A grinding mechanism with multiple degrees of freedom

Abstract

The utility model discloses a multi-degree-of-freedom grinding mechanism, comprising: a base; a shoulder lever arm, one end of which is rotatably connected to the base through a base shoulder axis; an elbow lever arm, one end of which is rotatably connected to the remaining end of the shoulder lever arm through a shoulder elbow axis; a wrist lever arm, one end of which is rotatably connected to the remaining end of the elbow lever arm through an elbow wrist axis; a palm end lever arm, one end of which is rotatably connected to the remaining end of the wrist lever arm through a wrist palm axis; a terminal lever arm, one end of which is rotatably connected to the remaining end of the palm end lever arm through a palm terminal axis; and a grinding head, which is fixedly connected to the remaining end of the terminal lever arm; wherein the base shoulder axis, the shoulder elbow axis, and the elbow wrist axis are all horizontally arranged and parallel to each other, the wrist palm axis is perpendicular to the elbow wrist axis, and the palm terminal axis is perpendicular to the wrist palm axis and the elbow wrist axis. The grinding mechanism enables the grinding head to perform at least 6 directions of movement, so that the grinding head can grind complex shapes.

Description

Technical Field

[0001] The utility model relates to the field of polishing robots, in particular to a polishing mechanism with multiple degrees of freedom. Background Art

[0002] In the fields of aviation, ships, bridges, etc., the grinding tasks for large-sized and complex-shaped parts are increasing. The control accuracy and flexibility of the multi-degree-of-freedom robotic arms of traditional grinding robots still have certain limitations, and it is difficult to meet the high-precision grinding needs of complex parts.

[0003] For example, parts with webs, wing plates and flange plates usually have multiple curved surfaces and connection parts, and their grinding tasks are more difficult. In addition, the webs of these parts are usually erected at a height above the ground, and workers need to climb and work at high altitudes, which increases the risk and difficulty of the grinding work.

[0004] Therefore, developing a robot capable of high-precision grinding at different heights and in complex environments has important practical significance and application prospects. Utility Model Content

[0005] The utility model aims to provide a multi-degree-of-freedom grinding mechanism to solve the problem that the grinding accuracy and flexibility of the existing grinding robots are limited.

[0006] In order to solve the above technical problems, the utility model specifically provides the following technical solutions:

[0007] A multi-degree-of-freedom grinding mechanism comprises: a base; a shoulder lever, one end of which is rotatably connected to the base through a base shoulder axis, and is connected to the base through a third rotation driver; an elbow lever, one end of which is rotatably connected to the remaining end of the shoulder lever through a shoulder-elbow axis, and is connected to the shoulder lever through a fourth rotation driver; a wrist lever, one end of which is rotatably connected to the remaining end of the elbow lever through an elbow-wrist axis, and is connected to the elbow lever through a fifth rotation driver; a palm-end lever, one end of which is rotatably connected to the remaining end of the wrist lever through a wrist-palm axis, and is connected to the wrist lever through a sixth rotation driver; an end lever, one end of which is rotatably connected to the remaining end of the palm-end lever through a palm-end axis; and a grinding head, which is fixedly connected to the remaining end of the end lever; wherein the base shoulder axis, the shoulder-elbow axis, and the elbow-wrist axis are all horizontally arranged and parallel to each other, the wrist-palm axis is perpendicular to the elbow-wrist axis, and the palm-end axis is perpendicular to the wrist-palm axis and the elbow-wrist axis.

[0008] Furthermore, a second rotation driver is installed at the bottom of the base, and the axis of the second rotation driver is vertically arranged so that the base can rotate around the vertical axis.

[0009] Furthermore, the second rotary drive is an electric indexing plate.

[0010] Furthermore, the elbow lever comprises a first rod portion and a second rod portion slidably connected to each other, and a third telescopic rod connecting the first rod portion and the second rod portion, so that the length of the elbow lever can be adjusted.

[0011] Furthermore, the third rotation driver includes a fourth telescopic rod connecting the base and the shoulder lever arm, and is used for driving the shoulder lever arm to swing.

[0012] Furthermore, the fourth rotation driver includes a fifth telescopic rod connecting the shoulder lever and the elbow lever, and is used for driving the elbow lever to swing.

[0013] Furthermore, the fifth rotation driver includes: a double rocker mechanism, including a first connecting rod, the elbow lever arm, the wrist lever arm and a second connecting rod hinged in sequence; a sixth telescopic rod, one end of which is rotatably connected to the elbow lever arm through a third pin shaft, and the other end of which is rotatably connected to the intersection of the first connecting rod and the second connecting rod.

