A gear grinding machine and grinding method for a slewing bearing internal or external gear ring.

Abstract

This invention discloses a gear grinding machine and method for a slewing bearing internal or external gear ring, comprising a fixed support system, two movable support systems, a robotic arm, and a gear grinding device. The first support roller of the fixed support system and the second support rollers of the two movable support systems can support the slewing bearing internal or external gear ring from three positions. The driving roller of the fixed support system and the driven rollers of the two movable support systems can abut and position the side of the slewing bearing internal or external gear ring from three positions. The driving roller is driven by a first reduction motor of the fixed support system to rotate stepwise, resulting in high gear grinding accuracy and guaranteed gear grinding quality. The driving roller and the two driven rollers of this invention can abut and position both the outer side of the slewing bearing internal gear ring and the inner side of the slewing bearing external gear ring, making positioning convenient and operation easy. It can position slewing bearing internal or external gear rings of different sizes.

Description

Technical Field

[0001] This invention relates to the field of slewing bearing processing equipment, and particularly to a gear grinding machine and grinding method for an internal or external gear ring of a slewing bearing. Background Technology

[0002] Slewing bearings are widely used in construction machinery such as excavators, cranes, hoists, and forestry machinery. A slewing bearing typically consists of an outer bearing ring and an inner bearing ring installed within the outer ring. A ball bearing channel connects the outer and inner rings, and balls are installed within this channel. One type of slewing bearing has a single toothed ring on its inner bearing ring; this type of inner bearing with internal teeth is called a slewing bearing internal gear ring. Another type of slewing bearing has a single toothed ring on its outer bearing ring; this type of outer bearing with external teeth is called a slewing bearing external gear ring.

[0003] After the internal or external gear ring of a slewing bearing is manufactured, each internal tooth of the slewing bearing needs to be ground. In the prior art, grinding equipment for the internal or external gear ring of a slewing bearing can be found in Chinese patent document CN222405112U, which discloses a grinding device for the inner and outer rings of a slewing bearing. This device includes a worktable, with a fixed frame fixedly installed at one end of the top of the worktable. A positioning mechanism and a grinding mechanism are fixedly installed on the top of the fixed frame. The positioning mechanism includes a first cylinder, a housing, a first motor, a threaded rod, and a positioning rod. The first cylinder is fixedly installed on the top of the fixed frame. Through the design of the first cylinder, housing, first motor, threaded rod, and positioning rod, the position of the positioning rod can be adjusted according to the slewing bearing of different sizes when using this device. Several positioning rods are simultaneously inserted into the corresponding mounting holes of the slewing bearing to fix it. Then, the grinding mechanism performs the grinding process.

