CN110712124B

CN110712124B - Nine-axis intelligent control tool grinding machine

Info

Publication number: CN110712124B
Application number: CN201910963006.1A
Authority: CN
Inventors: 胡功明
Original assignee: Wuhu Mjter Numerical Control Technology Co ltd
Current assignee: Wuhu Mjter Numerical Control Technology Co ltd
Priority date: 2019-10-11
Filing date: 2019-10-11
Publication date: 2024-08-23
Anticipated expiration: 2039-10-11
Also published as: CN110712124A

Abstract

The invention discloses a nine-axis intelligent control tool grinder, which comprises a lathe bed platform, wherein a Y axis and an X axis are sequentially arranged on the left side of the lathe bed platform, a C axis and a material taking disc base are arranged on the X axis in parallel, and the material taking disc base is arranged in front of the C axis; an E shaft and an F shaft are sequentially arranged on the C shaft, an A shaft is arranged on the F shaft, and a pneumatic chuck base and a chuck are arranged at the output end of the A shaft; the right rear side of the lathe bed platform is provided with a Z shaft, an electric spindle is arranged on a Z shaft output panel, a U shaft mechanical arm and a V shaft are arranged below the electric spindle on the Z shaft panel, and a cylinder and a mechanical finger are arranged at the output end of the V shaft. The mechanical arm performs position movement by utilizing the XY two axes by means of up-and-down movement of the Z axis, and simultaneously, is additionally provided with the EF two axes for numerical control positioning, so that the tool nose of a processed workpiece can always accurately perform rotary movement (RTCP) at the center of the C axis, and the workpiece is controlled to perform rotary movement on the center of the C axis through numerical control so as to achieve higher spherical surface processing precision.

Description

Nine-axis intelligent control tool grinding machine

Technical Field

The invention relates to the technical field of grinding machines, in particular to a nine-axis intelligent control tool grinding machine, which is automatically calculated by a numerical control system and corresponding software to realize the real-time on-line point center control processing (RTCP) function, the numerical value which is ground after each processing is measured again by a three-dimensional measuring probe supported by the numerical control system, then finish machining is carried out, finally, the processed workpiece is always on the center of a C axis, and then unmanned operation is realized by a manipulator.

Background

Tool grinding machines are increasingly used in machining end mills, ball end mills, step drills, reamers, forming mills, deep-hole drills, triangular chisel and squaring tools, etc., and can sharpen the edges and grooves of metal cutting tools and the outer circles, planes and complex surfaces of general medium and small-sized parts, with a maximum grinding workpiece diameter of 250 mm.

In terms of automation degree, structure and rationality of a transmission system of the numerical control tool grinding machine processing in the prior art, the unmanned full-automatic processing production requirement cannot be met. The existing numerical control tool grinding machine generally adopts XYZAC five axial structure systems and a six-joint mechanical arm motion control unit, and the machine tool is controlled in a split mode, and in actual work, the motion control of the XYZAC five-axis tool grinding machine and the six-joint mechanical arm is controlled and coordinated through two control systems respectively, so that the occupied space on the mechanical structure is large, a large amount of resources are consumed in control, and the efficiency is low.

In addition, in the working process of the five-axis tool grinding machine, the control of the point position of the tool nose of a workpiece can not be realized under the condition that 2E-axis and F-axis are not additionally arranged, because the length of the workpiece is different, the top end of the workpiece can not be arranged on the rotation center point of a C-axis every time in clamping, the point positions of the two axes of the E-axis and the F-axis can be accurately controlled by a numerical control system to realize the movement of the point of the workpiece with different lengths to the center position of the C-axis, the control of the point of the tool nose on the center all the time is realized, besides a mechanical structure, control software is also required to support, the length and the diameter of each workpiece are automatically calculated by the numerical control system and corresponding software after being measured by the three-dimensional measuring probe, the C-axis rotation center is directly positioned, the ground numerical value after each machining is measured again by the numerical control system, the finish machining is carried out, and finally the true of the workpiece is ensured.

Disclosure of Invention

The invention aims to: aiming at the defects, the invention provides a nine-axis intelligent control tool grinding machine for controlling and processing the center point of the tool nose on line in real time, and unmanned operation is realized.

