealing cover, a four-shaft sealing ring and a four-shaft motor, the four-shaft rotating shaft is arranged inside the four-shaft shell, the rotating output plate and the four-shaft sealing cover are sleeved on the end of the four-shaft rotating shaft, the four-shaft motor is in transmission connection with the four-shaft rotating shaft through a four-shaft speed reducer, the four-shaft sealing ring is sleeved on the rotating output plate and the four-shaft sealing cover, a labyrinth type waterproof structure is formed between the four-shaft sealing ring and the four-shaft sealing cover, and a plurality of air channels are arranged in the four-shaft rotating shaft.

[0008] Further, the four-shaft sealing ring is provided with a first annular protrusion, a second annular protrusion and a third annular protrusion, the four-shaft sealing cover is provided with a first annular groove and a second annular groove, the rotating output plate is provided with a third annular groove, and the first annular protrusion and the second annular protrusion are respectively clamped in the first annular groove and the second annular groove, and the third annular protrusion is clamped in the third annular groove.

[0009] Further, the four-shaft rotating shaft comprises a slip ring shaft and a slip ring seat, the slip ring seat partially extends into the slip ring shaft, the air channels comprise a first air channel arranged in the slip ring shaft, a second air channel arranged in the slip ring seat and a third air channel, one end of the first air channel extends to the top end of the slip ring shaft, the other end of the first air channel is in communication with one end of the second air channel, the slip ring seat is provided with an annular groove corresponding to the communication position of the second air channel and the first air channel, first sealing members are arranged on both sides of the annular groove, and the third air channel is arranged at the bottom of the slip ring seat and is in communication with the other end of the second air channel and extends along the radial direction of the slip ring seat.

[0010] On the basis of the above technical scheme, the axial direction of the five-shaft assembly is perpendicular to the axial direction of the four-shaft assembly, the five-shaft assembly comprises a five-shaft sealing ring, a five-shaft shell and a five-shaft motor, the side wall of the four-shaft shell is connected with the five-shaft sealing ring, a labyrinth type waterproof structure is formed between the five-shaft sealing ring and the five-shaft shell, the five-shaft motor is arranged in the five-shaft shell, the side wall of the four-shaft shell, the five-shaft sealing ring and the five-shaft motor are all provided with pipeline through holes to form a pipeline channel, and the bottom of the five-shaft shell is provided with a pipeline outlet.

[0011] Further, the five-shaft sealing ring is provided with a fourth annular protrusion and a fifth annular protrusion, the five-shaft shell is provided with a fourth annular groove and a fifth annular groove, and the fourth annular protrusion and the fifth annular protrusion are respectively clamped in the fourth annular groove and the fifth annular groove.

[0012] On the basis of the above technical scheme, the grinding head mechanism comprises a rotating driving assembly, a grinding driving assembly, a grinding piece and a waterproof grinding head, the rotating driving assembly is arranged on the Z-axis driving mechanism, the grinding driving assembly is movably connected with the rotating driving assembly, the waterproof grinding head is arranged on the grinding driving assembly, and the grinding piece is arranged on the waterproof grinding head.

[0013] Further, the waterproof grinding head comprises a central shaft, a shaft end gland and a first end cover, the shaft end gland is sleeved on the side of the central shaft and can rotate with the rotation of the central shaft, the first end cover is sleeved on the shaft end gland, the shaft end gland is provided with a waterproof part, the first end cover is provided with a waterproof matching part, and the waterproof part and the waterproof matching part form a labyrinth waterproof structure.

[0014] Further, the central shaft is provided with a first step limiting part in the circumferential direction, one end of the shaft end gland abuts against the first step limiting part and abuts against the side wall of the central shaft to form an interference fit, so as to fix the shaft end gland on the central shaft.

[0015] Further, the number of the waterproof grinding heads is multiple, and the multiple waterproof grinding heads comprise a first grinding head and a second grinding head, and the first grinding head and the second grinding head are arranged at two ends of the grinding driving assembly respectively.

[0016] On the basis of the above technical scheme, the grinding driving assembly comprises a first driving part, the two ends of the first driving part are provided with connecting parts, the first grinding head and the second grinding head are provided with connecting matching parts, and the connecting parts and the connecting matching parts are matched to connect the first grinding head and the first driving part and the second grinding head and the first driving part respectively.

[0017] Compared with the related art, the present application has the following beneficial effects: The present application realizes the relative movement of the grinding head mechanism and the workpiece arranged on the workpiece clamp in three degrees of freedom of XYZ axis by arranging the X-axis driving mechanism, the Y-axis driving mechanism and the Z-axis driving mechanism, realizes the movement of the workpiece in two degrees of freedom of X-axis and Z-axis rotation by arranging the four-axis assembly and the five-axis assembly, and the force control sensor monitors the force of the grinding head mechanism on the workpiece in real time during the surface machining of the workpiece, and transmits the signal to the controller, the controller adjusts the position and posture change of the workpiece clamp according to the real-time detected force, so that the polishing force of the grinding head mechanism on the surface of the workpiece is kept constant, thereby solving the problem of over-polishing or under-polishing caused by uneven pressure in the traditional way, improving the consistency of surface machining quality, avoiding manual intervention, improving the machining quality and machining efficiency, and realizing the polishing of complex surfaces.

[0018] Moreover, the air pipe and the wire of the four-axis assembly and the five-axis assembly pass through the force control sensor through the bottom of the five-axis assembly, which can avoid the winding of the pipeline during the rotation of the AC-axis turntable, so as to avoid affecting the normal work of the force control sensor, improve the detection accuracy of the force control sensor, and improve the machining accuracy. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the accompanying drawings needed to be used in the embodiments or prior art description will be briefly introduced. Obviously, the accompanying drawings in the following description are only an embodiment of the present application, and for those skilled in the art, other drawings can be obtained from the provided drawings without any creative effort.