[0014] Furthermore, the double rocker mechanism also includes a fourth pin; one end of the first connecting rod is rotatably connected to the elbow lever arm through the first pin; one end of the second connecting rod is rotatably connected to the wrist lever arm through the second pin; the fourth pin is rotatably connected to the remaining end of the first connecting rod, the remaining end of the second connecting rod and one end of the sixth telescopic rod; wherein the elbow-wrist axis, the first pin, the second pin, the third pin and the fourth pin are parallel to each other, the first pin is located on the side of the elbow-wrist axis away from the wrist lever arm, the second pin is located on the side of the elbow-wrist axis away from the elbow lever arm, and the third pin is located on the side of the first pin away from the wrist lever arm.

[0015] Furthermore, the sixth rotary driver is an electric indexing plate.

[0016] Furthermore, the grinding head includes: a shell, fixedly connected to the end force arm, and a grinding rod, rotatably connected to the shell; and a motor, fixedly connected to the shell and connected to the grinding rod via the chain transmission mechanism.

[0017] Compared with the prior art, this application has the following beneficial effects:

[0018] A multi-freedom grinding mechanism is provided, which comprises at least 6 rotation axes, so that a grinding head can move in at least 6 directions and grind complex shapes. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the implementation of the utility model or the technical solution in the prior art, the following is a brief introduction to the drawings required for the implementation or the prior art description. Obviously, the drawings in the following description are only exemplary, and for ordinary technicians in this field, other implementation drawings can be derived from the provided drawings without creative work.

[0020] Figure 1 A three-dimensional diagram of an embodiment of the utility model;

[0021] Figure 2 A schematic diagram of a climbing action according to an embodiment of the present utility model;

[0022] Figure 3 It is a front view of the walking mechanism of an embodiment of the utility model;

[0023] Figure 4 This is a top view of the walking mechanism of the embodiment of the utility model after the top shell is removed;

[0024] Figure 5 It is a side view of the first telescopic rod and the active roller of the embodiment of the utility model;

[0025] Figure 6 for Figure 5 Cross-sectional view in the AA direction;

[0026] Figure 7 A side view of a second telescopic rod and a driven roller according to an embodiment of the utility model;

[0027] Figure 8 for Figure 7 Cross-sectional view in the BB direction;

[0028] Fig. 9 A schematic diagram of a grinding action according to an embodiment of the present utility model;

[0029] Fig.10 This is a front view of a multi-degree-of-freedom robot arm and a grinding head according to an embodiment of the utility model;

[0030] Fig.11 A three-dimensional diagram of a multi-degree-of-freedom robot arm and a grinding head according to an embodiment of the utility model;

[0031] Fig.12 A three-dimensional diagram of a grinding head according to an embodiment of the present utility model;

[0032] The numbers in the figure represent the following:

[0033] 1-walking mechanism; 11-body; 12-driving roller; 13-driven roller; 14-first telescopic rod; 15-second telescopic rod; 16-wheel body; 17-wheel axle; 18-wheel seat; 19-first rotary drive; 2-steering gear; 21-slewing bearing; 22-sprocket; 23-chain; 24-steering push rod; 3-multi-freedom mechanical arm; 31-base; 311-second rotary drive; 32-shoulder force arm; 321-base shoulder shaft; 322-third rotary drive; 33-elbow force arm; 331-shoulder elbow shaft; 332-fourth rotary drive; 333-first rod; 334- The second rod; 335-the third telescopic rod; 34-the wrist force arm; 341-the elbow-wrist axis; 342-the fifth rotary drive; 343-the first connecting rod; 344-the first pin; 345-the second connecting rod; 346-the second pin; 347-the sixth telescopic rod; 348-the third pin; 349-the fourth pin; 35-the palm force arm; 351-the wrist-palm axis; 352-the sixth rotary drive; 36-the end force arm; 361-the palm end axis; 4-the grinding head; 41-the housing; 42-the grinding stick; 43-the motor; 44-the chain transmission mechanism; 5-the power source; 51-the hydraulic pump station assembly; 52-the battery. DETAILED DESCRIPTION

[0034] 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 in 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.

[0035] The following provides a multi-degree-of-freedom grinding mechanism and a self-propelled grinding machine having the same. Figure 1 A three-dimensional picture of a self-propelled grinder is presented, combined with Figure 1 .

