Multi-station six-axis force control 3D polishing machine

Abstract

The utility model belongs to the technical field of polishing equipment, and particularly relates to a multi-station six-axis force control 3D polishing machine which comprises a base. The base is provided with a grinding head mechanism, a workbench, a Z-axis linear module used for driving the grinding head mechanism to move in the Z-axis direction, a B-axis swing arm mechanism used for driving the grinding head mechanism to rotate around the B axis and an XY moving mechanism used for driving the workbench to move in the X-axis direction and the Y-axis direction. A plurality of polishing stations are arranged on the workbench, each polishing station is provided with a jig mechanism used for driving a product to rotate around an A axis and a C axis and a pressure compensation device used for conducting pressure compensation on the product, and the jig mechanisms are installed on the pressure compensation devices in a sliding mode through pressure sensing devices; and a plurality of grinding head units in one-to-one correspondence with the polishing stations are arranged on the grinding head mechanism. According to the six-axis five-linkage polishing machine, products on a plurality of polishing stations can be polished at the same time through six-axis five-linkage, efficiency and precision are high, meanwhile, the pressure sensing device and the pressure compensation device are arranged, the polishing quality is improved, each polishing station can be independently adjusted, and the machining consistency of the multiple polishing stations is guaranteed.

Description

Technical Field

[0001] The utility model belongs to the technical field of polishing equipment, and specifically relates to a multi-station six-axis force-controlled 3D polishing machine. Background Art

[0002] Polishing is a processing method that uses mechanical, chemical or electrochemical effects to reduce the surface roughness of the workpiece to obtain a bright and smooth surface. However, after long-term use, the polishing machine will experience uneven wear of the grinding head, making it difficult to maintain a constant pressure between it and the product, and reducing the processing consistency of the same batch of products. 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 multi-station six-axis force-controlled 3D polishing machine, which can realize six-axis five-linkage to polish products on multiple polishing stations at the same time, with high efficiency and high precision, and can adjust each polishing station individually to ensure the processing consistency of multiple polishing stations.

[0004] To achieve the above-mentioned purpose, the technical solution of the utility model is a multi-station six-axis force-controlled 3D polishing machine, including a base, on which a grinding head mechanism, a workbench, a Z-axis linear module for driving the grinding head mechanism to move along the Z-axis direction, a B-axis swing arm mechanism for driving the grinding head mechanism to rotate around the B-axis, and an XY moving mechanism for driving the workbench to move along the X-axis and Y-axis directions are arranged; a plurality of polishing stations are arranged on the workbench, each of which is provided with a fixture mechanism for driving the product to rotate around the A-axis and C-axis and a pressure compensation device for pressure compensation of the product, and the fixture mechanism is slidably installed on the pressure compensation device through a pressure sensing device; the grinding head mechanism is provided with a plurality of grinding head units corresponding to the polishing stations one by one.

[0005] As one of the embodiments, the pressure sensing device includes a YZ bidirectional pressure sensor, a mounting plate and a first mounting base, the fixture mechanism is fixed on the mounting plate, the first mounting base is slidably mounted on the pressure compensation device, and the YZ bidirectional pressure sensor is arranged between the mounting plate and the first mounting base.

[0006] As one of the embodiments, the pressure compensation device includes a second mounting base, a Y-axis compensation mechanism for compensating the pressure of the product in the Y-axis direction, and a Z-axis compensation mechanism for compensating the pressure of the product in the Z-axis direction, the Y-axis compensation mechanism is arranged on the workbench, the second mounting base is slidably installed on the Y-axis compensation mechanism, the Z-axis compensation mechanism is arranged on the second mounting base, and the first mounting base is slidably installed on the Z-axis compensation mechanism.

[0007] 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, and the C-axis cradle is rotatably mounted on the A-axis cradle.

[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 rotatably mounted on the A-axis cradle, the C-axis motor is fixed in the C-axis motor seat, and the C-axis turntable is connected to the output shaft of the C-axis motor.