[0020] Figure 1 is a schematic diagram of the overall structure of the polishing machine for complex curved surface machining provided by the present application; Figure 2 is a schematic diagram of the internal structure of the polishing machine for complex curved surface machining provided by the present application; Figure 3 is a schematic diagram of the top view structure of the AC shaft rotary table provided by the present application; Figure 4 is a schematic diagram of the cross-sectional structure of the A-A direction shown in Figure 3 ; Figure 5 is a schematic diagram of the cross-sectional structure of the four-axis assembly and the five-axis assembly provided by the present application; Figure 6 is a schematic diagram of the enlarged structure of the A part shown in Figure 5 ; Figure 7 is a schematic diagram of the enlarged structure of the B part shown in Figure 5 ; Figure 8 is a schematic diagram of the position of the drainage bolt of the four-axis shell provided by the present application; Figure 9 is a schematic diagram of the position of the drainage bolt of the five-axis shell provided by the present application; Figure 10 is a schematic diagram of the structure of the waterproof grinding head provided by the present application; Figure 11 is a schematic diagram of the cross-sectional structure of the C-C direction shown in Figure 10 ; Figure 12 is a schematic diagram of the enlarged structure of the C part shown in Figure 11 ; Figure 13 is a schematic diagram of the internal structure of the grinding head mechanism provided by the present application; Figure 14 is a schematic diagram of the structure of the grinding head mechanism from another perspective provided by the present application; Figure 15 is a schematic diagram of the cross-sectional structure of the D-D direction shown in Figure 14 .

[0021] In the figure: 01, shell; 02, base; 03, rack; 04, Z-axis drive mechanism; 05, X-axis drive mechanism; 06, Y-axis drive mechanism; 07, controller; 1, four-axis assembly; 11, four-axis rotating shaft; 111, slip ring shaft; 112, slip ring seat; 114, first air duct; 115, second air duct; 116, third air duct; 117, annular groove; 118, first sealing element; 12, four-axis shell; 13, rotating output plate; 131, third annular groove; 14, four-axis sealing cover; 141, first annular groove; 142, second annular groove; 15, four-axis sealing ring; 151, first annular protrusion; 152, second annular protrusion; 153, third annular protrusion; 16, four-axis motor; 161, first wire joint; 17, mounting plate; 18, four-axis connecting plate; 181, skeleton oil seal; 19, four-axis speed reducer; 2, five-axis assembly; 21, five-axis sealing ring; 211, fourth annular protrusion; 212, fifth annular protrusion; 22, five-axis shell; 221, pipeline outlet; 222, fourth annular groove; 223, fifth annular groove; 23, five-axis motor; 231, pipeline through hole; 232, pipeline channel; 233, second wire joint; 24, five-axis connecting plate; 25, five-axis speed reducer; 26, second sealing element; 27, drainage bolt; 3, force control sensor; 31, first through hole; 32, connecting plate; 321, second through hole; 33, base; 331, pipe and wire passage; 34, guide pipe; 4, workpiece clamp; 5, rotary drive assembly; 51, second drive part; 52, transmission part; 53, speed reducer; 6, polishing drive assembly; 61, first drive part; 611, connecting part; 62, fixing element; 7, polishing element; 8, waterproof polishing head; 81, central shaft; 811, first step limiting part; 812, second step limiting part; 82, shaft end gland; 821, waterproof part; 8211, main body; 8212, first protrusion; 8213, second protrusion; 83, first end cover; 831, waterproof matching part; 8311, first groove; 8312, second groove; 8313, first annular gap; 8314, third protrusion; 841, first oil seal; 842, first angular contact bearing; 843, second angular contact bearing; 8431, outer spacer ring; 8432, inner spacer ring; 844, bearing seat; 845, second oil seal; 846, second end cover; 847, fastener; 85, first polishing head; 86, second polishing head; 87, connecting matching part; 9, polishing liquid tank. DETAILED DESCRIPTION

[0022] The application will be further described below in conjunction with the drawings and examples: Embodiments of the present application are described below in the accompanying drawings, of which the same or similar elements denoted by the same or similar reference numerals have the same or similar functions throughout. The embodiments described below by reference to the drawings are exemplary only, and are merely intended to explain the present application, and are not to be construed as limiting the present application.

[0023] In the description of the present application, it should be noted that unless specifically defined and limited, the terms "mounting", "connecting", "connection" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integrally connected; it can be directly connected, or indirectly connected through an intermediate medium. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0024] In the description of the present application, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0025] In combination Figures 1-4 As shown, the polishing machine for complex curved surface machining provided by the embodiments of the present application comprises a shell 01, a base 02 arranged in the shell 01, and a rack 03 arranged on the base 02. The rack 03 is provided with a Z-axis driving mechanism 04, the Z-axis driving mechanism 04 is connected with a grinding head mechanism, the base 02 is provided with a Y-axis driving mechanism 06, the Y-axis driving mechanism 06 is provided with an X-axis driving mechanism 05, the X-axis driving mechanism 05 is provided with an AC-axis turntable, the AC-axis turntable comprises a four-axis assembly 1 and a five-axis assembly 2 which are rotationally connected, and is used for realizing multi-freedom attitude adjustment of a workpiece. A force control sensor 3 is arranged between the bottom of the five-axis assembly 2 and the X-axis driving mechanism 05, and is used for controlling real-time force in the polishing process. The air pipe and the wire of the four-axis assembly 1 and the five-axis assembly 2 are concentratedly led out from the bottom of the five-axis assembly 2, are penetrated into the force control sensor 3, are led out to the outside of the AC-axis turntable along the first through hole 31 of the force control sensor 3, the top of the four-axis assembly 1 is provided with a workpiece clamp 4 which is used for clamping the workpiece, and the force control sensor 3 is connected with the workpiece clamp 4 through the AC-axis turntable.