[0004] However, the slewing bearing gear grinding inner and outer ring processing device disclosed in patent document CN222405112U has the following defects: (1) During the grinding process, the slewing bearing needs to be completely positioned by the positioning mechanism. The teeth of the inner gear ring of the slewing bearing are circumferentially arranged on the inner side of the slewing bearing, and the teeth of the outer gear ring of the slewing bearing are circumferentially arranged on the outer side of the slewing bearing. Therefore, when the grinding mechanism needs to grind the teeth of the inner or outer gear ring of the slewing bearing, the grinding mechanism needs to move in a stepping motion along the circumferential direction of the inner or outer gear ring of the slewing bearing to grind each inner tooth of the inner or outer gear ring of the slewing bearing in sequence. Furthermore, since each tooth of the inner or outer gear ring of the slewing bearing is a very precise structure, the grinding mechanism is easily affected by dynamic vibration, transmission error, etc. during the stepping motion along the circumferential direction of the inner or outer gear ring of the slewing bearing, resulting in positional deviation, thereby reducing the grinding accuracy of the grinding mechanism and making it difficult to guarantee the grinding quality. (2) The patent document CN222405112U uses a positioning rod to position the slewing bearing. The positioning rod needs to be inserted into the corresponding mounting hole of the slewing bearing. If the slewing bearing does not have a corresponding mounting hole, the positioning rod will not be able to position it. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a gear grinding machine for an internal or external gear ring of a slewing bearing, addressing the shortcomings of the prior art. The machine's fixed support system has a first support roller, and two movable support systems have second support rollers that can support the internal or external gear ring of the slewing bearing from three positions. The driving roller of the fixed support system and the driven rollers of the two movable support systems can simultaneously abut and position the side of the internal or external gear ring of the slewing bearing from three positions. A robotic arm drives a grinding device to grind the internal or external gear ring of the slewing bearing at a set grinding position. The robotic arm and grinding device do not need to move circumferentially along the internal or external gear ring of the slewing bearing; instead, the driving roller is driven by a first reduction motor of the fixed support system. The grinding machine features a step-by-step rotation mechanism. After each tooth is ground, the first reduction motor drives the slewing bearing's inner or outer gear ring to rotate one tooth's distance via the active roller. This ensures high grinding precision and consistent grinding quality throughout the process. The fixed support system's active roller and the two movable support systems' driven rollers can both abut and position the outer side of the slewing bearing's inner gear ring and the inner side of the slewing bearing's outer gear ring, facilitating positioning and operation. The machine allows for adjusting the distance between the active roller and the two driven rollers by moving the movable support platform, enabling the positioning of slewing bearing inner or outer gear rings of different sizes. Furthermore, this invention provides a grinding method for slewing bearing inner or outer gear rings.

[0006] To solve the first technical problem mentioned above, the technical solution of the present invention is: a gear grinding machine for a slewing bearing internal or external gear ring, comprising a fixed support system, two movable support systems, a robotic arm, and a gear grinding device; the fixed support system includes a fixed body, on which a fixed support platform is mounted; a first support roller and a drive roller are provided on the upper side of the fixed support platform; the drive roller is vertically arranged; a first reduction motor is installed inside the fixed body; the power output end of the first reduction motor is connected to the drive roller to drive the drive roller to rotate stepwise; the two movable support systems each include a track base, a linear track, a movable body, and a drive device; the linear track is mounted on the track base; the movable body is movably mounted on the linear track; the drive device is used to drive the movable body to move along the linear track to a set position; movable supports are mounted on the movable body. The movable support platform has a second support roller and a driven roller on its upper side, with the driven roller being vertically arranged. The track bases of the two movable support systems are positioned such that one end is close to the other and the other end is far from each other, with an included angle of 55-65 degrees between the straight tracks of the two movable support systems. The fixed support system is located near one end of the track bases of the two movable support systems. The first support roller of the fixed support system and the second support rollers of the two movable support systems can support the inner or outer gear ring of the slewing bearing from three positions. The driving roller of the fixed support system and the driven rollers of the two movable support systems can abut and position the side of the inner or outer gear ring of the slewing bearing from three positions. The gear grinding device is mounted on a robotic arm, which drives the gear grinding device to the gear grinding position of the inner or outer gear ring of the slewing bearing. The gear grinding device includes a grinding cutter used to grind the teeth of the inner or outer gear ring of the slewing bearing.

[0007] Preferably, the included angle between the straight tracks of the two movable support systems is 60 degrees.

[0008] Preferably, the fixed support system is provided with two first support rollers, one of which is used to support the inner gear ring of the slewing bearing and the other is used to support the outer gear ring of the slewing bearing; each movable support system is provided with four second support rollers, two of which are used to support the inner gear ring of the slewing bearing and the other two are used to support the outer gear ring of the slewing bearing.

[0009] Preferably, each mobile support system has two parallel linear tracks installed on its track base. The drive device includes a rack, a slide, a second geared motor, and a gear. The rack is installed on the track base and parallel to the linear tracks. The slide is fixedly installed on the lower end of the mobile body and slidably installed on the linear tracks. The second geared motor is located inside the mobile body and installed on the slide. The power output end of the second geared motor is connected to the gear, and the gear meshes with the rack.