[0009] As one of the implementation modes, the C-axis turntable is located on the side surface of the C-axis motor base, and product fixtures are fixed on the top surface of the C-axis motor base and the C-axis turntable.

[0010] 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, the A-axis turntable is connected to the output shaft of the A-axis motor, and the C-axis motor seat is fixed on the A-axis turntable.

[0011] As one of the embodiments, the XY moving mechanism includes an X-axis linear module for driving the worktable to move along the X-axis direction and a Y-axis linear module for driving the worktable to move along the Y-axis direction, the Y-axis linear module is arranged on the base, the X-axis linear module is slidably mounted on the Y-axis linear module, and the worktable is slidably mounted on the X-axis linear module.

[0012] As one of the embodiments, the grinding head mechanism includes a grinding head mounting base, which is a rectangular structure and is arranged along the arrangement direction of the polishing stations. Multiple grinding head units are installed on the grinding head mounting base at intervals, and rotating shafts are provided at both ends of the grinding head mounting base.

[0013] As one of the embodiments, the B-axis swing arm mechanism includes a U-shaped arm and a B-axis motor. The U-shaped arm is slidably mounted on the Z-axis linear module. The rotating shafts at both ends of the grinding head mechanism are respectively rotatably connected to the two side arms of the U-shaped arm. The B-axis motor is fixed on the U-shaped arm and connected to the rotating shaft at one end of the grinding head mechanism.

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

[0015] (1) The utility model drives multiple products to be processed to rotate around the A-axis and the C-axis respectively through multiple fixture mechanisms, drives multiple products to move along the X-axis and the Y-axis through the XY moving mechanism, drives the grinding head mechanism to move along the Z-axis through the Z-axis linear module, 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 to polish products on multiple polishing stations at the same time, with high efficiency and high precision, meeting the polishing requirements of complex surface products and large negative angles;

[0016] (2) The utility model sets a pressure sensing device and a pressure compensation device between each fixture mechanism and the workbench. The pressure between the corresponding product and the grinding head of the grinding head unit is monitored in real time by the pressure sensing device, and the product is driven to move for pressure compensation by the corresponding pressure compensation device, thereby improving the polishing quality. Each polishing station can be adjusted individually to ensure the processing consistency of multiple polishing stations. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] 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.

[0018] Figure 1 A schematic diagram of the structure of a multi-station six-axis force-controlled 3D polishing machine provided by an embodiment of the utility model;

[0019] Figure 2 A schematic diagram of the structure of a pressure compensation device provided in an embodiment of the utility model;

[0020] Figure 3 A schematic diagram of the structure of the grinding head mechanism provided in an embodiment of the utility model;