[0026] The polishing machine for complex curved surface machining provided by the embodiment of the present disclosure is provided with an X-axis driving mechanism 05, a Y-axis driving mechanism 06 and a Z-axis driving mechanism 04, so as to realize the relative movement of the XYZ-axis three degrees of freedom of the grinding head mechanism and the workpiece arranged on the workpiece clamp 4. The four-axis assembly 1 and the five-axis assembly 2 are arranged, so as to realize the movement of the two degrees of freedom of the workpiece rotation along the X-axis and the Z-axis. In the process of curved surface machining of the workpiece, the force control sensor 3 monitors the force of the grinding head mechanism acting on the workpiece in real time, and transmits the signal to the controller 07. According to the size of the real-time detected force, the position and posture of the workpiece clamp 4 are adjusted by the X-axis driving mechanism 05, the Y-axis driving mechanism 06 and the Z-axis driving mechanism 04 and the AC-axis turntable, so as to keep the polishing force of the grinding head mechanism acting on the curved surface of the workpiece constant, thereby solving the problem of over-grinding or under-grinding caused by uneven pressure in the traditional way, improving the consistency of the curved surface machining quality, avoiding manual intervention, improving the machining quality and the machining efficiency, and realizing the polishing of the complex curved surface. Moreover, the air pipe and the wire of the four-axis assembly 1 and the five-axis assembly 2 pass through the force control sensor 3 through the bottom of the five-axis assembly 2, so as to avoid the movement of the pipeline with the rotation of the AC-axis turntable, avoid the winding of the pipeline, avoid the influence on the normal work of the force control sensor 3, ensure the detection accuracy of the force control sensor 3 is not disturbed, and improve the machining accuracy.

[0027] Specifically, the Y-axis driving mechanism 06 comprises a Y-axis moving platform, the bottom of the Y-axis moving platform is provided with a Y-axis sliding block and a Y-axis screw sleeve, and is respectively installed on a Y-axis sliding rail and a Y-axis transmission screw rod, the Y-axis transmission screw rod is connected with a Y-axis motor, and the Y-axis motor is connected with the controller 07. The X-axis driving mechanism 05 is arranged on the Y-axis moving platform, the X-axis driving mechanism 05 comprises an X-axis moving platform, the bottom of the X-axis moving platform is provided with an X-axis sliding block and an X-axis screw sleeve, and is respectively installed on an X-axis sliding rail and an X-axis transmission screw rod, the X-axis transmission screw rod is connected with an X-axis motor, and the X-axis motor is connected with the controller 07. The Z-axis driving mechanism 04 comprises a Z-axis moving platform, the bottom of the Z-axis moving platform is provided with a Z-axis sliding block and a Z-axis screw sleeve, and is respectively installed on a Z-axis sliding rail and a Z-axis transmission screw rod, the Z-axis transmission screw rod is connected with a Z-axis motor, and the Z-axis motor is connected with the controller 07, and the grinding head mechanism is arranged on the Z-axis moving platform.

[0028] As Figure 4As shown, the bottom of the five-axis assembly 2 is connected to a connecting plate 32, the connecting plate 32 is provided with a second through hole 321 corresponding to the first through hole 31, the top end of the force control sensor 3 is connected to the connecting plate 32, the bottom end of the force control sensor 3 is connected to a base 33, the base 33 is provided with a pipe and wiring channel 331 corresponding to the first through hole 31, one side of the base 33 is provided with a guide pipe 34, the pipeline led out of the five-axis assembly 2 passes through the second through hole 321, the first through hole 31 and the pipe and wiring channel 331 in turn and enters the guide pipe 34, and is led out from the end of the guide pipe 34.

[0029] Based on the above technical scheme, as Figure 5 As shown, the four-axis assembly 1 includes a four-axis rotating shaft 11, a four-axis shell 12, a rotating output plate 13, a four-axis sealing cover 14, a four-axis sealing ring 15 and a four-axis motor 16, the four-axis rotating shaft 11 is arranged inside the four-axis shell 12, the rotating output plate 13 and the four-axis sealing cover 14 are sleeved on the end of the four-axis rotating shaft 11, the four-axis motor 16 is in transmission connection with the four-axis rotating shaft 11 through a four-axis speed reducer 19, the four-axis sealing ring 15 is sleeved on the rotating output plate 13 and the four-axis sealing cover 14, a labyrinth type waterproof structure is formed between the four-axis sealing ring 15 and the four-axis sealing cover 14, and a plurality of air channels are arranged in the four-axis rotating shaft 11.

[0030] As shown in Figure 5 As shown, the axial direction of the five-axis assembly 2 is perpendicular to the axial direction of the four-axis assembly 1, the five-axis assembly 2 includes a five-axis sealing ring 21, a five-axis shell 22 and a five-axis motor 23, the side wall of the four-axis shell 12 is connected to the five-axis sealing ring 21, a labyrinth type waterproof structure is formed between the five-axis sealing ring 21 and the five-axis shell 22, the five-axis motor 23 is arranged in the five-axis shell 22, the side wall of the four-axis shell 12, the five-axis sealing ring 21 and the five-axis motor 23 are all provided with a pipeline opening 231 to form a pipeline channel 232, and the bottom of the five-axis shell 22 is provided with a pipeline outlet 221.

[0031] By arranging the air channels in the four-axis rotating shaft 11, when the working position of the rotating output plate 13 and the top of the four-axis rotating shaft 11 is machined, the four-axis motor 16 drives the rotating output plate 13 to rotate, the power airflow in the four-axis shell 12 flows along the air channels to drive the working position to be machined, avoiding the winding of the traditional air pipe rotation, the pipeline channel 232 is arranged in the side wall of the four-axis shell 12 and the inside of the five-axis shell 22, and the pipeline outlet 221 is arranged at the bottom of the five-axis shell 22, so that the airflow passing through the air channels in the four-axis shell 12 is connected to the air pipe, the air pipe enters the pipeline channel 232 in the five-axis shell 22, and the force control sensor at the bottom of the AC-axis turntable is connected to the pipeline outlet 221, when the four-axis assembly 1 and the five-axis assembly 2 rotate and cooperate with the working position to be machined, the internal air pipe is prevented from moving disorderly or winding, the monitoring accuracy of the force control sensor at the bottom of the AC-axis turntable is ensured, and the subsequent machining accuracy is improved to a certain extent.