[0010] Preferably, the robotic arm is a five-axis, six-axis, or seven-axis robotic arm, and the gear grinding device includes a gear grinding motor and a camera. The power output end of the gear grinding motor is connected to the grinding blade to drive the grinding blade to rotate, and the camera is used to capture and align the position of the grinding teeth.

[0011] Preferably, the gear grinding machine for the slewing bearing internal or external gear ring further includes a control device, which is connected to the fixed support system, the mobile support system, the robotic arm, and the gear grinding device.

[0012] To solve the second technical problem mentioned above, the first technical solution of the present invention is: a method for grinding the internal gear ring of a slewing bearing, using a gear grinding machine for the internal or external gear ring of the slewing bearing, comprising the following steps: S1. Based on the outer diameter of the inner gear ring of the slewing bearing, control the mobile body of the two mobile support systems to move along the straight track to the set position; S2. Place the inner gear ring of the slewing bearing simultaneously on the first support roller of the fixed support system and the second support rollers of the two movable support systems, and position the driving roller and the two driven rollers on the outside of the inner gear ring of the slewing bearing respectively. S3. Control the movable body of the two movable support systems to move along the straight track toward the fixed support system until the driving roller and the two driven rollers respectively abut against and position the outer side of the inner gear ring of the slewing bearing from three positions; S4. The robotic arm drives the gear grinding device to the gear grinding position of the inner gear ring of the slewing bearing, and the grinding cutter of the gear grinding device grinds the first tooth of the inner gear ring of the slewing bearing. S5. After the gear grinding device grinds the first tooth, the first reduction motor drives the drive roller to rotate one tooth's distance and then stops rotating. The grinding cutter of the gear grinding device then grinds the second tooth of the inner gear ring of the slewing bearing. After the gear grinding device grinds the second tooth, the first reduction motor drives the drive roller to rotate one tooth's distance and then stops rotating. The grinding cutter of the gear grinding device then grinds the third tooth of the inner gear ring of the slewing bearing. This process continues until all teeth of the inner gear ring of the slewing bearing have been ground. S6. Control the movable body of the two movable support systems to move away from the fixed support system along a straight track until the two driven rollers separate from the outer surface of the inner gear ring of the slewing bearing, and finally remove the inner gear ring of the slewing bearing.

[0013] To solve the second technical problem mentioned above, the second technical solution of the present invention is: a method for grinding the outer gear ring of a slewing bearing, using a gear grinding machine for the inner or outer gear ring of the slewing bearing, comprising the following steps: S1. Based on the inner diameter of the outer gear ring of the slewing bearing, control the mobile body of the two mobile support systems to move along the straight track to the set position; S2. Place the outer gear ring of the slewing bearing simultaneously on the first support roller of the fixed support system and the second support rollers of the two movable support systems, and position the driving roller and the two driven rollers inside the outer gear ring of the slewing bearing respectively. S3. Control the movable body of the two movable support systems to move away from the fixed support system along a straight track until the driving roller and the two driven rollers abut against the inner side of the outer gear ring of the slewing bearing from three positions respectively; S4. The robotic arm drives the gear grinding device to the gear grinding position of the outer gear ring of the slewing bearing, and the grinding cutter of the gear grinding device grinds the first tooth of the outer gear ring of the slewing bearing. S5. After the gear grinding device grinds the first tooth, the first reduction motor drives the drive roller to rotate one tooth's distance and then stops rotating. The grinding cutter of the gear grinding device then grinds the second tooth of the outer gear ring of the slewing bearing. After the gear grinding device grinds the second tooth, the first reduction motor drives the drive roller to rotate one tooth's distance and then stops rotating. The grinding cutter of the gear grinding device then grinds the third tooth of the outer gear ring of the slewing bearing. This process continues until all teeth of the outer gear ring of the slewing bearing have been ground. S6. Control the movable body of the two movable support systems to move along the straight track toward the fixed support system until the two driven rollers separate from the inner side of the outer gear ring of the slewing bearing, and finally remove the outer gear ring of the slewing bearing.