[0021] In the figure: 1, base; 2, grinding head mechanism; 201, grinding head mounting base; 202, double-head motor; 203, grinding head; 3, B-axis swing arm mechanism; 301, U-shaped arm; 302, B-axis motor; 4, pressure sensing device; 401, YZ bidirectional pressure sensor; 402, first mounting base; 403, mounting plate; 5, pressure compensation device; 51, second mounting base; 52, Y-axis compensation mechanism; 521, small Y-axis motor; 522, small Y-axis slide rail; 5 23. Small Y-axis slider; 53. Z-axis compensation mechanism; 531. Small Z-axis motor; 532. Small Z-axis slide rail; 533. Small Z-axis slider; 6. Fixture mechanism; 61. Product fixture; 62. C-axis cradle; 621. C-axis motor seat; 622. C-axis turntable; 63. A-axis cradle; 631. A-axis motor seat; 632. A-axis turntable; 64. Automatic tool setting instrument; 7. Workbench; 8. X-axis linear module; 9. Y-axis linear module; 10. Z-axis linear module. 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 2As shown, the present embodiment provides a multi-station six-axis force-controlled 3D polishing machine, including a base 1, on which a grinding head mechanism 2, a workbench 7, a Z-axis linear module 10 for driving the grinding head mechanism 2 to move along the Z-axis direction, a B-axis swing arm mechanism 3 for driving the grinding head mechanism 2 to rotate around the B-axis, and an XY moving mechanism for driving the workbench 7 to move along the X-axis and Y-axis directions are arranged; a plurality of polishing stations are arranged on the workbench 7, each of which is provided with a fixture mechanism 6 for driving the product to rotate around the A-axis and the C-axis, and a pressure compensation device 5 for pressure compensation of the product, and the fixture mechanism 6 is slidably mounted on the pressure compensation device 5 through a pressure sensing device 4; a plurality of grinding head units corresponding to the polishing stations are arranged on the grinding head mechanism 2. In this embodiment, multiple fixture mechanisms 6 are used to drive multiple products to be processed to rotate around the A axis and the C axis respectively, and the XY moving mechanism is used to drive multiple products to move along the X axis and the Y axis. The Z-axis linear module 10 drives the grinding head mechanism 2 to move along the Z axis, and the B-axis swing arm mechanism 3 drives the grinding head mechanism 2 to rotate around the B axis, so as to realize six-axis five-linkage and polish the products on multiple polishing stations at the same time, with high efficiency and high precision, and meet the polishing requirements of complex surface products and large negative angles. At the same time, a pressure sensor device 4 and a pressure compensation device 5 are arranged between each fixture mechanism 6 and the workbench 7. The pressure between the corresponding product and the grinding head 203 of the grinding head unit is monitored in real time by the pressure sensor device 4, and the product is driven to move for pressure compensation by the corresponding pressure compensation device 5, so as to improve the polishing quality, and each polishing station can be adjusted separately to ensure the processing consistency of multiple polishing stations.

[0026] like Figure 1-Figure 2 As shown, four polishing stations are arranged on the workbench 7 , and each polishing station is provided with a fixture mechanism 6 , a pressure sensing device 4 and a pressure compensation device 5 .

[0027] In this embodiment, the pressure sensing device 4 includes a YZ bidirectional pressure sensor 401, a mounting plate 403 and a first mounting base 402, the fixture mechanism 6 is fixed on the mounting plate 403, the first mounting base 402 is slidably mounted on the pressure compensation device 5, and the YZ bidirectional pressure sensor 401 is arranged between the mounting plate 403 and the first mounting base 402. The YZ bidirectional pressure sensor 401 can simultaneously monitor the pressure between the product and the grinding head 203 in the Y-axis and Z-axis directions.

[0028] like Figure 2As shown, the pressure compensation device 5 includes a second mounting base 51, a Y-axis compensation mechanism 52 for compensating the pressure of the product in the Y-axis direction, and a Z-axis compensation mechanism 53 for compensating the pressure of the product in the Z-axis direction. The Y-axis compensation mechanism 52 is arranged on the workbench 7, the second mounting base 51 is slidably mounted on the Y-axis compensation mechanism 52, the Z-axis compensation mechanism 53 is arranged on the second mounting base 51, and the first mounting base 402 is slidably mounted on the Z-axis compensation mechanism 53. According to the pressure between the product and the grinding head 203 in the Y-axis and / or Z-axis direction monitored by the YZ bidirectional pressure sensor 401, the product is driven to move in the Y-axis and / or Z-axis direction through the pressure compensation device 5, and the distance between the grinding head 203 and the product is adjusted, so that the pressure between the product and the grinding head 203 is stable in the Y-axis and / or Z-axis direction, so as to achieve constant force grinding and improve the polishing quality.

[0029] Further, the Z-axis compensation mechanism 53 includes a small Z-axis motor 531, a small Z-axis screw, a small Z-axis nut threadedly connected to the small Z-axis screw, and a small Z-axis slide rail 532 arranged on both sides of the small Z-axis screw, the small Z-axis motor 531 is connected to the small Z-axis screw, a small Z-axis slider 533 is arranged on the small Z-axis slide rail 532, the small Z-axis nut and the small Z-axis slider 533 are both connected to the first mounting base 402, and the small Z-axis motor 531 and the small Z-axis slide rail 532 are both fixed on the second mounting base 51. The small Z-axis screw is driven to rotate by the small Z-axis motor 531, which drives the small Z-axis nut to move along the Z-axis direction, thereby driving the first mounting base 402 and the fixture mechanism 6 thereon to move along the Z-axis direction.