[0032] In addition, a labyrinth waterproof structure is formed between the four-shaft sealing ring 15 and the four-shaft sealing cover 14 and between the five-shaft sealing ring 21 and the five-shaft shell 22, which can effectively prevent the cooling liquid or dust from entering the interior and ensure the long-term reliable operation of the moving parts and improve the overall waterproof effect of the AC shaft turntable.

[0033] Based on the above technical solutions, as shown in Figure 5 and Figure 6 , the four-shaft sealing ring 15 is provided with a first annular protrusion 151, a second annular protrusion 152, and a third annular protrusion 153, the four-shaft sealing cover 14 is provided with a first annular groove 141 and a second annular groove 142, the rotating output plate 13 is provided with a third annular groove 131, the first annular protrusion 151 and the second annular protrusion 152 are respectively clamped in the first annular groove 141 and the second annular groove 142, and the third annular protrusion 153 is clamped in the third annular groove 131.

[0034] In this way, the cooperation between the multiple protrusions and the multiple grooves forms a labyrinth waterproof structure, the penetration path of external moisture is greatly lengthened and the path direction is changed multiple times, the fluid resistance is multiplied, and the waterproof effect is improved.

[0035] Further, as shown in Figure 5 and Figure 6 , the four-shaft assembly 1 further comprises a mounting plate 17, the top of the mounting plate 17 is sealingly connected with the four-shaft sealing ring 15 and the four-shaft sealing cover 14, and the bottom of the mounting plate 17 is sealingly connected with the four-shaft shell 12.

[0036] Specifically, as shown in Figure 6 , the top of the mounting plate 17 is provided with a groove, the four-shaft sealing cover 14 is provided with a protrusion, the protrusion is clamped in the groove, the side wall of the protrusion is provided with a mounting groove, and an O-shaped sealing ring is arranged in the mounting groove, so that the O-shaped sealing ring plays a sealing role between the mounting plate 17 and the four-shaft sealing cover 14. The side wall of the mounting plate 17 close to the four-shaft shell 12 is also provided with a mounting groove, and an O-shaped sealing ring is arranged in the mounting groove, which plays a sealing role between the mounting plate 17 and the four-shaft shell 12.

[0037] The side wall of the rotating output plate 13 close to the four-shaft shaft 11 is also provided with a mounting groove, and an O-shaped sealing ring is arranged in the mounting groove, which plays a sealing role between the rotating output plate 13 and the four-shaft shaft 11.

[0038] Further, as shown in Figure 5As shown, the four-axis assembly 1 further comprises a four-axis connecting plate 18 arranged inside the four-axis sealing cover 14, the rotary output plate 13, the four-axis connecting plate 18, the four-axis speed reducer 19 and the four-axis motor 16 are sequentially arranged in the axial direction, and a skeleton oil seal 181 is arranged between the rotary output plate 13, the four-axis sealing cover 14 and the four-axis connecting plate 18.

[0039] Specifically, the four-axis motor 16 can be a servo motor or a stepper motor, the speed reducer can be a harmonic reducer, a planetary reducer or an RV reducer, preferably, the four-axis motor 16 is a servo motor and the speed reducer is a harmonic reducer. The arrangement of the skeleton oil seal 181 can seal the rotary output plate 13, the four-axis sealing cover 14 and the four-axis connecting plate 18.

[0040] Based on the above technical solutions, as shown in Figure 5 and Figure 7 As shown, the four-axis shaft 11 comprises a slip ring shaft 111 and a slip ring seat 112, the slip ring seat 112 partially extends into the slip ring shaft 111, the air channel comprises a first air channel 114 arranged in the slip ring shaft 111, a second air channel 115 arranged in the slip ring seat 112 and a third air channel 116, one end of the first air channel 114 extends to the top end of the slip ring shaft 111, the other end of the first air channel 114 is connected with one end of the second air channel 115, the slip ring seat is provided with an annular groove 117 corresponding to the connection position of the second air channel 115 and the first air channel 114, the first sealing element 118 is arranged on both sides of the annular groove 117, and the third air channel 116 is arranged at the bottom of the slip ring seat 112 and connected with the other end of the second air channel 115 and extends in the radial direction of the slip ring seat 112.

[0041] Specifically, during the machining process, the work position is fixed on the rotary output plate 13 and the top of the four-axis shaft 11, the power source of the work position enters the second air channel 115 from the first air channel 114 at the top of the four-axis shaft 11, and during the rotation of the rotary output plate and the four-axis shaft, the first air channel 114 keeps connected with the second air channel 115 through the annular groove 117, and then the third air channel 116 is connected with a gas pipe and the gas pipe enters the five-axis housing 22 through the pipeline channel 232 of the five-axis assembly 2 and is discharged to the outside of the five-axis housing 22 through the pipeline outlet 221 at the bottom. In this way, the airflow flows through the fixed air channel in the four-axis assembly, and the gas pipe is arranged in the five-axis assembly through the fixed pipeline channel 232, so that during the machining process of the work position, the four-axis assembly 1 and the five-axis assembly 2 are prevented from moving greatly when rotating, and the machining precision is prevented from being affected.

[0042] Wherein, in the embodiment, the first air passage 114 and the second air passage 115 pass high-pressure air flow, the third air passage 116 passes negative pressure air flow, the first air passage 114 and the second air passage 115 can independently provide power for the extension and retraction of the workpiece clamp in the working position, and the third air passage 116 is used for centralized exhaust and is used for compatible products to use a vacuum suction method to clamp the products. The air path separation scheme optimizes the system performance, can be compatible with two mainstream automatic clamping methods, namely cylinder clamping / pressing and vacuum adsorption, and lays the foundation for automatic polishing.

[0043] Further, as shown in the figure, Figure 5 The bottom of the four-axis motor 16 is provided with a first wire joint 161. After the wire is connected out of the first wire joint 161, it enters the five-axis shell 22 through the pipeline channel 232 of the five-axis assembly 2, and is connected out of the five-axis shell 22 through the bottom pipeline outlet 221. In this way, when the four-axis assembly 1 and the five-axis assembly 2 rotate and cooperate in the working position for processing, the internal wire is prevented from moving or winding, and the monitoring accuracy of the force control sensor at the bottom of the AC axis turntable is ensured.

