Multi-station six-axis force control precision grinding machine and pressure compensation device thereof
By designing a multi-station six-axis force-controlled precision grinder and its pressure compensation device on the grinder, the problem of inconstant pressure caused by uneven wear of the grinder is solved, and constant force grinding and efficient and high-precision processing effects are achieved.
Patent Information
- Application Number
- CN202421345902.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-06-13
- Publication Date
- 2025-03-14
- Estimated Expiration
- 2034-06-13
AI Technical Summary
During long-term use of the grinder, uneven wear of the grinding head makes it difficult to maintain constant pressure between the product and the grinding head, affecting the grinding quality.
A multi-station six-axis force-controlled precision grinder and its pressure compensation device are designed. Through the pressure compensation mechanism in the Y-axis and Z-axis direction, the pressure stability between the product and the grinding head is achieved, and a six-axis five-linked system is used to improve processing efficiency and accuracy.
It realizes constant force grinding processing, improves grinding quality and processing consistency, improves grinding efficiency and accuracy, and meets the grinding needs of complex profile products and large negative angles.
Smart Images
Figure CN222609050U_ABST
Abstract
Description
Technical Field
[0001] The utility model belongs to the technical field of precision grinders, and in particular relates to a multi-station six-axis force-controlled precision grinder and a pressure compensation device thereof. 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 multi-station six-axis force-controlled precision grinder and a pressure compensation device thereof, which can realize constant force grinding and improve the grinding quality. At the same time, the products on multiple processing stations can be polished through six-axis five-linkage, with high efficiency and high precision, and can perform pressure compensation for each processing station separately to ensure the processing consistency of multiple processing stations.
[0004] To achieve the above-mentioned purpose, the technical solution of the utility model is a pressure compensation device of a multi-station six-axis force-controlled precision grinding machine, including 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 Z-axis compensation mechanism includes a lower wedge block, an upper wedge block, a driving assembly for driving the lower wedge block to move horizontally to push the upper wedge block to move along the Z-axis direction, and a guide assembly for guiding the upper wedge block to move along the Z-axis direction, the inclined surface of the upper wedge block slidingly cooperates with the inclined surface of the lower wedge block; the top surface of the upper wedge block is used to install a pressure sensing device, and the Z-axis compensation mechanism is slidably installed on the Y-axis compensation mechanism through a lifting base plate.
[0005] As one of the embodiments, the driving assembly includes a first motor, a first screw rod, a first nut threadedly connected to the first screw rod, and first slide rails arranged on both sides of the first screw rod, the first screw rod and the first slide rails are arranged in a horizontal direction, the first slide rails and the first motor are fixed on the lifting base plate; the first motor is connected to the first screw rod, a first slide rail is provided on the first slide rail, and the first nut and the first slide rail are connected to the lower wedge block.
[0006] As one of the implementation modes, a first guide rail is provided on the inclined surface of the lower wedge block, and the first guide rail is arranged along the inclination direction of the inclined surface of the lower wedge block; a first guide block is provided on the inclined surface of the upper wedge block, and the first guide block is slidably matched with the first guide rail.
[0007] As one of the embodiments, the guide assembly includes a fixed plate, a second guide rail and a second guide block, the fixed plate is arranged on the lifting base plate, the second guide block is fixed on the fixed plate, the second guide rail is arranged on the side of the upper wedge block and arranged in the vertical direction, and the second guide block is slidably matched with the second guide rail.
[0008] As one of the embodiments, the Y-axis compensation mechanism includes a second motor, a second screw rod, a second nut threadedly connected to the second screw rod, and second slide rails arranged on both sides of the second screw rod, the second motor is connected to the second screw rod, a second slide rail is arranged on the second slide rail, and the second nut and the second slide rail are both connected to the lifting base plate.
[0009] The utility model also provides a multi-station six-axis force-controlled precision grinding 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 processing 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 the pressure compensation device mentioned above, the fixture mechanism is installed on the upper wedge block through a pressure sensor device, and the Y-axis compensation mechanism is installed on the workbench; the grinding head mechanism is provided with a plurality of grinding head units corresponding to the processing stations one by one.
[0010] As one of the implementation modes, the pressure sensing device includes a YZ bidirectional pressure sensor and a jig mounting base, the jig mechanism is fixed on the jig mounting base, and the YZ bidirectional pressure sensor is arranged between the jig mounting base and the upper wedge block.
