Six-axis precision grinding machine

Abstract

The utility model belongs to the technical field of precision grinding machines, and particularly relates to a six-axis precision grinding machine which comprises a base. The base is provided with a grinding head mechanism, a jig mechanism used for driving a product to rotate around an A axis and a C axis, a Y-axis linear module used for driving the jig mechanism to move in the Y-axis direction, an XZ moving mechanism used for driving the grinding head mechanism to move in the X-axis direction and the Z-axis direction, and a B-axis swing arm mechanism used for driving the grinding head mechanism to rotate around a B axis. The jig mechanism is installed on the Y-axis linear module in a sliding mode through a pressure sensing device. According to the six-axis five-linkage grinding machine, six-axis five-linkage all-directional grinding machining of products can be achieved, and the grinding requirements of complex-profile products and large negative angles are met; the pressure sensing device is arranged between the jig mechanism and the Y-axis linear module, the pressure between a product and the grinding head is monitored in real time, the XZ moving mechanism drives the grinding head mechanism to move for pressure compensation, constant-force grinding is achieved, and the grinding quality is improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of precision grinders, and in particular relates to a six-axis precision grinder. Background Art

[0002] A grinder uses a grinding head (such as a grinding wheel, abrasive belt, etc.) to grind the surface of a product to achieve the required dimensional accuracy, shape accuracy, and surface roughness. However, after long-term use, the grinding head of the grinder will wear unevenly, making it difficult to maintain a constant pressure between it and the product. Utility Model Content

[0003] In order to overcome the shortcomings of the above-mentioned prior art, the purpose of the utility model is to provide a six-axis precision grinder that can realize six-axis five-linkage all-round grinding of products, meet the grinding needs of complex surface products and large negative angles, and improve the grinding quality.

[0004] To achieve the above-mentioned purpose, the technical solution of the utility model is a six-axis precision grinder, including a base, on which is provided a grinding head mechanism, a fixture mechanism for driving the product to rotate around the A-axis and the C-axis, a Y-axis linear module for driving the fixture mechanism to move along the Y-axis direction, an XZ moving mechanism for driving the grinding head mechanism to move along the X-axis and the Z-axis directions, and a B-axis swing arm mechanism for driving the grinding head mechanism to rotate around the B-axis; the fixture mechanism is slidably mounted on the Y-axis linear module through a pressure sensing device.

[0005] As one of the embodiments, the pressure sensing device includes an XZ bidirectional pressure sensor, a mounting plate and a sensor mounting base, the fixture mechanism is fixed on the mounting plate, the sensor mounting base is slidably installed on the Y-axis linear module, and the XZ bidirectional pressure sensor is arranged between the sensor mounting base and the mounting plate.

[0006] As one of the embodiments, the jig mechanism includes a product jig for fixing the product to be processed, an A-axis cradle for driving the product jig to rotate around the A-axis, and a C-axis cradle for driving the product jig to rotate around the C-axis. The product jig is rotatably mounted on the C-axis cradle, and the C-axis cradle is rotatably mounted on the A-axis cradle.

[0007] As one of the embodiments, the A-axis cradle includes an A-axis motor seat, an A-axis motor and an A-axis turntable, the A-axis motor seat is fixed on the pressure sensing device, the A-axis motor is fixed in the A-axis motor seat, and the A-axis turntable is connected to the output shaft of the A-axis motor.

[0008] As one of the embodiments, the C-axis cradle includes a C-axis motor seat, a C-axis motor and a C-axis turntable, the C-axis motor seat is fixed on the A-axis turntable, the C-axis motor is fixed in the C-axis motor seat, the C-axis turntable is connected to the output shaft of the C-axis motor, and the product fixture is fixed on the C-axis turntable.

[0009] As one of the embodiments, the XZ moving mechanism includes an X-axis linear module for driving the grinding head mechanism to move along the X-axis direction and a Z-axis linear module for driving the grinding head mechanism to move along the Z-axis direction, the X-axis linear module is fixed to the base through a bracket, the Z-axis linear module is slidably installed on the X-axis linear module, the B-axis swing arm mechanism is slidably installed on the Z-axis linear module, and the grinding head mechanism is rotatably installed on the B-axis swing arm mechanism.

[0010] As one of the implementation modes, the grinding head mechanism includes a grinding head mounting base, and a first grinding head and a second grinding head are mounted on the grinding head mounting base.