[0044] Based on the above technical scheme, as shown in the figure, Figure 6 The five-axis sealing ring 21 is provided with a fourth annular protrusion 211 and a fifth annular protrusion 212, the five-axis shell 22 is provided with a fourth annular groove 222 and a fifth annular groove 223, and the fourth annular protrusion 211 and the fifth annular protrusion 212 are respectively clamped in the fourth annular groove 222 and the fifth annular groove 223.

[0045] In this way, the cooperation between the plurality of protrusions and the plurality of grooves forms a labyrinth type waterproof structure, the penetration path of external moisture is greatly lengthened and the path direction is changed many times, the fluid resistance is multiplied, and the waterproof effect is improved.

[0046] Further, as shown in the figure, Figure 5 The five-axis assembly 2 further includes a five-axis connecting plate 24 and a five-axis speed reducer 25, the five-axis sealing ring 21, the five-axis connecting plate 24, the five-axis speed reducer 25 and the five-axis motor 23 are sequentially arranged in the axial direction, and the five-axis sealing ring 21 is respectively provided with a second sealing element 26 between the four-axis shell 12 side wall and the five-axis connecting plate 24.

[0047] Specifically, the five-axis motor 23 can be a servo motor or a stepper motor, the speed reducer can be a harmonic reducer, a planetary reducer or an RV reducer, preferably, the five-axis motor 23 is a servo motor, and the speed reducer is a harmonic reducer. The second sealing element 26 can be an O-shaped sealing ring, which can seal between the five-axis sealing ring 21 and the four-axis shell 12 side wall and between the five-axis sealing ring 21 and the five-axis connecting plate 24.

[0048] In order to improve the arrangement of the wires of the five-axis motor 23, the five-axis motor 23 is provided with a second wire joint 233 on one side near the bottom of the five-axis shell 22. After the wires are connected out of the second wire joint 233, they are connected out of the pipeline outlet 221 at the bottom of the five-axis shell 22 to the outside.

[0049] Optionally, as shown in Figure 8 and Figure 9 , the four-axis shell 12 bottom wall and the five-axis shell 22 side wall are both provided with a drain bolt 27. When a small amount of water enters the four-axis assembly 1 or the five-axis assembly 2, the drain bolt 27 can be unscrewed, and the water inside can be drained through the corresponding threaded hole of the drain bolt 27 to the outside of the four-axis assembly 1 or the five-axis assembly 2.

[0050] The workpiece needs to be sprayed with polishing liquid during polishing and polishing. The rear side of the base is provided with a polishing liquid tank 9 for providing polishing liquid. The bottom of the shell 01 is provided with a return groove, and the end of the return groove is provided with an opening towards the polishing liquid tank. The polishing liquid waste generated during polishing and polishing can flow back to the polishing liquid tank 9 for collection, avoiding pollution of the equipment or affecting the normal work of the equipment.

[0051] Based on the above technical solutions, as shown in Figure 2 , the grinding head mechanism includes a rotary drive assembly 5, a polishing drive assembly 6, a polishing piece 7, and a waterproof grinding head 8. The rotary drive assembly 5 is arranged on the Z-axis drive mechanism 04. The polishing drive assembly 6 is movably connected to the rotary drive assembly 5. The waterproof grinding head 8 is arranged on the polishing drive assembly 6. The polishing piece 7 is arranged on the waterproof grinding head 8.

[0052] By arranging the rotary drive assembly 5, the polishing drive assembly 6 can be driven to rotate. During the rotation of the polishing drive assembly 6, the waterproof grinding head 8 can be quickly shifted. The polishing direction of the polishing piece 7 on the waterproof grinding head 8 can be adjusted according to the workpiece, improving the polishing efficiency.

[0053] Further, as shown in Figures 10-12 , the waterproof grinding head 8 includes a central shaft 81, a shaft end gland 82, and a first end cover 83. The shaft end gland 82 is sleeved on the side of the central shaft 81 and can rotate with the rotation of the central shaft 81. The first end cover 83 is sleeved on the shaft end gland 82. The shaft end gland 82 is provided with a waterproof part 821. The first end cover 83 is provided with a waterproof matching part 831. The waterproof part 821 and the waterproof matching part 831 cooperate to form a labyrinth waterproof structure.

[0054] The waterproof part 821 of the shaft end gland 82 cooperates with the waterproof cooperation part 831 of the first end cover 83 to form a labyrinth waterproof structure, and the waterproof part 821 of the shaft end gland 82 cooperates with the waterproof cooperation part 831 of the first end cover 83 to form a multi-stage detour channel, so that the water and other liquids need to penetrate through a complex path, which can significantly prolong the penetration path. When the shaft end gland 82 rotates with the center shaft 81, if water droplets adhere to the shaft end gland 82, the high-speed rotating shaft end gland 82 will generate a relatively large centrifugal force on the adhered water droplets, which will be thrown outwards, so that the water cannot approach the center shaft 81. Therefore, by using the combined action of the rotating centrifugal force and the zigzag path, the external liquid can be effectively blocked from entering the grinding head, and excellent dynamic sealing effect can be achieved. Compared with the prior art, there is no need to set a gas seal device in the grinding head, the structure is simplified, and the processing difficulty and manufacturing cost are reduced to a certain extent.

[0055] As shown in Figure 12 the above technical solution, the waterproof part 821 includes a main body 8211 and a first protrusion 8212 circumferentially arranged on the main body 8211, the waterproof cooperation part 831 includes a first groove 8311 and a second groove 8312, the second groove 8312 is arranged on the groove bottom of the first groove 8311, the main body 8211 is embedded in the first groove 8311, and the first protrusion 8212 is embedded in the second groove 8312.