[0036] Self-propelled grinding machines include:

[0037] Walking mechanism 1, used for walking, turning and climbing;

[0038] A multi-degree-of-freedom mechanical arm 3 is installed on the walking mechanism 1;

[0039] The grinding head 4 is mounted on the execution part of the multi-degree-of-freedom robot arm 3;

[0040] The power source 5 is installed on the walking mechanism 1 and is used to provide power to the walking mechanism 1 , the multi-degree-of-freedom robot arm 3 and the grinding head 4 .

[0041] The multi-degree-of-freedom robot arm 3 and the grinding head 4 constitute a multi-degree-of-freedom grinding mechanism.

[0042] (Description of the Traveling Mechanism 1)

[0043] The traveling mechanism 1 includes a driving roller 12 capable of traveling, turning, and lifting, and a driven roller 13 capable of lifting. Figure 2 The climbing process of the walking mechanism 1 is shown. When the walking mechanism 1 encounters an obstacle, the active roller 12 is lowered to make the main body of the walking mechanism 1 higher than the obstacle, and then the active roller 12 and the driven roller 13 are successively raised and lowered to transfer the walking mechanism 1 to the top of the obstacle.

[0044] Figure 3 The front view of the walking mechanism 1 is shown. Figure 3 .

[0045] The walking mechanism 1 comprises:

[0046] The vehicle body 11 is used to install the multi-degree-of-freedom robot arm 3 and the power source 5;

[0047] The active roller 12 is connected to the vehicle body 11 via a first telescopic rod 14;

[0048] The driven roller 13 is connected to the vehicle body 11 via a second telescopic rod 15 .

[0049] The active roller 12 is used to drive the vehicle body 11 forward and backward, the driven roller is used to provide support for the vehicle body 11 when the active roller 12 is raised, the first telescopic rod 14 is used to drive the vehicle body 11 to rise so that the vehicle body 11 is higher than the obstacle, and the second telescopic rod 15 is used to drive the driven roller 13 to rise or fall so that the driven roller 13 contacts the ground or the top surface of the obstacle.

[0050] Figure 4 The top surface of the walking mechanism 1 after removing the top shell is shown. Figure 4 .

[0051] The self-propelled grinder also includes a steering gear 2, which is fixedly connected to the vehicle body 11 and has a plurality of actuators arranged on the peripheral side of the vehicle body 11. The first telescopic rod 14 is fixedly connected to the actuator of the steering gear 2. The steering gear 2 is used to rotate the first telescopic rod 14 so that the active roller 12 rotates accordingly, thereby changing the moving direction of the vehicle body 11.

[0052] Steering machine 2 includes:

[0053] The slewing bearing 21 includes an inner ring and an outer ring that can rotate relative to each other, the outer ring is fixedly connected to the vehicle body 11 to provide support for the inner ring, and the inner ring is fixedly connected to the first telescopic rod 14 to enable the first telescopic rod 14 to rotate around a vertical axis;

[0054] The sprocket 22 is coaxial with the slewing bearing 21 and fixedly connected to the first telescopic rod 14;

[0055] The chain 23 is wound around and meshes with two sprocket wheels 22 located at the front end or the rear end of the vehicle body 11, so that the two first telescopic rods 14 can rotate synchronously;

[0056] The steering push rod 24 is fixedly connected to the vehicle body 11 , and includes an actuator that is fixedly connected to the chain 23 and can move along the moving direction of the chain 23 .

[0057] The steering push rod 24 connects the two ends of the chain 23. The steering push rod 24 drives the two ends of the chain 23 to move synchronously with hydraulic power, so that the two sprockets 22 engaged with the chain 23 rotate synchronously, and then the first telescopic rod 14 and the active roller 12 rotate, thereby changing the moving direction of the vehicle body 11.

[0058] Figure 5 The side view of the first telescopic rod 14 and the driving roller 12 is shown. Figure 6 Shown Figure 5 The cross section in the AA direction, Figure 7 The side view of the second telescopic rod 15 and the driven roller 13 is shown. Figure 8 Shown Figure 7 The cross section in the BB direction, combined with Figure 5 , Figure 6 , Figure 7 , Figure 8 .

[0059] The first telescopic rod 14 and the second telescopic rod 15 are both servo electric push rods.

[0060] The driving roller 12 and the driven roller 13 each include a wheel body 16, a wheel axle 17 and a wheel seat 18. The wheel body 16 is a solid wheel. The wheel body 16 is rotatably connected to the wheel seat 18 via the wheel axle 17. The wheel seat 18 is used to fixedly connect the actuator of the servo electric push rod.