[0011] 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.
[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 multiple processing 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, a B-axis motor and a B-axis reducer. The U-shaped arm is slidably installed 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 connected to the rotating shaft at one end of the grinding head mechanism through the B-axis reducer.
[0014] Compared with the prior art, the utility model has the following beneficial effects:
[0015] (1) The pressure compensation device of the utility model can compensate the pressure of the product in the Y-axis and / or Z-axis direction, so that the pressure between the product and the grinding head is stable in the Y-axis and / or Z-axis direction, achieving constant force grinding and improving the grinding quality; at the same time, the upper wedge block is controlled to move along the Z-axis direction through the horizontal movement of the lower wedge block and the guidance of the guide component, so that the pressure between the product and the grinding head can be accurately regulated to ensure the uniformity of grinding and reduce the force on the drive component;
[0016] (2) 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 directions through the XY moving mechanism, drives the grinding head mechanism to move along the Z-axis direction 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 process products on multiple processing stations at the same time, with high efficiency and high precision, meeting the grinding requirements of complex surface products and large negative angles; and pressure sensing devices and pressure compensation devices are arranged between each fixture mechanism and the workbench, so that each processing station can perform pressure supplementation separately, thereby ensuring the processing consistency of multiple processing 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 pressure compensation device provided in an embodiment of the utility model;
[0019] Figure 2 A schematic diagram of the structure of a multi-station six-axis force-controlled precision grinding machine provided by 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. pressure compensation device; 11. Z-axis compensation mechanism; 111. lower wedge block; 112. upper wedge block; 113. first motor; 114. first slide rail; 115. first slider; 116. first guide rail; 117. first guide block; 118. second guide rail; 119. second guide block; 120. fixed plate; 12. Y-axis compensation mechanism; 121. second motor; 122. second slide rail; 123. second slider; 13. lifting bottom plate; 2. base; 3. Grinding head mechanism; 31. Grinding head mounting base; 32. Double-head motor; 33. Grinding head fixing seat; 4. B-axis swing arm mechanism; 41. U-shaped arm; 42. B-axis motor; 43. B-axis reducer; 5. Pressure sensing device; 51. YZ bidirectional pressure sensor; 52. Jig mounting base; 6. Jig mechanism; 61. Product jig; 62. C-axis cradle; 63. A-axis cradle; 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, this embodiment provides a pressure compensation device 1 for a multi-station six-axis force-controlled precision grinding machine, including a Y-axis compensation mechanism 12 for compensating the pressure of the product in the Y-axis direction and a Z-axis compensation mechanism 11 for compensating the pressure of the product in the Z-axis direction; the Z-axis compensation mechanism 11 includes a lower wedge block 111, an upper wedge block 112, a driving component for driving the lower wedge block 111 to move horizontally to push the upper wedge block 112 to move along the Z-axis direction, and a guide component for guiding the upper wedge block 112 to move along the Z-axis direction, the inclined surface of the upper wedge block 112 is slidably matched with the inclined surface of the lower wedge block 111; the top surface of the upper wedge block 112 is used to install the pressure sensor device 5 and the fixture mechanism 6, and the Z-axis compensation mechanism 11 is slidably installed on the Y-axis compensation mechanism 12 through a lifting base plate 13. The pressure compensation device 1 of this embodiment performs pressure compensation on the product in the Y-axis and / or Z-axis direction according to the pressure between the monitored product and the grinding head in the Y-axis and / or Z-axis direction, so that the pressure between the product and the grinding head is stable in the Y-axis and / or Z-axis direction, achieving constant force grinding and improving the grinding quality; at the same time, the upper wedge block 112 is controlled to move along the Z-axis direction through the horizontal movement of the lower wedge block 111 and the guidance of the guide assembly, so that the pressure between the product and the grinding head can be accurately regulated, thereby ensuring the uniformity of grinding and reducing the force on the drive assembly.