[0030] Further, the Y-axis compensation mechanism 52 includes a small Y-axis motor 521, a small Y-axis screw, a small Y-axis nut threadedly connected to the small Y-axis screw, and a small Y-axis slide rail 522 arranged on both sides of the small Y-axis screw, the small Y-axis motor 521 is connected to the small Y-axis screw, a small Y-axis slider 523 is arranged on the small Y-axis slide rail 522, the small Y-axis nut and the small Y-axis slider 523 are both connected to the second mounting base 51, and the small Y-axis motor 521 and the small Y-axis slide rail 522 are both fixed on the workbench 7. The small Y-axis screw is driven to rotate by the small Y-axis motor 521, which drives the small Y-axis nut to move along the Y-axis direction, thereby driving the second mounting base 51 and the Z-axis compensation mechanism 53 and the fixture mechanism 6 thereon to move along the Y-axis direction.

[0031] In this embodiment, the fixture mechanism 6 includes a product fixture 61 for fixing the product to be processed, an A-axis cradle 63 for driving the product fixture 61 to rotate around the A-axis, and a C-axis cradle 62 for driving the product fixture 61 to rotate around the C-axis, and the C-axis cradle 62 is rotatably mounted on the A-axis cradle 63. The product fixture 61 can fix the product to be processed by vacuum adsorption.

[0032] Furthermore, the C-axis cradle 62 includes a C-axis motor seat 621, a C-axis motor and a C-axis turntable 622. The C-axis motor seat 621 is rotatably mounted on the A-axis cradle 63. The C-axis motor is fixed in the C-axis motor seat 621. The C-axis turntable 622 is connected to the output shaft of the C-axis motor. The C-axis turntable 622 is driven to rotate by the C-axis motor, thereby driving the product fixture 61 to rotate around the C-axis.

[0033] Furthermore, the C-axis turntable 622 is located on the side of the C-axis motor seat 621, and the top surface of the C-axis motor seat 621 and the C-axis turntable 622 are both fixed with a product fixture 61. The product fixture 61 on the top surface of the C-axis motor seat 621 can only rotate around the A axis, and the product fixture 61 on the C-axis turntable 622 on the side of the C-axis motor seat 621 can rotate around the A axis and the C axis. The product fixtures 61 at the two positions can meet different product processing requirements and improve the utilization rate of the polishing machine. The product fixture 61 on the top surface of the C-axis motor seat 621 can also be equipped with an automatic tool setting instrument 64.

[0034] Further, the A-axis cradle 63 includes an A-axis motor seat 631, an A-axis motor and an A-axis turntable 632. The A-axis motor seat 631 is fixed on the pressure sensor device 4, the A-axis motor is fixed in the A-axis motor seat 631, the A-axis turntable 632 is connected to the output shaft of the A-axis motor, and the C-axis motor seat 621 is fixed on the A-axis turntable 632. The A-axis turntable 632 is driven to rotate by the A-axis motor, thereby driving the C-axis cradle 62 and the product fixture 61 thereon to rotate around the A-axis.

[0035] In one embodiment, the XY moving mechanism includes an X-axis linear module 8 for driving the worktable 7 to move along the X-axis direction and a Y-axis linear module 9 for driving the worktable 7 to move along the Y-axis direction. The Y-axis linear module 9 is arranged on the base 1, the X-axis linear module 8 is slidably mounted on the Y-axis linear module 9, and the worktable 7 is slidably mounted on the X-axis linear module 8.

[0036] In this embodiment, the Y-axis linear module 9 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 the Y-axis lead screw, 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 X-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 X-axis linear module 8 and the workbench 7 thereon to move along the Y-axis direction. A Y-axis shield is also installed on the Y-axis linear module 9.