[0011] As one of the embodiments, a double-headed motor is arranged in the grinding head mounting base, and two output shafts of the double-headed motor are respectively connected to the first grinding head fixing seat and the second grinding head fixing seat, the first grinding head is fixed on the first grinding head fixing seat, and the second grinding head is fixed on the second grinding head fixing seat.

[0012] As one of the embodiments, the B-axis swing arm mechanism includes a B-axis mounting seat, a B-axis motor, a B-axis reducer and a B-axis turntable. The B-axis reducer is fixed on the B-axis mounting seat, the B-axis motor is connected to the B-axis turntable through the B-axis reducer, and the grinding head mechanism is fixed on the B-axis turntable.

[0013] As one of the embodiments, the six-axis precision grinder also includes an outer cover arranged on the base, and the grinding head mechanism, the Y-axis linear module, the fixture mechanism, the XZ moving mechanism and the B-axis swing arm mechanism are all located in the outer cover.

[0014] Compared with the prior art, the utility model has the following beneficial effects:

[0015] (1) The six-axis precision grinding machine provided by the utility model drives the product to rotate around the A-axis and C-axis through the fixture mechanism, drives the fixture mechanism to move along the Y-axis direction through the Y-axis linear module, drives the grinding head mechanism to move along the X-axis and Z-axis directions through the XZ moving mechanism, and drives the grinding head mechanism to rotate around the B-axis through the B-axis swing arm mechanism, thereby realizing six-axis five-linkage all-round grinding of the product, meeting the grinding needs of complex surface products and large negative angles;

[0016] (2) The utility model sets a pressure sensor between the fixture mechanism and the Y-axis linear module to monitor the pressure between the product and the grinding head in real time, and drives the grinding head mechanism to move through the XZ moving mechanism to compensate for the pressure, thereby achieving constant force grinding and improving the grinding quality;

[0017] (3) The six-axis precision grinding machine of the utility model occupies a small area, can work independently, and can also be combined into a production line in multiple units to meet different process requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 A schematic diagram of the structure of a six-axis precision grinder provided by an embodiment of the utility model;

[0020] Figure 2 A schematic diagram of the structure of a six-axis precision grinder provided by an embodiment of the utility model;

[0021] In the figure: 1. base; 2. X-axis linear module; 3. Y-axis linear module; 4. Z-axis linear module; 5. A-axis cradle; 6. C-axis cradle; 7. pressure sensing device; 71. XZ bidirectional pressure sensor; 72. mounting plate; 73. sensor mounting base; 8. B-axis swing arm mechanism; 81. B-axis mounting seat; 82. B-axis motor; 83. B-axis reducer; 84. B-axis turntable; 9. grinding head mechanism; 91. grinding head mounting base; 92. first grinding head fixing seat; 93. second grinding head fixing seat; 94. double-head motor; 10. product fixture; 11. column; 12. beam. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0023] In the description of the present invention, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0024] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features; in the description of the present utility model, unless otherwise specified, "plurality" means two or more.

[0025] like Figure 1-Figure 2 As shown, this embodiment provides a six-axis precision grinder, including a base 1, on which is provided a grinding head mechanism 9, a fixture mechanism for driving the product to rotate around the A-axis and the C-axis, a Y-axis linear module 3 for driving the fixture mechanism to move along the Y-axis direction, an XZ moving mechanism for driving the grinding head mechanism 9 to move along the X-axis and the Z-axis directions, and a B-axis swing arm mechanism 8 for driving the grinding head mechanism 9 to rotate around the B-axis; the fixture mechanism is slidably mounted on the Y-axis linear module 3 through a pressure sensor device 7. In this embodiment, the product to be processed is driven to rotate around the A-axis and the C-axis by the fixture mechanism, the fixture mechanism is driven to move along the Y-axis direction by the Y-axis linear module 3, the grinding head mechanism 9 is driven to move along the X-axis and the Z-axis directions by the XZ moving mechanism, and the grinding head mechanism 9 is driven to rotate around the B-axis by the B-axis swing arm mechanism 8, so as to realize six-axis five-linkage all-round grinding of the product, with light rotation and high precision, meeting the grinding requirements of complex surface products and large negative angles; at the same time, by arranging a pressure sensor device 7 between the fixture mechanism and the Y-axis linear module 3, the pressure between the product and the grinding head of the grinding head mechanism 9 is monitored in real time, and the grinding head mechanism 9 is driven to move by the XZ moving mechanism for pressure compensation, so as to realize constant force grinding and improve the grinding quality.