[0026] In one embodiment, the driving assembly includes a first motor 113, a first screw rod, a first nut threadedly connected to the first screw rod, and first slide rails 114 arranged on both sides of the first screw rod, the first screw rod and the first slide rail 114 are arranged in the horizontal direction, the first slide rail 114 and the first motor 113 are fixed on the lifting base plate 13; the first motor 113 is connected to the first screw rod, the first slide rail 114 is provided with a first slider 115, and the first nut and the first slider 115 are connected to the lower wedge block 111. The first motor 113 drives the first screw rod to rotate, driving the first nut to move in the horizontal direction, thereby driving the lower wedge block 111 to move in the horizontal direction. Figure 1 and Figure 2 As shown, the first screw rod and the first slide rail 114 are both arranged along the Y-axis direction. The driving assembly drives the lower wedge block 111 to move along the Y-axis direction, thereby pushing the upper wedge block 112 to move along the Z-axis direction, driving the product fixture thereon to move along the Z-axis direction, adjusting the distance between the product and the grinding head in the Z-axis direction, and performing pressure compensation on the product in the Z-axis direction.
[0027] like Figure 1As shown, the inclined surface of the upper wedge block 112 is downward, the inclined surface of the lower wedge block 111 is upward, and the inclined surface of the lower wedge block 111 is arranged parallel to the inclined surface of the upper wedge block 112; the top surface of the upper wedge block 112 is arranged horizontally; the bottom of the lower wedge block 111 is provided with a groove for mounting the first nut, and the groove is located between the two first sliders 115.
[0028] In this embodiment, a first guide rail 116 is provided on the inclined surface of the lower wedge block 111, and the first guide rail 116 is arranged along the inclined direction of the inclined surface of the lower wedge block 111; a first guide block 117 is provided on the inclined surface of the upper wedge block 112, and the first guide block 117 is slidably matched with the first guide rail 116. Further, two first guide rails 116 are provided on the inclined surface of the lower wedge block 111 and are respectively located on both sides of the first screw rod, and first guide blocks 117 are provided on the inclined surface of the upper wedge block 112 at positions corresponding to the two first guide rails 116. Through the sliding cooperation between the first guide block 117 and the first guide rail 116, the inclined surface of the upper wedge block 112 can slide smoothly on the inclined surface of the lower wedge block 111, thereby reducing the driving force of the driving assembly.
[0029] In one embodiment, the guide assembly includes a fixed plate 120, a second guide rail 118 and a second guide block 119. The bottom of the fixed plate 120 is arranged on the lifting base plate 13. The second guide block 119 is fixed on the fixed plate 120. The second guide rail 118 is arranged on the side of the upper wedge block 112 and arranged in the vertical direction. The second guide block 119 slides with the second guide rail 118. Further, two second guide rails 118 are arranged on the side of the upper wedge block 112 and are respectively located on both sides of the first screw rod. Second guide blocks 119 are arranged at positions corresponding to the two second guide rails 118 on the fixed plate 120. The second guide block 119 slides with the second guide rail 118 to ensure that the upper wedge block 112 moves along the Z-axis direction.
[0030] In this embodiment, the Y-axis compensation mechanism 12 includes a second motor 121, a second screw rod, a second nut threadedly connected to the second screw rod, and second slide rails 122 arranged on both sides of the second screw rod. The second motor 121 is connected to the second screw rod, and a second slider 123 is arranged on the second slide rail 122. The second nut and the second slider 123 are both connected to the lifting base plate 13. The second slide rail 122 and the second motor 121 are both arranged on the workbench 7. The second screw rod and the second slide rail 122 are both arranged along the Y-axis direction. The second motor 121 drives the second screw rod to rotate, driving the second nut to move along the Y-axis direction, thereby driving the lifting base plate 13 and the Z-axis compensation mechanism 11 and the product fixture thereon to move along the Y-axis direction, adjusting the distance between the product and the grinding head in the Y-axis direction, and performing pressure compensation on the product in the Y-axis direction.
[0031] The present embodiment also provides a multi-station six-axis force-controlled precision grinding machine, including a base 2, on which are provided a grinding head mechanism 3, a workbench 7, a Z-axis linear module 10 for driving the grinding head mechanism 3 to move along the Z-axis direction, a B-axis swing arm mechanism 4 for driving the grinding head mechanism 3 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; the workbench 7 is provided with a plurality of processing stations, 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 the pressure compensation device 1 mentioned above, the fixture mechanism 6 is installed on the upper wedge block 112 through the pressure sensor device 5, and the Y-axis compensation mechanism 12 is installed on the workbench 7; the grinding head mechanism 3 is provided with a plurality of grinding head units corresponding to the processing stations one by one. 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 3 to move along the Z axis, and the B-axis swing arm mechanism 4 drives the grinding head mechanism 3 to rotate around the B axis, so as to realize six-axis five-linkage and process products on multiple processing stations at the same time, with high efficiency and high precision, and meet the grinding requirements of complex surface products and large negative angles. At the same time, a pressure sensing device 5 and a pressure compensation device 1 are arranged between each fixture mechanism 6 and the workbench 7, and 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 5, and the product is driven to move for pressure compensation by the corresponding pressure compensation device 1, so as to improve the polishing quality, and each processing station can be adjusted separately to ensure the processing consistency of multiple processing stations.