[0061] The active roller 12 further includes a first rotary driver 19 which is connected to the wheel shaft 17 in a transmission manner. The first rotary driver 19 is a hydraulic travel motor or a servo motor.

[0062] It should also be noted that:

[0063] In order to enable the driving rollers 12 to well support the vehicle body 11 and guide the vehicle body 11 to move, there are four driving rollers 12 respectively disposed at four corners of the vehicle body 11 , and the driving rollers 12 include a single wheel body 16 .

[0064] In order to enable the driven roller 13 to well support the vehicle body 11 and guide the moving direction of the vehicle body 11, the driven roller 13 includes at least two coaxial wheels 16, and the driven roller 13 is arranged on both sides of the forward direction of the vehicle body 11, and the driven roller 13 is located on the center line of the forward direction of the vehicle body 11.

[0065] (About multi-degree-of-freedom robotic arm 3)

[0066] The multi-degree-of-freedom robot arm 3 can grind the convex and concave surfaces of the web, wing plate and flange of the parts and their connection parts. Fig. 9 The grinding process of the multi-degree-of-freedom robot 3 is presented, combined with Fig. 9 The multi-degree-of-freedom robot 3 has 7 degrees of freedom. Fig. 9 Along (a) to Fig. 9 (g), the grinding head 4 grinds the edge of the flange plate, the root of the flange plate, the outer convex surface, the web, the top of the flange plate, the root of the flange plate, and the inner concave surface respectively.

[0067] Fig.10 The front side of the multi-degree-of-freedom robot arm 3 is shown. Fig.11 A multi-degree-of-freedom robot 3 is presented, combined with Fig.10 , Fig.11 .

[0068] The multi-degree-of-freedom robot arm 3 includes:

[0069] The base 31 is connected to the vehicle body 11 via a second rotation driver 311;

[0070] A shoulder lever arm 32, one end of which is rotatably connected to the base 31 via a base shoulder shaft 321, and is connected to the base 31 via a third rotation driver 322;

[0071] an elbow lever arm 33, one end of which is rotatably connected to the remaining end of the shoulder lever arm 32 via a shoulder elbow shaft 331, and is connected to the shoulder lever arm 32 via a fourth rotary driver 332;

[0072] A wrist lever arm 34, one end of which is rotatably connected to the remaining end of the elbow lever arm 33 via an elbow-wrist shaft 341, and is connected to the elbow lever arm 33 via a fifth rotary driver 342;

[0073] A palm lever arm 35, one end of which is rotatably connected to the remaining end of the wrist lever arm 34 via a wrist palm axis 351, and is connected to the wrist lever arm 34 via a sixth rotary driver 352;

[0074] The end lever arm 36 has one end rotatably connected to the remaining end of the palm lever arm 35 through the palm end shaft 361, and the other end connected to the grinding head 4;

[0075] in,

[0076] The elbow lever 33 includes a first rod portion 333 and a second rod portion 334 that are slidably connected to each other, and a third telescopic rod 335 that connects the first rod portion 333 and the second rod portion 334, so that the length of the elbow lever 33 can be adjusted;

[0077] The axis of the second rotation driver 311 is vertically arranged, so that the base 31 can rotate around the vertical axis;

[0078] The base shoulder axis 321 , the shoulder-elbow axis 331 , and the elbow-wrist axis 341 are all arranged horizontally and parallel to each other, the wrist-palm axis 351 is perpendicular to the elbow-wrist axis 341 , and the palm-end axis 361 is perpendicular to the wrist-palm axis 351 and the elbow-wrist axis 341 .

[0079] The multi-degree-of-freedom robot arm 3 of this embodiment enables the grinding head 4 to have six rotational degrees of freedom and one linear movement degree of freedom.

[0080] Specific, combined Fig.10 , Fig.11 .

[0081] The second rotation driver 311 is an electric indexing plate, which is used to drive the base 31 to rotate precisely.

[0082] The third rotation driver 322 includes a fourth telescopic rod connecting the base 31 and the shoulder arm 32, and is used for driving the shoulder arm 32 to swing.

[0083] The fourth rotation driver 332 includes a fifth telescopic rod connecting the shoulder lever 32 and the elbow lever 33, and is used for driving the elbow lever 33 to swing.