[0056] Specifically, the main body 8211 is embedded in the first groove 8311 to form a first barrier, and the first protrusion 8212 is further embedded in the second groove 8312 to form a second barrier, thereby constituting a two-stage progressive barrier. Water and other liquids or dust need to break through the first barrier and the second barrier in turn, so that the penetration path is greatly lengthened and the path direction is changed many times, the fluid resistance is multiplied, and the waterproof effect is improved. Moreover, when the grinding head rotates at high speed, the cooperation of the first protrusion 8212 and the second groove 8312 can use centrifugal force to throw the invading water outwards, and the turbulent effect in the cooperation gap further hinders the penetration, realizing the combination of static and dynamic protection.

[0057] As shown in Figure 12 further, the first protrusion 8212 includes a first segment and a second segment, the first segment is connected with the main body 8211 and extends along the axial direction of the center shaft 81, and the second segment is connected with the first segment and extends away from the center shaft 81 along the radial direction of the center shaft 81.

[0058] Optionally, the first segment extends at an angle to the axial direction of the central shaft 81, and the second segment extends at an angle to the radial direction of the central shaft 81. Preferably, the first segment extends in the axial direction of the central shaft 81 and deviates toward the central shaft 81, that is, the distance between the end of the first segment connected to the main body 8211 and the central shaft 81 is greater than the distance between the other end of the first segment and the central shaft 81, and the second segment extends in the radial direction of the central shaft 81 and deviates away from the main body 8211, that is, the distance between the end of the second segment connected to the first segment and the main body 8211 is less than the distance between the other end of the second segment and the main body 8211. In this way, when the water enters the gap between the first protrusion 8212 and the second groove 8312, it is further restricted in the path direction, increasing the difficulty of entering, and further improving the waterproof effect.

[0059] Preferably, as shown in Figure 12 , the waterproof part 821 further comprises a second protrusion 8213, which is circumferentially arranged on the side of the first protrusion 8212 close to the central shaft 81, and the groove wall of the second groove 8312 close to the central shaft 81 is embedded between the first protrusion 8212 and the second protrusion 8213.

[0060] With the cooperation of the main body 8211 and the first groove 8311, and the first protrusion 8212 and the second groove 8312, the water needs to make five turns to contact the central shaft 81, and on this basis, the second protrusion 8213 is added, so that the groove wall of the second groove 8312 close to the central shaft 81 is embedded between the first protrusion 8212 and the second protrusion 8213, further increasing the complexity of the path, so that the water needs to make at least seven turns to contact the central shaft 81, and under the action of centrifugal force during rotation, it is difficult for the water to make seven turns, greatly improving the waterproof effect. Moreover, when the grinding head rotates at high speed, the internal temperature rises, and part of the lubricating grease volatilizes, which can also prevent water from entering the grinding head to some extent.

[0061] As shown in Figure 12 , further, the first protrusion 8212 and the side wall of the second groove 8312 jointly form a first annular gap 8313. Specifically, the first segment and the second segment of the first protrusion 8212 and the side wall of the main body 8211 and the second groove 8312 jointly enclose the first annular gap 8313, and the first annular gap 8313 is arranged to trap water when it enters between the main body 8211 and the first groove 8311, providing a certain buffer space for the water, and then discharging the water under the action of centrifugal force or the action of higher internal pressure.

[0062] On the basis of the above technical solutions, in combination with Figure 12As shown, the center shaft 81 is provided with a first step limiting portion 811 in the circumferential direction, the shaft end gland 82 is abutted against the first step limiting portion 811 at one end close to the center shaft 81, and is abutted against the side wall of the center shaft 81 to form an interference fit, so as to fix the shaft end gland 82 to the center shaft 81.

[0063] Specifically, the first step limiting portion 811 is provided with a first limiting surface extending in the radial direction of the center shaft 81, the first limiting surface is abutted against the side wall of the shaft end gland 82, and the movement of the shaft end gland 82 in the axial direction of the center shaft 81 is limited.

[0064] The shaft end gland 82 and the center shaft 81 are fixed by interference fit, which can avoid the additional setting of the fixing part 62, and avoid the influence of the fixing part 62 on the working of the grinding head. For example, if the fixing part 62 is a bolt, the bolt will loosen under the condition of long-time working of the grinding head in the opposite direction of the tightening direction of the thread. On the other hand, the shaft end gland 82 and the center shaft 81 adopt a split structure, which is more convenient for machining the center shaft 81, and the machining cost is low. The outer cylindrical surface and the end surface of the center shaft 81 are machined by one clamping on the cylindrical grinding machine, which can improve the machining precision and ensure the end surface runout and the radial runout of the center shaft 81. Preferably, the end surface runout is less than 0.008mm, and the radial runout is less than 0.01mm.

[0065] As shown in the figure, Figure 12 Further, the waterproof grinding head 8 further comprises a first oil seal 841, the first oil seal 841 is circumferentially sleeved on the center shaft 81, the first end cover 83 extends in the direction close to the center shaft 81 and has a third protrusion 8314, and the first oil seal 841 is arranged between the shaft end gland 82 and the third protrusion 8314. The setting of the first oil seal 841 can further increase a barrier on the basis of the labyrinth waterproof structure, so that even if a small amount of water enters, the first oil seal 841 can prevent the water from contacting the center shaft 81 in a large area, and further prevent the water from invading the bearing and other components.

[0066] Preferably, as shown in the figure, Figure 11 The waterproof grinding head 8 further comprises a first angular contact bearing 842 and a second angular contact bearing 843, and the first angular contact bearing 842 and the second angular contact bearing 843 are arranged back to back. The first angular contact bearing 842 is pressed by the first end cover 83.

[0067] The first angular contact bearing 842 and the second angular contact bearing 843 are arranged back to back, which can ensure high precision, and the structure can withstand external force in the axial direction of the center shaft 81 and external force in the radial direction, so that the stability of the working operation of the grinding head can be provided when the waterproof grinding head 8 processes workpieces in different directions, and self-compensation can be performed when a certain wear occurs, further improving the stability.

[0068] Specifically, as shown in Figure 12 The second step limiting portion 812 is arranged on the center shaft 81 in the circumferential direction, and the first angular contact bearing 842 abuts against the second step limiting portion 812. The arrangement of the second step limiting portion 812 limits the first angular contact bearing 842 in the axial direction of the center shaft 81.