[0032] like Figure 2 As shown, five processing stations are arranged on the workbench 7 , and each processing station is provided with a fixture mechanism 6 , a pressure sensing device 5 and a pressure compensation device 1 .
[0033] like Figure 1 and Figure 2 As shown, the pressure sensing device 5 includes a YZ bidirectional pressure sensor 51 and a fixture mounting base 52, the fixture mechanism 6 is fixed on the fixture mounting base 52, and the YZ bidirectional pressure sensor 51 is arranged between the fixture mounting base 52 and the upper wedge block 112. The YZ bidirectional pressure sensor 51 can simultaneously monitor the pressure between the product and the grinding head in the Y-axis and Z-axis directions.
[0034] In this embodiment, the jig mechanism 6 includes a product jig 61 for fixing the product to be processed, an A-axis cradle 63 for driving the product jig 61 to rotate around the A-axis, and a C-axis cradle 62 for driving the product jig 61 to rotate around the C-axis, the C-axis cradle 62 is rotatably mounted on the A-axis cradle 63, and the A-axis cradle 63 is mounted on the jig mounting base 52. The product jig 61 can fix the product to be processed by vacuum adsorption.
[0035] Furthermore, the A-axis cradle 63 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 5, the A-axis motor is fixed in the A-axis motor seat, and the A-axis turntable is located on the side of the A-axis motor seat and connected to the output shaft of the A-axis motor. The A-axis motor seat is fixed on the fixture mounting base 52. The A-axis turntable 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.
[0036] Furthermore, the C-axis cradle 62 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 located on the top surface of the C-axis motor seat and is connected to the output shaft of the C-axis motor, and the product fixture 61 is fixed on the C-axis turntable. The C-axis turntable is driven to rotate by the C-axis motor, thereby driving the product fixture 61 to rotate around the C-axis.
[0037] 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 2, 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.
[0038] 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 X-axis mounting base; the Y-axis motor and the Y-axis slide rail are fixed on the base 2, 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 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.
[0039] 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 and an X-axis nut; 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 the 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.
[0040] 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 2 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 4 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 4 and the grinding head mechanism 3 thereon to move along the Z-axis direction. A Z-axis shield is also installed on the Z-axis linear module 10.
[0041] like Figure 3 As shown, the grinding head mechanism 3 includes a grinding head mounting base 31, which is a rectangular structure and is arranged along the arrangement direction of multiple processing stations. Multiple grinding head units are installed on the grinding head mounting base 31 at intervals, and rotating shafts are provided at both ends of the grinding head mounting base 31.
[0042] In one embodiment, the grinding head unit includes two double-headed motors 32 arranged vertically and staggered, and grinding heads are installed at both ends of each double-headed motor 32, and the four grinding heads of the grinding head unit are respectively located on the four sides of the grinding head mounting base 31. The double-headed motor 32 is used to drive the two grinding heads to rotate at the same time, which has a simple structure and saves space; and the four grinding heads of each grinding head unit can use different consumables, so that the product can be clamped once and four grinding processes can be completed continuously, thereby improving the grinding efficiency.
[0043] The two output shafts of the double-headed motor 32 of the present embodiment are respectively connected to the grinding head fixing seat 33, and the grinding head can be detachably mounted on the grinding head fixing seat 33. 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.
[0044] Furthermore, the B-axis swing arm mechanism 4 includes a U-shaped arm 41, a B-axis motor 42 and a B-axis reducer 43. The U-shaped arm 41 is slidably installed on the Z-axis linear module 10. The rotating shafts at both ends of the grinding head mechanism 3 are respectively rotatably connected to the two side arms of the U-shaped arm 41. The B-axis motor 42 is connected to the rotating shaft at one end of the grinding head mechanism 3 through the B-axis reducer 43.