[0014] The beneficial effects of the present invention are: (1) The first support roller of the fixed support system and the second support rollers of the two movable support systems of the present invention can support the inner or outer gear ring of the slewing bearing together from three positions. The driving roller of the fixed support system and the driven rollers of the two movable support systems can abut and position the side of the inner or outer gear ring of the slewing bearing together from three positions. Then, the mechanical arm drives the grinding device to grind the inner or outer gear ring of the slewing bearing at the set grinding position. The mechanical arm and the grinding device do not need to move in a stepping motion along the circumference of the inner or outer gear ring of the slewing bearing. Instead, the first reduction motor of the fixed support system drives the driving roller to rotate in a stepping motion. After the grinding device grinds one tooth, the first reduction motor drives the inner or outer gear ring of the slewing bearing through the driving roller. (1) The outer gear ring rotates one tooth's distance in a step, and the grinding precision is high throughout the grinding process, ensuring the grinding quality; (2) The active roller of the fixed support system and the driven rollers of the two mobile support systems of the present invention can both abut and position the outer side of the inner gear ring of the slewing bearing and abut and position the inner side of the outer gear ring of the slewing bearing. Positioning is convenient and operation is easy. Grinding can be performed on the inner gear ring and the outer gear ring of the slewing bearing respectively; (3) The present invention can drive the mobile support table to move along the upper linear track by the drive device. The distance between the active roller and the two driven rollers can be adjusted by moving the position of the mobile support table, thereby positioning the inner gear ring or outer gear ring of the slewing bearing of different sizes, meeting the processing requirements of the inner gear ring or outer gear ring of the slewing bearing of different sizes. Attached Figure Description

[0015] Figure 1 This is an overall structural diagram of the internal gear ring of the slewing bearing supporting the positioning of the present invention.

[0016] Figure 2 This is an overall structural diagram of the external gear ring of the supporting and positioning slewing bearing of the present invention.

[0017] Figure 3 This is an overall structural diagram of the fixed support system.

[0018] Figure 4 This is a diagram showing the distributed structure of a fixed support system.

[0019] Figure 5 This is an overall structural diagram of the mobile support system.

[0020] Figure 6 This is a diagram showing the distributed structure of a mobile support system.

[0021] Figure 7 This is an overall structural diagram of the robotic arm and gear grinding device. Detailed Implementation

[0022] The structural and working principles of the present invention will be further described in detail below with reference to the accompanying drawings.

[0023] like Figures 1 to 7 As shown, the present invention provides a gear grinding machine for a slewing bearing internal or external gear ring, comprising a fixed support system 1, two movable support systems 2, a robotic arm 3, and a gear grinding device 4; the fixed support system 1 includes a fixed body 11, a fixed support platform 12 mounted on the fixed body 11, a first support roller 13 and a drive roller 14 provided on the upper side of the fixed support platform 12, the drive roller 14 being vertically arranged, and a first reduction motor 15 installed inside the fixed body 11. The power output end of machine 15 is connected to the drive roller 14 to drive the drive roller 14 to rotate stepwise. The two movable support systems 2 each include a track base 21, a linear track 22, a movable body 23, and a drive device. The linear track 22 is mounted on the track base 21, and the movable body 23 is movably mounted on the linear track 22. The drive device drives the movable body 23 to move along the linear track 22 to a set position. A movable support platform 231 is mounted on the movable body 23. The upper side of the movable support platform 231 is provided with a second support roller 232 and a driven roller 233, the driven roller 233 being vertically arranged; one end of the track base 21 of the two movable support systems 2 is close to each other, and the other end is far from each other, the included angle between the straight tracks 22 of the two movable support systems 2 is 55 to 65 degrees, and the fixed support system 1 is close to one end of the track base 21 of the two movable support systems 2; the first support roller 13 of the fixed support system 1 and the second support roller of the two movable support systems 2 are provided. The wheel 232 can support the inner or outer gear ring of the slewing bearing from three positions. The driving roller 14 of the fixed support system 1 and the driven rollers 233 of the two movable support systems 2 can abut and position the side of the inner or outer gear ring of the slewing bearing from three positions. The grinding device 4 is mounted on the robotic arm 3. The robotic arm 3 is used to drive the grinding device 4 to the grinding position of the inner or outer gear ring of the slewing bearing. The grinding device 4 includes a grinding cutter 41, which is used to grind the teeth of the inner or outer gear ring of the slewing bearing.