[0069] The outer spacer ring 8431 and the inner spacer ring 8432 are arranged between the first angular contact bearing 842 and the second angular contact bearing 843. The diameter of the outer spacer ring 8431 is greater than that of the inner spacer ring 8432. The inner spacer ring 8432 is arranged on the side close to the center shaft 81 between the first angular contact bearing 842 and the second angular contact bearing 843, and the outer spacer ring 8431 is arranged on the side away from the center shaft 81 between the first angular contact bearing 842 and the second angular contact bearing 843.

[0070] Further, as shown in Figure 11 The waterproof grinding head 8 further comprises a bearing seat 844, which is sleeved on the first angular contact bearing 842 and the second angular contact bearing 843. The bearing seat 844 is provided with a limiting hole, and the first end cover 83 is provided with a through hole. A fixing bolt penetrates through the limiting hole and the through hole to fix the first end cover 83 and the bearing seat 844.

[0071] As shown in Figure 11 The waterproof grinding head 8 further comprises a second oil seal 845, a second end cover 846, and a fastener 847. The second oil seal 845 is sleeved on the center shaft 81, the fastener 847 is sleeved on the second oil seal 845, and the second end cover 846 is sleeved on the fastener 847. The second oil seal 845 and the fastener 847 are pressed on the second angular contact bearing 843, and the second end cover 846 is pressed on the second angular contact bearing 843 and the bearing seat 844 at the same time, which cooperates with the first end cover 83 to fix the bearing seat 844, the first angular contact bearing 842, the second angular contact bearing 843, and the center shaft 81. Specifically, the second end cover 846 is provided with a through hole, and the bearing seat 844 is provided with a limiting hole. A fixing bolt penetrates through the through hole and the limiting hole to fix the second end cover 846 and the bearing seat 844.

[0072] Preferably, as shown in Figure 13 The number of the waterproof grinding heads 8 is multiple, and the multiple waterproof grinding heads 8 comprise a first grinding head 85 and a second grinding head 86. The first grinding head 85 and the second grinding head 86 are arranged at two ends of the grinding driving assembly 6, respectively.

[0073] In the working process, when the polishing driving assembly 6 is rotated by the rotating driving assembly 5, the first grinding head 85 and the second grinding head 86 at both ends of the polishing driving assembly 6 can move or switch positions, and the rapid movement or switching can greatly improve the processing efficiency during processing. The first grinding head 85 and the second grinding head 86 are respectively provided with the first polishing part 7 and the second polishing part 7, and the first polishing part 7 and the second polishing part 7 can be a cylindrical consumable or a circular ring consumable. The cylindrical consumable processes the workpiece through the outer cylindrical surface, and the circular ring consumable processes the workpiece through the end surface, so that the workpiece can be polished or polished in different directions and roughness.

[0074] Specifically, when the polishing part 7 is connected with the waterproof grinding head 8, the cylindrical consumable is provided with a circular groove, the end of the central shaft 81 of the waterproof grinding head 8 is clamped into the circular groove, and the circular groove is concentric with the central shaft 81, so as to ensure that the cylindrical consumable rotates concentrically with the central shaft 81 and improve the processing precision. On this basis, the connection is fixed by bolts, the circular ring consumable is connected with the end of the central shaft 81 through the connecting disc, the circular ring consumable is attached to the connecting disc, the connecting disc is provided with a fixing hole, and the connection is fixed by bolts penetrating the connecting disc and the central shaft 81, so as to ensure that the circular ring consumable has low end face jump during processing the workpiece and improve the processing precision.

[0075] Further, as shown in Figure 13 and Figure 15 , the polishing driving assembly 6 comprises a first driving part 61, the first driving part 61 is provided with a connecting part 611 at both ends, the first grinding head 85 and the second grinding head 86 are provided with a connecting and matching part 87, and the connecting part 611 and the connecting and matching part 87 are matched to connect the first grinding head 85 and the first driving part 61 and the second grinding head 86 and the first driving part 61 respectively.

[0076] Specifically, the first driving part 61 can be a double-shaft motor or a double-output-shaft motor, one end of the motor is connected with the first grinding head 85, and the other end is connected with the second grinding head 86. The structure form of the connecting part 611 and the connecting and matching part 87 is key connection, which can be in the form of elastic coupling, for example, the cooperation of the key coupling and the key, or in the form of rigid coupling. The connecting part 611 and the connecting and matching part 87 are tightly connected and matched to realize stable rotation of the first driving part 61 driving the first grinding head 85 and / or the second grinding head 86. In order to further fix the first driving part 61 and the waterproof grinding head 8, the polishing driving assembly 6 further comprises a fixing part 62, one end of the fixing part 62 is connected with the bearing seat 844 of the waterproof grinding head 8, and the other end is connected with the first driving part 61.

[0077] As shown in Figure 13As shown, further, the rotating driving assembly 5 comprises a second driving part 51, a transmission part 52 and a speed reducer 53, the second driving part 51 can drive the transmission part 52 to rotate, the transmission part 52 is connected with the speed reducer 53, and the polishing driving assembly 6 is connected with the speed reducer 53.

[0078] Specifically, the transmission part 52 is driven to rotate by the second driving part 51, the speed reducer 53 is driven to rotate by the transmission part 52, the speed reducer 53 is provided with a mounting bottom plate, the polishing driving assembly 6 is mounted on the mounting bottom plate, the polishing driving assembly 6 mounted on the mounting bottom plate is driven to rotate by the speed reducer 53, and the switching between the first grinding head 85 and the second grinding head 86 is realized.

[0079] Specifically, the second driving part 51 can be a servo motor or a stepping motor, the transmission part 52 can be a combination of a driving wheel, a belt and a driven wheel or a combination of a gear and a chain, and the speed reducer 53 can be a harmonic reducer 53, a planetary reducer 53 or an RV reducer 53.