[0026] In this embodiment, the pressure sensing device 7 includes an XZ bidirectional pressure sensor 71, a mounting plate 72 and a sensor mounting base 73, the fixture mechanism is fixed on the mounting plate 72, the sensor mounting base 73 is slidably mounted on the Y-axis linear module 3, and the XZ bidirectional pressure sensor 71 is arranged between the sensor mounting base 73 and the mounting plate 72. Among them, the XZ bidirectional pressure sensor 71 can simultaneously monitor the pressure between the product and the grinding head in the X-axis and Z-axis directions. According to the pressure between the product and the grinding head in the X-axis and / or Z-axis directions monitored by the XZ bidirectional pressure sensor 71, the grinding head of the grinding head mechanism 9 is driven to move in the X-axis and / or Z-axis directions through the XZ moving mechanism, and the distance between the grinding head and the product is adjusted, so that the pressure between the product and the grinding head is stable in the X-axis and / or Z-axis directions, so as to achieve constant force grinding and improve the processing quality.

[0027] Furthermore, the fixture mechanism includes a product fixture 10 for fixing the product to be processed, an A-axis cradle 5 for driving the product fixture 10 to rotate around the A-axis, and a C-axis cradle 6 for driving the product fixture 10 to rotate around the C-axis, the product fixture 10 is rotatably mounted on the C-axis cradle 6, and the C-axis cradle 6 is rotatably mounted on the A-axis cradle 5. The product fixture 10 can fix the product to be processed by vacuum adsorption.

[0028] Furthermore, the A-axis cradle 5 includes an A-axis motor seat, an A-axis motor and an A-axis turntable, wherein the A-axis motor seat is fixed on the pressure sensor device 7, the A-axis motor is fixed in the A-axis motor seat, and the A-axis turntable is connected to the output shaft of the A-axis motor. The A-axis motor seat is fixed on the mounting plate 72. The A-axis turntable is driven to rotate by the A-axis motor, thereby driving the C-axis cradle 6 and the product fixture 10 thereon to rotate around the A-axis.

[0029] Furthermore, the C-axis cradle 6 includes a C-axis motor seat, a C-axis motor and a C-axis turntable, wherein the C-axis motor seat is fixed on the A-axis turntable, the C-axis motor is fixed in the C-axis motor seat, the C-axis turntable is connected to the output shaft of the C-axis motor, and the product fixture 10 is fixed on the C-axis turntable. The C-axis motor drives the C-axis turntable to rotate, thereby driving the product fixture 10 to rotate around the C-axis.

[0030] In one embodiment, the XZ moving mechanism includes an X-axis linear module 2 for driving the grinding head mechanism 9 to move along the X-axis direction and a Z-axis linear module 4 for driving the grinding head mechanism 9 to move along the Z-axis direction, the X-axis linear module 2 is fixed to the base 1 through a bracket, the Z-axis linear module 4 is slidably mounted on the X-axis linear module 2, the B-axis swing arm mechanism 8 is slidably mounted on the Z-axis linear module 4, and the grinding head mechanism 9 is rotatably mounted on the B-axis swing arm mechanism 8. The bracket includes two columns 11 and a beam 12, the bottoms of the two columns 11 are respectively fixed to the two sides of the Y-axis linear module 3, the two ends of the beam 12 are respectively fixed to the tops of the two columns 11, and the X-axis linear module 2 is fixed to one side of the beam 12. The beam 12 can adopt an L-shaped structure, the X-axis linear module 2 is fixed to the front of the vertical part of the beam 12, and the back of the vertical part of the beam 12 is fixed to the horizontal part of the beam 12 through a triangular support structure.

[0031] In this embodiment, the X-axis linear module 2 includes an X-axis slide rail, an X-axis slider, an X-axis motor, an X-axis lead screw, an X-axis nut, and a Z-axis mounting base; the X-axis motor and the X-axis slide rail are fixed on the crossbeam 12, one end of the X-axis lead screw is connected to the output shaft of the X-axis motor, and the X-axis nut is threadedly connected to the X-axis lead screw; both sides of the X-axis lead screw are provided with X-axis slide rails parallel to it, and an X-axis slider is slidably mounted on the X-axis slide rail; the X-axis nut and the X-axis sliders on both sides are fixed to the Z-axis mounting base, and the Z-axis linear module 4 is mounted on the Z-axis mounting base. The X-axis lead screw is driven to rotate by the X-axis motor, driving the X-axis nut to move along the X-axis direction, thereby driving the Z-axis linear module 4 and the B-axis swing arm mechanism 8 and the grinding head mechanism 9 thereon to move along the X-axis direction. An X-axis shield is also installed on the X-axis linear module 2.