The technical scheme is as follows:

The nine-axis intelligent control tool grinding machine comprises a machine body base, nine-axis mechanical structural members, a sheet metal shell and a numerical control system, wherein a machine body platform is formed above the machine body base, a plurality of feet are uniformly arranged at intervals at the bottom of the machine body base, and a clearance position convenient for fork truck to fork in is formed between the spaced feet;

The nine-axis mechanical structure comprises:

A Y-axis carriage assembly is arranged on the left side of the lathe bed platform, an X-axis carriage assembly is arranged above the Y-axis carriage assembly, and the Y-axis carriage assembly and the X-axis carriage assembly are overlapped in a crisscross manner; the output panel of the X-axis carriage assembly (2) is horizontally provided with the C-axis rotating assembly and the material taking disc base, and the material taking disc base is arranged on the X-axis panel of the X-axis carriage assembly and positioned in front of the C-axis rotating assembly; a C-axis output panel is arranged on an output shaft of the C-axis rotating assembly, an E-axis carriage assembly is arranged on the C-axis output panel, an F-axis carriage assembly is arranged on the E-axis carriage assembly, and the F-axis carriage assembly and the E-axis carriage assembly are overlapped in a crisscross manner; an A-axis output panel is arranged on the F-axis carriage assembly, an A-axis indexing assembly is arranged on the A-axis output panel, a pneumatic chuck seat is arranged at the output end of the A-axis indexing assembly through an A-axis indexing head connecting flange plate, a spring chuck is arranged in the pneumatic chuck seat, and the spring chuck is connected with the numerical control system and is controlled by the numerical control system to realize an automatic feeding and discharging function; three combined trays are arranged on the material taking tray base, and 2 trays are arranged in parallel front and back, wherein one tray is used for pre-assembling blanks, and the other tray is used for receiving finished products after processing;

The Z-axis upright post assembly is arranged at the right rear side position on the lathe bed platform and comprises a Z-axis installation platform, a Z-axis upright post, a Z-axis motor, a Z-axis screw rod, a Z-axis transmission seat, a Z-axis nut sleeve, a Z-axis guide rail, a Z-axis sliding block, a Z-axis panel and a Z-axis organ cover; the Z-axis installation platform is arranged on the lathe bed platform and positioned at the right rear side, and the Z-axis upright post is locked and arranged on the Z-axis installation platform through a bolt; a Z-axis bearing seat is arranged at the top of the front side surface of the Z-axis upright post, and a Z-axis transmission seat is arranged at the lower part of the front side surface of the Z-axis upright post; the Z-axis bearing seat comprises an upper bearing and a lower bearing which are integrally designed, a Z-axis motor is vertically arranged on the upper bearing of the Z-axis bearing seat, a Z-axis screw rod is arranged between the lower bearing of the Z-axis bearing seat and the Z-axis transmission seat, an output shaft of the Z-axis motor is connected with an input end of the Z-axis screw rod through a coupler, a Z-axis nut is arranged on the Z-axis screw rod, a Z-axis nut sleeve is sleeved on the Z-axis nut, and a screw hole is arranged on the Z-axis nut sleeve; z-axis guide rails are respectively arranged on the front side surface of the Z-axis upright post and positioned on the two sides of the Z-axis screw rod, a Z-axis sliding block is slidably arranged on each Z-axis guide rail, the installation height of the Z-axis sliding block is consistent with the installation height of the Z-axis nut sleeve, and screw holes are also formed in the Z-axis sliding block; the Z-axis panel is mounted on the Z-axis nut sleeve and the Z-axis sliding block in a matched manner through bolts and screw holes; z-axis organ covers are arranged on the front side surface of the Z-axis upright post and positioned on the upper side and the lower side of the Z-axis panel, and Z-axis organ cover baffle plates are arranged at the upper end and the lower end of the Z-axis upright post assembly for sealing; the Z-axis motor housing is sealed by a Z-axis motor housing, and the left end and the right end of the Z-axis upright post are sealed and protected by labyrinth sheet metal baffles;

The Z-axis panel is provided with a mounting anchor ear, a U-axis output panel fixing heightening seat is arranged below the mounting anchor ear on the Z-axis panel, and the U-axis mechanical arm module is arranged on a U-axis output panel on the U-axis output panel fixing heightening seat;