[0080] The speed reducer 53 is arranged to greatly reduce the high-speed input rotating speed from the driven wheel and significantly reduce the rotating speed of the polishing driving assembly 6, while reducing the rotating speed, the speed reducer 53 enlarges the input torque through the internal gear meshing structure to provide greater driving force for the polishing driving assembly 6, and through speed reduction and torque increase, the speed reducer 53 reduces the load of the second driving part 51 and prolongs the service life.

[0081] The above describes the present application by way of example, but the present application is not limited to the above specific embodiments, and any modification or change made on the basis of the present application falls within the scope of the present application.

Claims

1. A polishing machine for complex curved surface machining, characterized in that, The application relates to a four-axis and five-axis linkage type grinding machine, which comprises a shell, a base arranged in the shell and a rack arranged on the base, wherein the rack is provided with a Z-axis driving mechanism, the Z-axis driving mechanism is connected with a grinding head mechanism, the base is provided with a Y-axis driving mechanism, the Y-axis driving mechanism is provided with an X-axis driving mechanism, the X-axis driving mechanism is provided with an AC-axis rotary table, the AC-axis rotary table comprises a four-axis assembly and a five-axis assembly which are rotationally connected, a force control sensor is arranged between the bottom of the five-axis assembly and the X-axis driving mechanism, air pipes and electric wires of the four-axis assembly and the five-axis assembly are led out from the bottom of the five-axis assembly, led out through a first through hole of the force control sensor and led out to the outside of the AC-axis rotary table, the top of the four-axis assembly is provided with a workpiece clamp, and the force control sensor is connected with the workpiece clamp through the AC-axis rotary table.

2. The polishing machine for complex curved surface machining according to claim 1, wherein, The four-axis assembly comprises a four-axis rotating shaft, a four-axis shell, a rotary output plate, a four-axis sealing cover, a four-axis sealing ring and a four-axis motor, the four-axis rotating shaft is arranged in the four-axis shell, the rotary output plate and the four-axis sealing cover are sleeved on the end of the four-axis rotating shaft, the four-axis motor is in transmission connection with the four-axis rotating shaft through a four-axis speed reducer, the four-axis sealing ring is sleeved on the rotary output plate and the four-axis sealing cover, a labyrinth type waterproof structure is formed between the four-axis sealing ring and the four-axis sealing cover, and a plurality of air channels are arranged in the four-axis rotating shaft.

3. The polishing machine for complex curved surface machining according to claim 2, wherein, The four-axis sealing ring is provided with a first annular protrusion, a second annular protrusion and a third annular protrusion, the four-axis sealing cover is provided with a first annular groove and a second annular groove, the rotary output plate is provided with a third annular groove, and the first annular protrusion and the second annular protrusion are respectively clamped in the first annular groove and the second annular groove, and the third annular protrusion is clamped in the third annular groove.

4. The polishing machine for complex curved surface machining according to claim 2, wherein, The four-axis rotating shaft comprises a slip ring shaft and a slip ring seat, the slip ring seat partially extends into the slip ring shaft, the air channels comprise a first air channel arranged in the slip ring shaft, a second air channel arranged in the slip ring seat and a third air channel, one end of the first air channel extends to the top end of the slip ring shaft, the other end of the first air channel is in communication with one end of the second air channel, the slip ring seat is provided with an annular groove corresponding to the communication position of the second air channel and the first air channel, first sealing members are arranged on the two sides of the annular groove, and the third air channel is arranged at the bottom of the slip ring seat and in communication with the other end of the second air channel and extends along the radial direction of the slip ring seat.

5. The polishing machine for complex curved surface machining according to claim 2, wherein, The axial direction of the five-axis assembly is perpendicular to the axial direction of the four-axis assembly, the five-axis assembly comprises a five-axis sealing ring, a five-axis shell and a five-axis motor, the side wall of the four-axis shell is connected with the five-axis sealing ring, a labyrinth type waterproof structure is formed between the five-axis sealing ring and the five-axis shell, the side wall of the four-axis shell, the five-axis sealing ring and the five-axis motor are all provided with pipeline through holes to form a pipeline channel, and the bottom of the five-axis shell is provided with a pipeline outlet.

6. The polishing machine for complex curved surface machining according to claim 5, wherein, The five-axis sealing ring is provided with a fourth annular protrusion and a fifth annular protrusion, the five-axis shell is provided with a fourth annular groove and a fifth annular groove, and the fourth annular protrusion and the fifth annular protrusion are respectively clamped in the fourth annular groove and the fifth annular groove.

7. The polishing machine for complex curved surface machining according to any one of claims 1 to 6, characterized in that, The grinding head mechanism comprises a rotation driving assembly, a grinding driving assembly, a grinding piece and a waterproof grinding head.

8. The polishing machine for complex curved surface machining according to claim 7, wherein, The waterproof grinding head comprises a central shaft, a shaft end gland and a first end cover, the shaft end gland is sleeved on the side of the central shaft and can rotate with the rotation of the central shaft, the first end cover is sleeved on the shaft end gland, the shaft end gland is provided with a waterproof part, the first end cover is provided with a waterproof matching part, and the waterproof part and the waterproof matching part form a labyrinth waterproof structure.

9. The polishing machine for complex curved surface machining according to claim 8, wherein, The central shaft is provided with a first step limiting part in the circumferential direction, one end of the shaft end gland abuts against the first step limiting part and abuts against the side wall of the central shaft to form an interference fit, so as to fix the shaft end gland on the central shaft.

10. The polishing machine for complex curved surface machining according to claim 7, wherein, The number of the waterproof grinding heads is multiple, the multiple waterproof grinding heads comprise a first grinding head and a second grinding head, and the first grinding head and the second grinding head are arranged at two ends of the grinding driving assembly respectively.

11. The polishing machine for complex curved surface machining according to claim 10, wherein, The grinding driving assembly comprises a first driving part, the two ends of the first driving part are provided with connecting parts, the first grinding head and the second grinding head are provided with connecting matching parts, and the connecting parts and the connecting matching parts are matched to connect the first grinding head and the first driving part and the second grinding head and the first driving part respectively.

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