[0032] In this embodiment, the Z-axis linear module 4 includes a Z-axis slide rail, a Z-axis slider, a Z-axis motor, a Z-axis screw rod, a Z-axis nut and a B-axis mounting base; the Z-axis motor and the Z-axis slide rail are fixed on the Z-axis mounting base, one end of the Z-axis screw rod is connected to the output shaft of the Z-axis motor, and the Z-axis nut is threadedly connected to the Z-axis screw rod; both sides of the Z-axis screw rod are provided with Z-axis slide rails parallel to it, and a Z-axis slider is slidably mounted on the Z-axis slide rail; the Z-axis nut and the Z-axis sliders on both sides are fixed to the B-axis mounting base, and the B-axis swing arm mechanism 8 is installed on the B-axis mounting base. The Z-axis motor drives the Z-axis screw rod to rotate, driving the Z-axis nut to move along the Z-axis direction, thereby driving the B-axis swing arm mechanism 8 and the grinding head mechanism 9 thereon to move along the Z-axis direction.

[0033] In this embodiment, the Y-axis linear module 3 includes a Y-axis slide rail, a Y-axis slider, a Y-axis motor, a Y-axis lead screw, a Y-axis nut and an AC-axis mounting base; the Y-axis motor and the Y-axis slide rail are fixed on the base 1, one end of the Y-axis lead screw is connected to the output shaft of the Y-axis motor, and the Y-axis nut is threadedly connected to the Y-axis lead screw; both sides of the Y-axis lead screw are provided with Y-axis slide rails parallel to it, and a Y-axis slider is slidably mounted on the Y-axis slide rail; the Y-axis nut and the Y-axis sliders on both sides are fixed to the AC-axis mounting base, and the fixture mechanism is mounted on the AC-axis mounting base. The Y-axis lead screw is driven to rotate by the Y-axis motor, driving the Y-axis nut to move along the Y-axis direction, thereby driving the fixture mechanism and the product fixture 10 thereon to move along the Y-axis direction. A Y-axis shield is also installed on the Y-axis linear module 3.

[0034] Furthermore, the grinding head mechanism 9 includes a grinding head mounting base 91, and a first grinding head and a second grinding head are mounted on the grinding head mounting base 91. The grinding head mechanism 9 of this embodiment adopts a double grinding head, and the first grinding head and the second grinding head can use different consumables, so that the product can be clamped once and two grinding processes can be completed continuously, thereby improving the grinding efficiency.

[0035] In one embodiment, a double-headed motor 94 is provided in the grinding head mounting base 91, and two output shafts of the double-headed motor 94 are respectively connected to a first grinding head fixing seat 92 and a second grinding head fixing seat 93, wherein the first grinding head is fixed on the first grinding head fixing seat 92, and the second grinding head is fixed on the second grinding head fixing seat 93. The double-headed motor 94 is used to drive the two grinding heads to rotate, which has a simple structure and saves space; and the first grinding head and the second grinding head are respectively connected to the first grinding head fixing seat 92 and the second grinding head fixing seat 93 in a detachable connection manner, so that different consumables can be replaced, thereby improving the utilization rate of the grinding machine, meeting the grinding requirements of products made of plastic, aluminum alloy, stainless steel, titanium alloy, glass, ceramics, etc., and having a wide range of applications.

[0036] Further, the B-axis swing arm mechanism 8 includes a B-axis mounting seat 81, a B-axis motor 82, a B-axis reducer 83 and a B-axis turntable 84, wherein the B-axis reducer 83 is fixed on the B-axis mounting seat 81, the B-axis motor 82 is connected to the B-axis turntable 84 through the B-axis reducer 83, and the grinding head mechanism 9 is fixed on the B-axis turntable 84. The B-axis mounting seat 81 is slidably mounted on the XZ moving mechanism, and the B-axis motor 82 drives the B-axis turntable 84 to rotate through the B-axis reducer 83, thereby driving the grinding head mechanism 9 to rotate around the B-axis to complete grinding at different angles.