The electric spindle is horizontally arranged in an installation hoop on the Z-axis panel, a grinding wheel handle capable of being provided with a grinding wheel is arranged at the left output end of the electric spindle, the grinding wheel is detachably arranged on the grinding wheel handle, and a contact type three-dimensional online measurement probe is arranged on the electric spindle and positioned at the rear lower side of the grinding wheel handle; an electric main shaft cover is arranged outside the installation hoop; a U-axis output panel fixing heightening seat is arranged below the electric spindle on the Z-axis panel, and the U-axis mechanical arm module is horizontally arranged on a U-axis output panel on the U-axis output panel fixing heightening seat;

The U-axis mechanical arm module comprises a U-axis module, a U-axis servo motor, a synchronous pulley transmission mechanism and a U-axis organ cover, wherein a nut sleeve is fixedly arranged on a U-axis output panel fixing heightening seat, a U-axis screw rod is fixedly arranged in the U-axis module, two ends of the U-axis screw rod are arranged in the U-axis module through U-axis bearing seats, and the U-axis module is transversely arranged on a U-axis output panel on the U-axis output panel fixing heightening seat through the cooperation of the U-axis screw rod and the nut sleeve;

The right rear end of the U-axis mechanical arm module is provided with the synchronous pulley transmission mechanism, and the synchronous pulley transmission mechanism comprises a synchronous pulley mounting plate, a U-axis servo motor synchronous pulley, a U-axis servo motor, a U-axis screw rod synchronous pulley and a synchronous belt; the right rear end of the U-axis module is provided with the synchronous pulley mounting plate, the synchronous pulley mounting plate is provided with a U-axis servo motor plate, the U-axis servo motor plate is provided with a U-axis servo motor through screws on the side face of the U-axis servo motor plate, and the U-axis servo motor is arranged at the rear lower part of the U-axis module; the U-shaft servo motor synchronous wheel is sleeved with the output shaft of the U-shaft servo motor in a tensioning sleeve mode, the U-shaft screw rod synchronous wheel is sleeved on the end of the U-shaft screw rod in a tensioning sleeve mode, and the synchronous wheel of the same U-shaft servo motor and the U-shaft screw rod synchronous wheel are sleeved through the synchronous belt to realize accurate matching; a synchronous wheel protective cover is sleeved on the synchronous pulley mounting plate, a U-shaft servo motor cover is sleeved on the U-shaft servo motor, a U-shaft servo motor outlet cover is covered on an outlet below the U-shaft servo motor cover, and a U-shaft servo motor sealing joint is arranged on the U-shaft servo outlet cover; a U-shaft module sheet metal protection cover is arranged at the joint of the U-shaft module and the U-shaft output panel on the U-shaft output panel fixing heightening seat, U-shaft organ covers are connected to the outer covers of the two ends of the U-shaft module sheet metal protection cover on the U-shaft module, and the U-shaft organ covers are in square-cylinder-shaped integral sealing seamless design and are connected with the sheet metal protection cover to form a closed and movable cavity; the U-axis mechanical arm module adopts a structural mode that the U-axis module moves integrally and a U-axis output panel is fixed;

A U-axis module adapter plate is arranged at the left front end of the U-axis mechanical arm module, and a V-axis rotary positioning assembly is arranged on the U-axis module adapter plate; the V-axis rotary positioning assembly comprises a V-axis fixed plate, a V-axis servo motor, a V-axis harmonic speed reducer, a manipulator cylinder and a pneumatic finger; the V-axis fixing plate is arranged on the U-axis module adapter plate at the left front end of the U-axis mechanical arm module through bolts, the V-axis fixing plate is an L-shaped plate formed by a base plate arranged on the U-axis module adapter plate and a front end plate thereof, a motor shaft through hole is formed in the front end plate of the V-axis fixing plate, the V-axis servo motor is transversely arranged on the front end plate of the V-axis fixing plate through bolts, and an output shaft of the V-axis servo motor penetrates through the motor shaft through hole; the V-axis harmonic speed reducer is mounted on the other side face of the front end plate of the V-axis fixed support through bolts, a central wave generator of the V-axis harmonic speed reducer is sleeved on a motor shaft of the V-axis servo motor, a V-axis harmonic speed reducer output plate is mounted on an output shaft of the V-axis harmonic speed reducer, a manipulator cylinder is mounted at the tail end of the V-axis harmonic speed reducer output plate, pneumatic fingers are mounted on the output end of the manipulator cylinder, the pneumatic fingers are controlled to do loose clamp movement through the manipulator cylinder, the pneumatic fingers are composed of two pieces, one piece of the pneumatic fingers is fixedly mounted as a reference positioning surface and does not move, the other piece of the pneumatic fingers do reciprocating movement through a numerical control system, the reference surface of the pneumatic fingers is designed as a fine grinding fine positioning plane, and the pneumatic fingers are in various workpiece-shaped section shapes.