[0024] like Figure 1 As shown, the present invention provides a method for grinding the internal gear ring of a slewing bearing, using a gear grinding machine for the internal or external gear ring of the slewing bearing, and includes the following steps: S1. Based on the outer diameter of the inner gear ring 100 of the slewing bearing, control the movable body 23 of the two movable support systems 2 to move along the linear track 22 to the set position; S2. Place the slewing bearing inner gear ring 100 on the first support roller 13 of the fixed support system 1 and the second support rollers 232 of the two movable support systems 2 at the same time, and position the driving roller 14 and the two driven rollers 233 on the outside of the slewing bearing inner gear ring 100 respectively. S3. Control the movable body 23 of the two movable support systems 2 to move along the straight track 22 toward the fixed support system 1 until the driving roller 14 and the two driven rollers 233 respectively abut against and position the outer side of the inner gear ring 100 of the slewing bearing from three positions. S4. The robotic arm 3 drives the gear grinding device 4 to the gear grinding position of the inner gear ring 100 of the slewing bearing, and the grinding cutter 41 of the gear grinding device 4 grinds the first tooth of the inner gear ring 100 of the slewing bearing. S5. After the gear grinding device 4 grinds the first tooth, the first reduction motor 15 drives the drive roller 14 to rotate one tooth's distance in a step and then stops rotating. The grinding cutter 41 of the gear grinding device 4 grinds the second tooth of the inner gear ring 100 of the slewing bearing. After the gear grinding device 4 grinds the second tooth, the first reduction motor 15 drives the drive roller 14 to rotate one tooth's distance in a step and then stops rotating. The grinding cutter 41 of the gear grinding device 4 grinds the third tooth of the inner gear ring 100 of the slewing bearing. This process continues until all teeth of the inner gear ring 100 of the slewing bearing have been ground. S6. Control the movable body 23 of the two movable support systems 2 to move away from the fixed support system 1 along the straight track 22 until the two driven rollers 233 separate from the outer surface of the inner gear ring 100 of the slewing bearing, and finally remove the inner gear ring 100 of the slewing bearing.

[0025] like Figure 2 As shown, the present invention provides a method for grinding the outer gear ring of a slewing bearing, using a gear grinding machine for the inner or outer gear ring of the slewing bearing, comprising the following steps: S1. Based on the inner diameter of the outer gear ring 200 of the slewing bearing, control the movable body 23 of the two movable support systems 2 to move along the straight track 22 to the set position; S2. Place the outer gear ring 200 of the slewing bearing on the first support roller 13 of the fixed support system 1 and the second support rollers 232 of the two movable support systems 2 at the same time, and make the driving roller 14 and the two driven rollers 233 located inside the outer gear ring 200 of the slewing bearing respectively. S3. Control the movable body 23 of the two movable support systems 2 to move away from the fixed support system 1 along the straight track 22 until the driving roller 14 and the two driven rollers 233 respectively abut against and position the inner side of the outer gear ring 200 of the slewing bearing from three positions. S4. The robotic arm 3 drives the gear grinding device 4 to the gear grinding position of the outer gear ring 200 of the slewing bearing, and the grinding cutter 41 of the gear grinding device 4 grinds the first tooth of the outer gear ring 200 of the slewing bearing. S5. After the gear grinding device 4 grinds the first tooth, the first reduction motor 15 drives the drive roller 14 to rotate one tooth's distance in a step and then stops rotating. The grinding cutter 41 of the gear grinding device 4 grinds the second tooth of the outer gear ring 200 of the slewing bearing. After the gear grinding device 4 grinds the second tooth, the first reduction motor 15 drives the drive roller 14 to rotate one tooth's distance in a step and then stops rotating. The grinding cutter 41 of the gear grinding device 4 grinds the third tooth of the outer gear ring 200 of the slewing bearing. This process continues until all teeth of the outer gear ring 200 of the slewing bearing have been ground. S6. Control the movable body 23 of the two movable support systems 2 to move along the straight track 22 toward the fixed support system 1 until the two driven rollers 233 separate from the inner side of the outer gear ring 200 of the slewing bearing, and finally remove the outer gear ring 200 of the slewing bearing.