[0084] The fifth rotary driver 342 includes:

[0085] A double rocker mechanism, comprising a first connecting rod 343, the elbow lever arm 33, the wrist lever arm 34 and a second connecting rod 345 which are hinged in sequence;

[0086] The sixth telescopic rod 347 has one end rotatably connected to the elbow lever arm 33 via a third pin shaft 348 , and the other end rotatably connected to the intersection of the first connecting rod 343 and the second connecting rod 345 .

[0087] The sixth telescopic rod 347 is used to drive the rocker of the double rocker mechanism to swing. The double rocker mechanism has a large swing angle, which can enable the wrist force arm 34 to flip at a very large angle.

[0088] The double rocker mechanism includes:

[0089] A first connecting rod 343, one end of which is rotatably connected to the elbow arm 33 via a first pin shaft 344;

[0090] A second connecting rod 345, one end of which is rotatably connected to the wrist arm 34 via a second pin shaft 346;

[0091] The fourth pin shaft 349 rotatably connects the first connecting rod 343 , the remaining end of the second connecting rod 345 , and the actuator of the sixth telescopic rod 347 ;

[0092] Among them, the elbow-wrist axis 341, the first pin axis 344, the second pin axis 346, the third pin axis 348 and the fourth pin axis 349 are parallel to each other, the first pin axis 344 is located on the side of the elbow-wrist axis 341 away from the wrist lever arm 34, the second pin axis 346 is located on the side of the elbow-wrist axis 341 away from the elbow lever arm 33, and the third pin axis 348 is located on the side of the first pin axis 344 away from the wrist lever arm 34.

[0093] The two rockers of the double rocker mechanism are the first connecting rod 343 and the wrist lever arm 34. When the distance between the first pin shaft 344 and the fourth pin shaft 349 is greater than the distance between the second pin shaft 346 and the fourth pin shaft 349, the swing angle of the first connecting rod 343 is smaller than the swing angle of the wrist lever arm 34, so that the sixth telescopic rod 347 only needs to drive the first connecting rod 343 to swing a smaller angle to drive the wrist lever arm 34 to swing a larger angle.

[0094] The sixth rotary driver 352 is an electric indexing plate or a rotary cylinder, which is used to drive the grinding head 4 to rotate around its own vertical line, so that the grinding head 4 can be easily moved along the length direction or width direction of the part.

[0095] The third telescopic rod 335 , the fourth telescopic rod, the fifth telescopic rod and the sixth telescopic rod 347 are all hydraulic push rods.

[0096] The end force arm 36 can freely rotate around the palm end axis 361, providing the grinding head 4 with a follow-up function to always rotate in close contact with the grinding surface.

[0097] (Explanation of grinding head 4)

[0098] Fig.12 A three-dimensional diagram of the grinding head 4 is shown, combined with Fig.12 .

[0099] The grinding head 4 comprises:

[0100] The housing 41 is fixedly connected to the end lever arm 36.

[0101] A grinding stick 42 rotatably connected to the housing 41;

[0102] The motor 43 is fixedly connected to the housing 41 and is connected to the grinding stick 42 via a chain transmission mechanism 44 .

[0103] Fig.12Two grinding rollers 42 and two motors 43 are shown symmetrically connected to both sides of the housing 41.

[0104] (About power source 5)

[0105] The power source 5 is preferably a hydraulic pump station assembly 51 and a battery 52. ​​The hydraulic pump station assembly 51 is installed above the vehicle body 11, and the battery 52 is installed inside the vehicle body 11. The hydraulic pump station assembly 51 and the battery 52 provide hydraulic power and electricity to the walking mechanism 1 and the multi-degree-of-freedom robotic arm 3.

[0106] (Other things that need to be explained)

[0107] The storage battery 52 is a lithium battery with a large capacity; each axis of the multi-degree-of-freedom robot arm 3 is equipped with a sensor, which can remember various grinding postures; the grinding rod 42 is a wire roller, and the vehicle body 11 is equipped with a navigation system and an obstacle avoidance system.

[0108] The above embodiments are only exemplary embodiments of the present invention and are not intended to limit the present invention. The protection scope of the present invention is defined by the claims. Those skilled in the art may make various modifications or equivalent substitutions to the present invention within the essence and protection scope of the present invention, and such modifications or equivalent substitutions shall also be deemed to fall within the protection scope of the present invention.