The Y-axis carriage assembly comprises a Y-axis carriage, a Y-axis motor, a Y-axis transmission seat, a Y-axis screw rod, a Y-axis nut sleeve, a Y-axis guide rail, a Y-axis sliding block, a Y-axis panel and a Y-axis organ cover, wherein the Y-axis carriage and the lathe bed platform are integrally cast, the Y-axis carriage is used as a reference processing station of the whole lathe, and all parallelism\angle\verticality are installed in sequence by taking the Y-axis supporting plate as a measurement comparison reference; the Y-axis motor is arranged on the Y-axis carriage through a motor seat, and a motor cover is arranged on the Y-axis motor; the motor shaft of the Y-axis motor is connected with the input end of the Y-axis screw rod through a coupler, Y-axis transmission seat mounting seats are respectively arranged at the two ends of the Y-axis carriage, and the tail end of the Y-axis screw rod is fixed on the Y-axis transmission seat mounting seats through the Y-axis transmission seats; a Y-axis nut is arranged on the Y-axis screw rod, and a Y-axis nut sleeve is sleeved on the Y-axis nut; y-axis guide rails parallel to the Y-axis screw rods are respectively arranged on the two sides of the Y-axis screw rods on the Y-axis carriage, two Y-axis sliding blocks are slidably arranged on each Y-axis guide rail, the installation height of each Y-axis sliding block is consistent with the installation height of the Y-axis nut sleeve, and screw holes are formed in the Y-axis sliding blocks; screw holes are formed in positions, corresponding to the Y-axis nut sleeve and the Y-axis sliding block, of the Y-axis panel, and the Y-axis panel is mounted on the Y-axis nut sleeve and the Y-axis sliding block through the matching of bolts and the screw holes; the Y-axis organ covers are covered on the left side and the right side of the Y-axis panel, and the left end and the right end of the Y-axis carriage assembly are sealed through Y-axis organ cover baffles; sealing the left and right sides of the Y-axis panel through labyrinth sheet metal parts;

An X-axis carriage is arranged on the Y-axis panel, and the X-axis carriage and the Y-axis panel are horizontally and fixedly arranged at an angle of 90 degrees; the X-axis carriage assembly and the Y-axis carriage are installed by taking a comparison Y-axis carriage as a reference for measurement, all parallelism/angle/verticality are installed in sequence by taking the Y-axis carriage as a measurement comparison reference, and the X-axis carriage assembly comprises an X-axis motor, an X-axis transmission seat, an X-axis screw rod, an X-axis nut sleeve, an X-axis guide rail, an X-axis sliding block, an X-axis panel and an X-axis organ cover, wherein the X-axis motor is installed on the X-axis carriage through the motor seat, and a motor cover is arranged on the X-axis motor; an X-axis motor output shaft of the X-axis motor is connected with the input end of the X-axis screw rod through a coupler, and the tail end of the X-axis screw rod is fixed on the X-axis carriage through the X-axis transmission seat; an X-axis nut is arranged on the X-axis screw rod, an X-axis nut sleeve is sleeved on the X-axis nut, and a screw hole is formed in the X-axis nut sleeve; the X-axis carriage is provided with X-axis guide rails which are parallel to the X-axis screw rods and are arranged on two sides of the X-axis screw rods respectively, two X-axis sliding blocks are slidably arranged on each X-axis guide rail, the installation height of each X-axis sliding block is consistent with the installation height of the X-axis nut sleeve, and screw holes are formed in the X-axis sliding blocks; screw holes are formed in positions, corresponding to the X-axis nut sleeve and the X-axis sliding block, of the X-axis panel, and the X-axis panel is mounted on the X-axis nut sleeve and the X-axis sliding block through the matching of bolts and the screw holes; the X-axis organ cover covers the front side and the rear side of the X-axis panel, the front end and the rear end of the X-axis carriage assembly are sealed through X-axis organ cover baffles, and the left side and the right side of the X-axis panel are sealed through labyrinth sheet metal parts.