[0037] In this embodiment, the X-axis linear module 8 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 X-axis mounting base, 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 workbench 7. 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 workbench 7 and the fixture mechanism 6 and the product thereon to move along the X-axis direction. An X-axis shield is also installed on the X-axis linear module 8.

[0038] In this embodiment, the Z-axis linear module 10 includes a Z-axis slide rail, a Z-axis slider, a Z-axis motor, a Z-axis screw rod, a Z-axis nut, a Z-axis mounting base, and a B-axis mounting base; the Z-axis mounting base is fixed on the base 1 and is located at one end of the Y-axis linear module 9, 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 3 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 3 and the grinding head mechanism 2 thereon to move along the Z-axis direction. A Z-axis shield is also installed on the Z-axis linear module 10.

[0039] like Figure 3 As shown, the grinding head mechanism 2 includes a grinding head mounting base 201, which is a rectangular structure and is arranged along the arrangement direction of the polishing stations. Multiple grinding head units are installed on the grinding head mounting base 201 at intervals, and rotating shafts are provided at both ends of the grinding head mounting base 201.

[0040] In one embodiment, the grinding head unit includes two double-headed motors 202 arranged in a vertically staggered manner, and a grinding head 203 is installed at both ends of each of the double-headed motors 202, and the four grinding heads 203 of the grinding head unit are respectively located on the four sides of the grinding head mounting base 201. The double-headed motor 202 is used to drive the two grinding heads 203 to rotate at the same time, which has a simple structure and saves space; and the four grinding heads 203 of each grinding head unit can use different consumables, so that the product can be clamped once and four polishing processes can be completed continuously, thereby improving the polishing efficiency.

[0041] The two output shafts of the double-headed motor 202 of the present embodiment are respectively connected to the grinding head 203 fixing seat, and the grinding head 203 can be detachably installed on the grinding head 203 fixing seat, and different consumables can be replaced to improve the utilization rate of the grinding machine, meet the high grinding requirements of products made of plastic, aluminum alloy, stainless steel, titanium alloy, glass, ceramics, etc., and have a wide range of applications.

[0042] Furthermore, the B-axis swing arm mechanism 3 includes a U-shaped arm 301 and a B-axis motor 302, the U-shaped arm 301 is slidably installed on the Z-axis linear module 10, the rotating shafts at both ends of the grinding head mechanism 2 are respectively rotatably connected to the two side arms of the U-shaped arm 301, and the B-axis motor 302 is fixed on the U-shaped arm 301 and connected to the rotating shaft at one end of the grinding head mechanism 2.

[0043] In this embodiment, the U-shaped arm 301 adopts a high-rigidity casting structure to ensure strength and rigidity. Specifically, the U-shaped arm 301 includes two side arms and a connecting arm connecting the two side walls, and the outer side of the connecting arm is fixed to the B-axis mounting base; the ends of the two side arms are provided with shaft holes, and bearings are installed in the shaft holes. The rotating shafts at both ends of the grinding head mounting base 201 of the grinding head mechanism 2 are respectively connected to the inner rings of the bearings in the two side arms, thereby realizing the rotation installation of the grinding head mechanism 2 in the U-shaped arm 301; the B-axis motor 302 is installed on the outer side of one of the side arms and connected to the rotating shaft in the side arm.

[0044] The multi-station six-axis force-controlled 3D polishing machine of this embodiment also includes an outer cover, and the grinding head mechanism 2, the workbench 7, the Z-axis linear module 10, the B-axis swing arm mechanism 3, the XY moving mechanism, the fixture mechanism 6, the pressure sensing device 4 and the pressure compensation device 5 are all located inside 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 polishing machine, and key components such as the grinding head mechanism 2, the workbench 7, the Z-axis linear module 10, the B-axis swing arm mechanism 3, the XY moving mechanism, the fixture mechanism 6, the pressure sensing device 4 and the pressure compensation device 5 are protected from contamination and damage, while improving product quality and operational safety.