[0026] The first support roller 13 of the fixed support system 1 and the second support rollers 232 of the two movable support systems 2 of the present invention can support the inner or outer gear ring of the slewing bearing from three positions. The driving roller 14 of the fixed support system 1 and the driven rollers 233 of the two movable support systems 2 can abut and position the side of the inner or outer gear ring of the slewing bearing from three positions. Then, the mechanical arm 3 drives the grinding device 4 to grind the inner or outer gear ring of the slewing bearing at the set grinding position. The mechanical arm 3 and the grinding device 4 do not need to move circumferentially along the inner or outer gear ring of the slewing bearing. Instead, the first reduction motor 15 of the fixed support system 1 drives the driving roller 14 to rotate stepwise. After the grinding device 4 grinds one tooth, the first reduction motor 15 drives the inner gear ring of the slewing bearing through the driving roller 14. The external gear ring can rotate one tooth's distance in a stepping motion, ensuring high grinding precision and quality throughout the grinding process. The fixed support system 1's driving roller 14 and the two movable support systems 2's driven rollers 233 can both abut and position the outer side of the slewing bearing's inner gear ring and the inner side of the slewing bearing's outer gear ring, making positioning convenient and operation easy. This allows for separate grinding of the slewing bearing's inner and outer gear rings. Furthermore, the invention can drive the movable support platform 231 along the upper linear track 22 via a drive device. Adjusting the position of the movable support platform 231 adjusts the distance between the driving roller 14 and the two driven rollers 233, thereby enabling the positioning of slewing bearing inner or outer gear rings of different sizes and meeting the processing requirements for slewing bearing inner or outer gear rings of different sizes.

[0027] like Figure 1 and Figure 2As shown, in a preferred embodiment of the present invention, the included angle between the linear tracks 22 of the two movable support systems 2 is 60 degrees. Thus, when the driving roller 14 of the fixed support system 1 and the driven rollers 233 of the two movable support systems 2 together abut and position the side of the inner or outer gear ring of the slewing bearing from three positions, the line connecting the driving roller 14 and the two driven rollers 233 forms an equilateral triangle, which optimally abuts and positions the side of the inner or outer gear ring of the slewing bearing.

[0028] like Figure 3 and Figure 4 As shown, the fixed support system 1 is provided with two first support rollers 13, one of which is used to support the inner gear ring 100 of the slewing bearing, and the other is used to support the outer gear ring 200 of the slewing bearing. The two first support rollers 13 are respectively arranged on both sides of the drive roller 14. Figure 5 and Figure 6 As shown, each movable support system 2 is provided with four second support rollers 232, of which two second support rollers 232 are used to support the inner gear ring 100 of the slewing bearing, and the other two second support rollers 232 are used to support the outer gear ring 200 of the slewing bearing. The four second support rollers 232 are respectively located at the four corners of the driven roller 233.

[0029] like Figure 5 and Figure 6 As shown, each mobile support system 2 has two parallel linear tracks 22 mounted on its track base 21. The driving device includes a rack 241, a slide 242, a second geared motor 243, and a gear 244. The rack 241 is mounted on the track base 21 and parallel to the linear tracks 22. The slide 242 is fixedly mounted on the lower end of the mobile body 23 and slidably mounted on the linear tracks 22. The second geared motor 243 is located inside the mobile body 23 and mounted on the slide 242. The power output end of the second geared motor 243 is connected to the gear 244, which meshes with the rack 241. When the second geared motor 243 drives the gear 244 to rotate, the gear 244 and the rack 241 engage in a transmission, causing the mobile body 23 to move along the linear tracks 22.