A C-axis indexing rotating shaft body is arranged at the upper rear position of the X-axis panel, a C-axis motor seat is arranged at the rear end of the C-axis rotating shaft body through a motor adapter plate, a C-axis servo motor is arranged in the C-axis motor seat, the C-axis servo motor is connected with an input shaft of the C-axis indexing shaft body through a coupler, a worm gear or a roller cam indexing transmission structure is arranged in the C-axis indexing rotating shaft body, and the worm gear is fixedly connected with the input shaft of the C-axis indexing shaft body or a cam of the roller cam indexing transmission structure is fixedly connected with the input shaft of the C-axis indexing shaft body; the worm of the worm gear and the worm or the cam of the roller cam indexing transmission structure are driven to rotate through the input work of the C-axis servo motor, the worm is driven to rotate at a high speed or the cam is driven to rotate by the roller transmission structure, a turntable bearing is sleeved on the worm gear or the cam to serve as a support, a connecting sleeve is additionally arranged at the output end of the worm gear or the cam, a C-axis output panel is arranged on the connecting sleeve, the E-axis carriage assembly is arranged on the C-axis output panel, an F-axis carriage assembly is arranged on the E-axis carriage assembly, and the F-axis carriage assembly and the E-axis carriage assembly are overlapped in a crisscross manner; an A-axis output panel is mounted on the F-axis carriage assembly, the A-axis indexing assembly is mounted on the A-axis output panel, a mounting reference surface of the A-axis indexing assembly body is connected with the A-axis output panel through bolts, and the A-axis indexing assembly comprises an A-axis motor, an A-axis speed reducer, an A-axis indexing head, a chuck seat and a collet chuck; the A-axis motor seat is arranged above the A-axis output panel, the A-axis motor is arranged on the A-axis motor seat, the A-axis speed reducer is arranged on the output shaft of the A-axis motor, the A-axis dividing head is arranged at the output end of the A-axis speed reducer, the output shaft of the A-axis dividing head is connected with a flange plate through the A-axis dividing head to be provided with a chuck seat, a spring chuck is arranged in the chuck seat, and the spring chuck is connected with the numerical control system and is controlled by the numerical control system to realize the automatic loosening and clamping function.

The E-axis carriage assembly comprises an E-axis carriage, an E-axis bearing seat, an E-axis motor, an E-axis organ cover, an E-axis screw rod, an E-axis nut sleeve, an E-axis guide rail and an E-axis sliding block; the E-axis carriage is arranged on the C-axis output panel, the E-axis bearing seat is arranged at the tail end of the E-axis carriage, the E-axis bearing seat comprises an inner bearing and an outer bearing which are integrally designed, the E-axis motor is arranged at the tail end of the C-axis output panel through the outer bearing of the E-axis bearing seat, the E-axis screw rod is arranged on the inner bearing of the E-axis bearing seat, and a motor shaft of the E-axis motor is connected with the input end of the E-axis screw rod through a coupling; an E-axis nut is arranged on the E-axis screw rod, an E-axis nut sleeve is sleeved on the E-axis nut, and a screw hole is formed in the E-axis nut sleeve; e-axis guide rails parallel to the E-axis screw rods are respectively arranged on two sides of the E-axis screw rods on the E-axis carriage, two E-axis sliding blocks are slidably arranged on each E-axis guide rail, the installation height of each E-axis sliding block is consistent with that of each E-axis nut sleeve, and screw holes are also formed in each E-axis sliding block; the F-axis carriage of the F-axis carriage assembly is arranged on the E-axis nut sleeve and the E-axis sliding block through the matching of bolts and screw holes, and the F-axis carriage and the E-axis carriage assembly are fixedly arranged at an angle of 90 degrees in the movement direction; the E-axis organ cover covers the E-axis carriage and is positioned at two sides of the F-axis carriage, and the two ends of the E-axis carriage assembly are sealed by E-axis organ cover baffles; an E-axis motor cover is arranged on the E-axis motor cover for sealing, and the two side surfaces of the E-axis carriage are sealed through labyrinth sheet metal parts;