[0045] 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 multi-station six-axis force-controlled 3D polishing machine, comprising a base, characterized in that: The base is provided with a grinding head mechanism, a workbench, a Z-axis linear module for driving the grinding head mechanism to move along the Z-axis direction, a B-axis swing arm mechanism for driving the grinding head mechanism to rotate around the B-axis, and an XY moving mechanism for driving the workbench to move along the X-axis and Y-axis directions; a plurality of polishing stations are arranged on the workbench, each of which is provided with a fixture mechanism for driving the product to rotate around the A-axis and the C-axis and a pressure compensation device for pressure compensation of the product, and the fixture mechanism is slidably mounted on the pressure compensation device through a pressure sensing device; the grinding head mechanism is provided with a plurality of grinding head units corresponding to the polishing stations one by one.

2. The multi-station six-axis force-controlled 3D polishing machine according to claim 1, characterized in that: The pressure sensing device includes a YZ bidirectional pressure sensor, a mounting plate and a first mounting base. The fixture mechanism is fixed on the mounting plate. The first mounting base is slidably mounted on the pressure compensation device. The YZ bidirectional pressure sensor is arranged between the mounting plate and the first mounting base.

3. The multi-station six-axis force-controlled 3D polishing machine according to claim 2, characterized in that: The pressure compensation device includes a second mounting base, a Y-axis compensation mechanism for compensating the pressure of the product in the Y-axis direction, and a Z-axis compensation mechanism for compensating the pressure of the product in the Z-axis direction. The Y-axis compensation mechanism is arranged on the workbench, the second mounting base is slidably installed on the Y-axis compensation mechanism, the Z-axis compensation mechanism is arranged on the second mounting base, and the first mounting base is slidably installed on the Z-axis compensation mechanism.

4. The multi-station six-axis force-controlled 3D polishing 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 an A-axis, and a C-axis cradle for driving the product jig to rotate around a C-axis, and the C-axis cradle is rotatably mounted on the A-axis cradle.

5. The multi-station six-axis force-controlled 3D polishing 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 rotatably mounted on the A-axis cradle, the C-axis motor is fixed in the C-axis motor seat, and the C-axis turntable is connected to the output shaft of the C-axis motor.

6. The multi-station six-axis force-controlled 3D polishing machine according to claim 5, characterized in that: The C-axis turntable is located on the side surface of the C-axis motor seat, and product fixtures are fixed on the top surface of the C-axis motor seat and the C-axis turntable.

7. The multi-station six-axis force-controlled 3D polishing machine according to claim 5, 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, the A-axis turntable is connected to the output shaft of the A-axis motor, and the C-axis motor seat is fixed on the A-axis turntable.

8. The multi-station six-axis force-controlled 3D polishing machine according to claim 1, characterized in that: The XY moving mechanism includes an X-axis linear module for driving the workbench to move along the X-axis direction and a Y-axis linear module for driving the workbench to move along the Y-axis direction. The Y-axis linear module is arranged on the base, the X-axis linear module is slidably mounted on the Y-axis linear module, and the workbench is slidably mounted on the X-axis linear module.

9. The multi-station six-axis force-controlled 3D polishing machine according to claim 1, characterized in that: The grinding head mechanism comprises a grinding head mounting base, which is a rectangular parallelepiped structure and is arranged along the arrangement direction of the polishing stations. A plurality of grinding head units are installed on the grinding head mounting base at intervals, and rotating shafts are provided at both ends of the grinding head mounting base.

10. The multi-station six-axis force-controlled 3D polishing machine according to claim 9, characterized in that: The B-axis swing arm mechanism includes a U-shaped arm and a B-axis motor. The U-shaped arm is slidably mounted on the Z-axis linear module. The rotating shafts at both ends of the grinding head mechanism are respectively rotatably connected to the two side arms of the U-shaped arm. The B-axis motor is fixed on the U-shaped arm and connected to the rotating shaft at one end of the grinding head mechanism.

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