[0030] like Figure 7 As shown, the robotic arm 3 is a five-axis robotic arm, a six-axis robotic arm, or a seven-axis robotic arm. The gear grinding device 4 includes a gear grinding motor 42 and a camera 43. The power output end of the gear grinding motor 42 is connected to the grinding blade 41 to drive the grinding blade 41 to rotate. The camera 43 is used to capture and align the position of the gear grinding.

[0031] like Figure 1 and Figure 2As shown, the gear grinding machine for the slewing bearing internal or external gear ring also includes a control device 5, which is connected to the fixed support system 1, the mobile support system 2, the robotic arm 3, and the gear grinding device 4.

[0032] The above description is merely a preferred embodiment of the present invention. Any minor modifications, equivalent changes, and alterations made to the above embodiments based on the technical solution of the present invention shall fall within the scope of the technical solution of the present invention.

Claims

1. A gear grinding machine for an inner or outer ring of a slewing bearing, characterized in that: The system includes a fixed support system, two mobile support systems, a robotic arm, and a gear grinding device. The fixed support system includes a fixed body with a fixed support platform mounted on it. The upper side of the fixed support platform is provided with a first support roller and a drive roller. The drive roller is vertically oriented. A first reduction motor is installed inside the fixed body, and its power output is connected to the drive roller to drive its step-by-step rotation. The two mobile support systems each include a track base, a linear track, a mobile body, and a drive device. The linear track is mounted on the track base, and the mobile body is movably mounted on the linear track. The drive device drives the mobile body to move along the linear track to a set position. A mobile support platform is mounted on the mobile body, and the upper side of the mobile support platform is provided with a second support roller and a gear grinding device. The driven roller is vertically arranged; one end of the track base of the two movable support systems is close to each other, and the other end is far from each other. The included angle between the straight tracks of the two movable support systems is 55 to 65 degrees. The fixed support system is close to one end of the track base of the two movable support systems; the first support roller of the fixed support system and the second support rollers of the two movable support systems can support the inner or outer gear ring of the slewing bearing from three positions together; the driving roller of the fixed support system and the driven rollers of the two movable support systems can abut and position the side of the inner or outer gear ring of the slewing bearing from three positions together; the gear grinding device is mounted on the robotic arm, which is used to drive the gear grinding device to the gear grinding position of the inner or outer gear ring of the slewing bearing; the gear grinding device includes a grinding cutter, which is used to grind the teeth of the inner or outer gear ring of the slewing bearing.

2. A gear grinding machine for the inner or outer ring of a slewing bearing according to claim 1, characterized in that The angle between the straight tracks of the two mobile support systems is 60 degrees.

3. A gear grinding machine for the inner or outer ring of a slewing bearing according to claim 1, characterized in that: The fixed support system is provided with two first support rollers, one of which is used to support the inner gear ring of the slewing bearing and the other is used to support the outer gear ring of the slewing bearing; each mobile support system is provided with four second support rollers, two of which are used to support the inner gear ring of the slewing bearing and the other two are used to support the outer gear ring of the slewing bearing.

4. A gear grinding machine for the inner or outer ring of a slewing bearing according to claim 1, characterized in that Each mobile support system has two parallel linear tracks mounted on its track base. The drive device includes a rack, a slide, a second geared motor, and a gear. The rack is mounted on the track base and parallel to the linear tracks. The slide is fixedly mounted on the lower end of the mobile body and slidably mounted on the linear tracks. The second geared motor is located inside the mobile body and mounted on the slide. The power output end of the second geared motor is connected to the gear, and the gear meshes with the rack.