An F-shaft bearing seat is arranged at one end of the F-shaft carriage, and an F-shaft transmission seat is arranged at the other end of the F-shaft carriage; the F-axis bearing seat comprises an inner bearing and an outer bearing which are integrally designed, the F-axis motor is arranged on the F-axis carriage through an outer bearing of the F-axis bearing, and an F-axis screw rod is arranged on an inner bearing of the F-axis bearing; the input end of the F-axis screw rod is connected with a motor shaft of the F-axis motor through a coupler, and the other end of the F-axis screw rod is arranged in the F-axis transmission seat; an F-axis nut is arranged on the F-axis screw rod, an F-axis nut sleeve is sleeved on the F-axis nut, and a screw hole is formed in the F-axis nut sleeve; f shaft guide rails parallel to the F shaft screw rods are respectively arranged on the two sides of the F shaft screw rods on the F shaft carriage, two F shaft sliding blocks are slidably arranged on each F shaft guide rail, the installation height of each F shaft sliding block is consistent with that of the F shaft nut sleeve, and screw holes are also formed in the F shaft sliding blocks; the A-axis output panel is mounted on the F-axis nut sleeve and the F-axis sliding block in a matched manner through bolts and screw holes; f-axis organ covers are respectively arranged on two sides of the A-axis output panel on the F-axis carriage, and two ends of the F-axis carriage assembly are sealed through F-axis organ cover baffles; the F-axis motor housing is sealed by an F-axis motor housing, and two side surfaces of the F-axis carriage are sealed by labyrinth sheet metal parts.

And adjusting the distance between the U-axis servo motor and the U-axis module through screws on the side surface of the U-axis servo motor plate, so as to adjust the tightness of the synchronous belt between the U-axis servo motor synchronous wheel and the U-axis screw rod synchronous wheel.

The synchronous wheel of the U-axis servo motor and the synchronous wheel of the U-axis screw rod are all AT3 high-precision synchronous pulleys, and the synchronous belt is AT3 high-precision oil-resistant synchronous belt.

The machine tool body base is integrally cast, the machine tool body base and the Y-axis carriage assembly are integrated, the casting position of the Y-axis carriage assembly is higher than the inner plane of the machine tool body platform, and the bottom surface platform installed by the Z-axis upright post assembly is protruded on the plane of the machine tool body platform.

And a drain outlet is arranged at the rear side of the lathe bed platform, and the drain outlet is lower than the plane in the lathe bed platform.

Different workpiece clamping operations are realized by replacing spring chucks with different inner apertures, so that an automatic production mode is realized.

The machine tool comprises a machine tool body platform, and is characterized in that a plurality of sheet metal mounting holes are formed in the edge of the machine tool body platform, a sheet metal shell is mounted in the sheet metal mounting holes in the machine tool body platform through bolts and nuts, a numerical control operation box is mounted on the sheet metal shell, and a numerical control system is mounted in the numerical control operation box. And a closed movable door is arranged on the front position of the sheet metal shell.

The beneficial effects are that:

1. According to the nine-axis intelligent control tool grinder, a material disc is arranged on an X-axis carriage assembly, years of experiments prove that the unchanged material disc in the prior art can move at high speed in the directions of an X axis and a Y axis, and meanwhile, the fact that the positioning precision of the X axis and the Y axis is far higher than that of a common manipulator/robot is further demonstrated, because the robot is generally only involved in cooperative production of finish machining according to a mechanical principle (disclosed technology), the positioning high precision of finish machining is generally achieved only by a machine tool, and the rigidity and the precision of the robot cannot reach the precision of the machine tool, meanwhile, the U-axis mechanical arm is fixed on a Z axis, the original six-joint axis mechanical arm is changed into the existing two-axis mechanical arm by means of the movement positioning precision of the Z axis, and only one rotation indexing axis V axis is used. According to the invention, two shafts of an E shaft and an F shaft are added between the C shaft and the A shaft, high-precision positioning movement is carried out by using the EF shaft and the F shaft, the numerical value ground after each machining is measured again by a three-dimensional measuring probe supported by a numerical control system and calculated, the movement of the E shaft and the F shaft is controlled, the workpiece is ensured to be always positioned on the center position of the C shaft, then finish machining is carried out, and the center control machining (RTCP) function of the cutter point center is realized.