[0045] In this embodiment, the U-shaped arm 41 adopts a high-rigidity casting structure to ensure strength and rigidity. Specifically, the U-shaped arm 41 includes two side arms and a connecting arm connecting the two side walls, and the outer side of the connecting arm is fixedly connected 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 31 of the grinding head mechanism 3 are respectively connected to the inner rings of the bearings in the two side arms, so as to realize the rotation installation of the grinding head mechanism 3 in the U-shaped arm 41; the B-axis reducer 43 is installed on the outer side of one of the side arms and connected to the rotating shaft in the side arm.
[0046] 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 pressure compensation device for a multi-station six-axis force-controlled precision grinding machine, characterized in that: It includes 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 Z-axis compensation mechanism includes a lower wedge block, an upper wedge block, a driving component for driving the lower wedge block to move horizontally to push the upper wedge block to move along the Z-axis direction, and a guiding component for guiding the upper wedge block to move along the Z-axis direction, the inclined surface of the upper wedge block is slidably matched with the inclined surface of the lower wedge block; the top surface of the upper wedge block is used to install a pressure sensor device, and the Z-axis compensation mechanism is slidably installed on the Y-axis compensation mechanism through a lifting base plate.
2. The pressure compensation device according to claim 1, characterized in that: The driving assembly includes a first motor, a first screw rod, a first nut threadedly connected to the first screw rod, and first slide rails arranged on both sides of the first screw rod, the first screw rod and the first slide rails are arranged in a horizontal direction, and the first slide rails and the first motor are fixed on the lifting base plate; the first motor is connected to the first screw rod, and a first slider is arranged on the first slide rail, and the first nut and the first slider are connected to the lower wedge block.
3. The pressure compensation device according to claim 1, characterized in that: A first guide rail is arranged on the inclined surface of the lower wedge-shaped block, and the first guide rail is arranged along the inclined direction of the inclined surface of the lower wedge-shaped block; a first guide block is arranged on the inclined surface of the upper wedge-shaped block, and the first guide block is slidably matched with the first guide rail.
4. The pressure compensation device according to claim 1, characterized in that: The guide assembly includes a fixed plate, a second guide rail and a second guide block. The fixed plate is arranged on the lifting base plate, the second guide block is fixed to the fixed plate, the second guide rail is arranged on the side of the upper wedge block and arranged in the vertical direction, and the second guide block slides with the second guide rail.
5. The pressure compensation device according to claim 1, characterized in that: The Y-axis compensation mechanism includes a second motor, a second screw rod, a second nut threadedly connected to the second screw rod, and second slide rails arranged on both sides of the second screw rod. The second motor is connected to the second screw rod, and a second slider is arranged on the second slide rail. The second nut and the second slider are both connected to the lifting base plate.
6. A multi-station six-axis force-controlled precision grinding 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 processing 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 the pressure compensation device according to any one of claims 1 to 5, the fixture mechanism is installed on the upper wedge block through a pressure sensor device, and the Y-axis compensation mechanism is installed on the workbench; the grinding head mechanism is provided with a plurality of grinding head units corresponding to the processing stations one by one.
7. The multi-station six-axis force-controlled precision grinding machine according to claim 6, characterized in that: The pressure sensing device comprises a YZ bidirectional pressure sensor and a fixture mounting base, the fixture mechanism is fixed on the fixture mounting base, and the YZ bidirectional pressure sensor is arranged between the fixture mounting base and the upper wedge block.
8. The multi-station six-axis force-controlled precision grinding machine according to claim 7, 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.
9. The multi-station six-axis force-controlled precision grinding machine according to claim 6, characterized in that: The grinding head mechanism includes a grinding head mounting base, which is a rectangular structure and is arranged along the arrangement direction of multiple processing 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.
10. The multi-station six-axis force-controlled precision grinding machine according to claim 9, characterized in that: The B-axis swing arm mechanism includes a U-shaped arm, a B-axis motor and a B-axis reducer. The U-shaped arm is slidably mounted on the Z-axis. On the linear module, the rotating shafts at both ends of the grinding head mechanism are rotatably connected to the two side arms of the U-shaped arm respectively. The B-axis motor is connected to the rotating shaft at one end of the grinding head mechanism through a B-axis reducer.