5. The gear grinding machine for the inner or outer ring of a slewing bearing according to claim 1, characterized in that The robotic arm is a five-axis, six-axis, or seven-axis robotic arm. The gear grinding device includes a gear grinding motor and a camera. The power output end of the gear grinding motor is connected to the grinding blade to drive the grinding blade to rotate. The camera is used to capture and align the position of the grinding teeth.

6. A gear grinding machine for the inner or outer ring of a slewing bearing according to claim 1, characterized in that: It also includes a control device, which is connected to the fixed support system, the mobile support system, the robotic arm, and the gear grinding device.

7. A method for grinding the internal gear ring of a slewing bearing, using a gear grinding machine for the internal or external gear ring of a slewing bearing as described in any one of claims 1-6, characterized in that, The methods and steps include the following: S1. Based on the outer diameter of the inner gear ring of the slewing bearing, control the mobile body of the two mobile support systems to move along the straight track to the set position; S2. Place the inner gear ring of the slewing bearing simultaneously on the first support roller of the fixed support system and the second support rollers of the two movable support systems, and position the driving roller and the two driven rollers on the outside of the inner gear ring of the slewing bearing respectively. S3. Control the movable body of the two movable support systems to move along the straight track toward the fixed support system until the driving roller and the two driven rollers respectively abut against and position the outer side of the inner gear ring of the slewing bearing from three positions; S4. The robotic arm drives the gear grinding device to the gear grinding position of the inner gear ring of the slewing bearing, and the grinding cutter of the gear grinding device grinds the first tooth of the inner gear ring of the slewing bearing. S5. After the gear grinding device grinds the first tooth, the first reduction motor drives the drive roller to rotate one tooth's distance and then stops rotating. The grinding cutter of the gear grinding device then grinds the second tooth of the inner gear ring of the slewing bearing. After the gear grinding device grinds the second tooth, the first reduction motor drives the drive roller to rotate one tooth's distance and then stops rotating. The grinding cutter of the gear grinding device then grinds the third tooth of the inner gear ring of the slewing bearing. This process continues until all teeth of the inner gear ring of the slewing bearing have been ground. S6. Control the movable body of the two movable support systems to move away from the fixed support system along a straight track until the two driven rollers separate from the outer surface of the inner gear ring of the slewing bearing, and finally remove the inner gear ring of the slewing bearing.

8. A method for grinding the outer gear ring of a slewing bearing, using a gear grinding machine for the inner or outer gear ring of a slewing bearing as described in any one of claims 1-6, characterized in that, The methods and steps include the following: S1. Based on the inner diameter of the outer gear ring of the slewing bearing, control the mobile body of the two mobile support systems to move along the straight track to the set position; S2. Place the outer gear ring of the slewing bearing simultaneously on the first support roller of the fixed support system and the second support rollers of the two movable support systems, and position the driving roller and the two driven rollers inside the outer gear ring of the slewing bearing respectively. S3. Control the movable body of the two movable support systems to move away from the fixed support system along a straight track until the driving roller and the two driven rollers abut against the inner side of the outer gear ring of the slewing bearing from three positions respectively; S4. The robotic arm drives the gear grinding device to the gear grinding position of the outer gear ring of the slewing bearing, and the grinding cutter of the gear grinding device grinds the first tooth of the outer gear ring of the slewing bearing. S5. After the gear grinding device grinds the first tooth, the first reduction motor drives the drive roller to rotate one tooth's distance and then stops rotating. The grinding cutter of the gear grinding device then grinds the second tooth of the outer gear ring of the slewing bearing. After the gear grinding device grinds the second tooth, the first reduction motor drives the drive roller to rotate one tooth's distance and then stops rotating. The grinding cutter of the gear grinding device then grinds the third tooth of the outer gear ring of the slewing bearing. This process continues until all teeth of the outer gear ring of the slewing bearing have been ground. S6. Control the movable body of the two movable support systems to move along the straight track toward the fixed support system until the two driven rollers separate from the inner side of the outer gear ring of the slewing bearing, and finally remove the outer gear ring of the slewing bearing.

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