[0037] The six-axis precision grinder of this embodiment also includes an outer cover arranged on the base 1, and the grinding head mechanism 9, the Y-axis linear module 3, the fixture mechanism, the XZ moving mechanism, and the B-axis swing arm mechanism 8 are all located in the outer cover. A control panel is also provided on the side of the outer cover. By providing the outer cover, external dust, dirt and other debris are prevented from entering the interior of the grinder, and key components such as the grinding head mechanism 9, the Y-axis linear module 3, the fixture mechanism, the XZ moving mechanism, and the B-axis swing arm mechanism 8 are protected from contamination and damage, while improving product quality and operational safety.

[0038] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A six-axis precision grinding machine, comprising a base, characterized in that: The base is provided with a grinding head mechanism, a fixture mechanism for driving the product to rotate around the A-axis and the C-axis, a Y-axis linear module for driving the fixture mechanism to move along the Y-axis direction, an XZ moving mechanism for driving the grinding head mechanism to move along the X-axis and the Z-axis directions, and a B-axis swing arm mechanism for driving the grinding head mechanism to rotate around the B-axis; the fixture mechanism is slidably mounted on the Y-axis linear module through a pressure sensing device.

2. The six-axis precision grinding machine according to claim 1, characterized in that: The pressure sensing device includes an XZ bidirectional pressure sensor, a mounting plate and a sensor mounting base. The fixture mechanism is fixed on the mounting plate. The sensor mounting base is slidably mounted on the Y-axis linear module. The XZ bidirectional pressure sensor is arranged between the sensor mounting base and the mounting plate.

3. The six-axis precision grinding machine according to claim 1, characterized in that: The jig mechanism includes a product jig for fixing the product to be processed, an A-axis cradle for driving the product jig to rotate around the A-axis, and a C-axis cradle for driving the product jig to rotate around the C-axis. The product jig is rotatably mounted on the C-axis cradle, and the C-axis cradle is rotatably mounted on the A-axis cradle.

4. The six-axis precision grinding machine according to claim 3, characterized in that: The A-axis cradle includes an A-axis motor seat, an A-axis motor and an A-axis turntable. The A-axis motor seat is fixed on the pressure sensing device, the A-axis motor is fixed in the A-axis motor seat, and the A-axis turntable is connected to the output shaft of the A-axis motor.

5. The six-axis precision grinding machine according to claim 4, characterized in that: The C-axis cradle includes a C-axis motor seat, a C-axis motor and a C-axis turntable. The C-axis motor seat is fixed on the A-axis turntable. The C-axis motor is fixed in the C-axis motor seat. The C-axis turntable is connected to the output shaft of the C-axis motor. The product fixture is fixed on the C-axis turntable.

6. The six-axis precision grinding machine according to claim 1, characterized in that: The XZ moving mechanism includes an X-axis linear module for driving the grinding head mechanism to move along the X-axis direction and a Z-axis linear module for driving the grinding head mechanism to move along the Z-axis direction. The X-axis linear module is fixed to the base through a bracket, the Z-axis linear module is slidably mounted on the X-axis linear module, the B-axis swing arm mechanism is slidably mounted on the Z-axis linear module, and the grinding head mechanism is rotatably mounted on the B-axis swing arm mechanism.

7. The six-axis precision grinding machine according to claim 1, characterized in that: The grinding head mechanism comprises a grinding head mounting base, on which a first grinding head and a second grinding head are mounted.

8. The six-axis precision grinding machine according to claim 7, characterized in that: A double-headed motor is arranged in the grinding head mounting base, and two output shafts of the double-headed motor are respectively connected to the first grinding head fixing seat and the second grinding head fixing seat, the first grinding head is fixed on the first grinding head fixing seat, and the second grinding head is fixed on the second grinding head fixing seat.

9. The six-axis precision grinding machine according to claim 1, characterized in that: The B-axis swing arm mechanism includes a B-axis mounting seat, a B-axis motor, a B-axis reducer and a B-axis turntable. The B-axis reducer is fixed on the B-axis mounting seat, the B-axis motor is connected to the B-axis turntable through the B-axis reducer, and the grinding head mechanism is fixed on the B-axis turntable.

10. The six-axis precision grinding machine according to claim 1, characterized in that: It also includes an outer cover arranged on the base, and the grinding head mechanism, the Y-axis linear module, the fixture mechanism, the XZ moving mechanism and the B-axis swing arm mechanism are all located in the outer cover.

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