Claims

1. A multi-degree-of-freedom grinding mechanism, characterized in that: include: Base (31); A shoulder lever arm (32), one end of which is rotatably connected to the base (31) via a base shoulder shaft (321), and is connected to the base (31) via a third rotation driver (322); An elbow lever arm (33), one end of which is rotatably connected to the remaining end of the shoulder lever arm (32) via a shoulder-elbow shaft (331), and is connected to the shoulder lever arm (32) via a fourth rotary driver (332); A wrist lever arm (34), one end of which is rotatably connected to the remaining end of the elbow lever arm (33) via an elbow-wrist shaft (341), and is connected to the elbow lever arm (33) via a fifth rotary driver (342); A palm end lever arm (35), one end of which is rotatably connected to the remaining end of the wrist lever arm (34) via a wrist palm axis (351), and is connected to the wrist lever arm (34) via a sixth rotary driver (352); A terminal lever arm (36), one end of which is rotatably connected to the remaining end of the palm end lever arm (35) via a palm end shaft (361); A grinding head (4) fixedly connected to the remaining end of the terminal force arm (36); in, The base shoulder axis (321), the shoulder-elbow axis (331), and the elbow-wrist axis (341) are all arranged horizontally and parallel to each other, the wrist-palm axis (351) is perpendicular to the elbow-wrist axis (341), and the palm-end axis (361) is perpendicular to the wrist-palm axis (351) and the elbow-wrist axis (341).

2. A multi-degree-of-freedom grinding mechanism according to claim 1, characterized in that: A second rotation driver (311) is installed at the bottom of the base (31), and the axis of the second rotation driver (311) is arranged vertically, so that the base (31) can rotate around the vertical axis.

3. A multi-degree-of-freedom grinding mechanism according to claim 2, characterized in that: The second rotary drive (311) is an electric indexing plate.

4. A multi-degree-of-freedom grinding mechanism according to any one of claims 1-3, characterized in that: The elbow lever (33) comprises a first rod portion (333) and a second rod portion (334) which are slidably connected to each other, and a third telescopic rod (335) connecting the first rod portion (333) and the second rod portion (334), so that the length of the elbow lever (33) can be adjusted.

5. A multi-degree-of-freedom grinding mechanism according to claim 1, characterized in that: The third rotation driver (322) comprises a fourth telescopic rod connecting the base (31) and the shoulder lever arm (32), and is used for driving the shoulder lever arm (32) to swing.

6. A multi-degree-of-freedom grinding mechanism according to claim 1, characterized in that: The fourth rotation driver (332) comprises a fifth telescopic rod connecting the shoulder lever (32) and the elbow lever (33), and is used for driving the elbow lever (33) to swing.

7. A multi-degree-of-freedom grinding mechanism according to claim 1, characterized in that: The fifth rotary driver (342) comprises: A double rocker mechanism comprises a first connecting rod (343), an elbow lever arm (33), a wrist lever arm (34) and a second connecting rod (345) which are hinged in sequence; A sixth telescopic rod (347) has one end rotatably connected to the elbow lever arm (33) via a third pin shaft (348), and the other end rotatably connected to the intersection of the first connecting rod (343) and the second connecting rod (345).

8. A multi-degree-of-freedom grinding mechanism according to claim 7, characterized in that: The double rocker mechanism also includes a fourth pin (349); One end of the first connecting rod (343) is rotatably connected to the elbow lever arm (33) via a first pin shaft (344); One end of the second connecting rod (345) is rotatably connected to the wrist lever arm (34) via a second pin shaft (346); The fourth pin shaft (349) is rotatably connected to the remaining end of the first connecting rod (343), the remaining end of the second connecting rod (345) and one end of the sixth telescopic rod (347); Wherein, the elbow-wrist axis (341), the first pin axis (344), the second pin axis (346), the third pin axis (348) and the fourth pin axis (349) are parallel to each other, the first pin axis (344) is located on the side of the elbow-wrist axis (341) away from the wrist lever arm (34), the second pin axis (346) is located on the side of the elbow-wrist axis (341) away from the elbow lever arm (33), and the third pin axis (348) is located on the side of the first pin axis (344) away from the wrist lever arm (34).

9. The multi-degree-of-freedom grinding mechanism according to claim 1, characterized in that: The sixth rotary drive (352) is an electric indexing plate.

10. The multi-degree-of-freedom grinding mechanism according to claim 1, characterized in that: The grinding head (4) comprises: The housing (41) is fixedly connected to the end lever arm (36). A grinding stick (42) rotatably connected to the housing (41); The motor (43) is fixedly connected to the housing (41) and is connected to the grinding rod (42) via a chain transmission mechanism (44).

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