2. The invention improves the multi-axis structure of the original five-axis tool grinding machine and six-axis mechanical arm into the nine-axis structure of the seven-axis tool grinding machine and two-axis mechanical arm, thereby greatly saving space, having more compact structure, and the most core is that the motion positioning precision is synchronous with the machine tool, the space idle running distance is shortened by countless times, and the result of high efficiency, high precision and high speed motion is achieved.

3. The control operation program of the two-axis mechanical arm can be directly written into the control system of the seven-axis tool grinding machine.

Drawings

Fig. 1 is a schematic structural view of a base in the present invention.

Fig. 2 is a schematic structural diagram of the nine-axis five-linkage numerical control tool grinding machine of the invention.

FIG. 3 is a schematic view of the structure of the Y-axis carriage assembly according to the present invention.

FIG. 4 is a schematic diagram of the mating structure of the X-axis carriage assembly and the Y-axis carriage assembly of the present invention.

FIG. 5 is a schematic view of the installation of the C-axis rotating assembly of the present invention.

FIG. 6 is a schematic view of the internal structure of the E-axis carriage assembly of the present invention.

FIG. 7 is a schematic view of the structure of the interior of the F-axis carriage assembly of the present invention.

Fig. 8 is a schematic diagram of the fitting structure of the E axis, the F axis and the C axis in the present invention.

Fig. 9 is a schematic structural view of a left side portion of the nine-axis five-linkage numerical control tool grinding machine of the present invention.

FIG. 10 is a schematic view of the internal structure of the Z-axis column assembly of the present invention.

FIG. 11 is a schematic view of the structure of a Z-axis panel in the Z-axis column assembly of the present invention.

Fig. 12 is a schematic diagram of an installation structure of the motorized spindle and the U-axis mechanical arm module in the present invention.

Fig. 13 is an exploded view of the motorized spindle of the present invention.

Fig. 14 is a schematic structural diagram of a U-axis mechanical arm module according to the present invention.

FIG. 15 is an exploded view of the U-axis robot module of the present invention.

Fig. 16 is a schematic view of the structure of the housing of the present invention.

Wherein:

1 is a bed base, 11 is a bed platform, 12 is a surrounding edge, 13 is a foot, 14 is a drain, 15 is a sheet metal mounting hole, 16 is a sheet metal shell, 17 is a digital control system operation box, and 18 is a closed movable door;

2 is an X-axis carriage assembly, 21 is an X-axis motor, 211 is an X-axis motor output shaft, 22 is an X-axis organ cover, 23 is an X-axis organ cover baffle, 24 is an X-axis carriage, 25 is an X-axis transmission seat, 26 is an X-axis screw rod, 27 is an X-axis guide rail, and 28 is an X-axis panel;

3 is a Y-axis carriage assembly, 30 is a Y-axis carriage, 31 is a Y-axis motor, 311 is a Y-axis motor output shaft, 312 is a Y-axis motor cover, 32 is a Y-axis organ cover, 33 is a Y-axis organ cover baffle, 34 is a Y-axis transmission seat, 341 is a Y-axis transmission seat mounting seat, 35 is a Y-axis screw rod, 36 is a Y-axis nut sleeve, 37 is a Y-axis guide rail, 38 is a Y-axis slide block, and 39 is a Y-axis panel;

4 is a Z-axis column assembly, 40 is a Z-axis mounting platform, 41 is a Z-axis motor, 411 is a Z-axis motor output shaft, 412 is a Z-axis screw rod, 413 is a Z-axis panel, 414 is a Z-axis bearing seat, 415 is a Z-axis transmission seat, 416 is a Z-axis nut sleeve, 417 is a Z-axis guide rail, 418 is a Z-axis sliding block, 42 is a Z-axis organ cover, 43 is a Z-axis column, and 44 is a U-axis mounting plate;

5 is a C-axis rotating assembly, 51 is a C-axis indexing rotating shaft body, 52 is a turntable bearing, 53 is a C-axis output panel, and 54 is a C-axis servo motor;

55 is an E-axis carriage assembly, 550 is an E-axis carriage, 551 is an E-axis motor, 552 is an E-axis organ cover, 553 is an E-axis bearing seat, 554 is an E-axis screw rod, 555 is an inner bearing, 556 is an E-axis nut sleeve, 557 is an E-axis guide rail, 558 is an E-axis sliding block, and 559 is an E-axis motor cover;

56 is an F-axis carriage assembly, 561 is an F-axis carriage, 562 is an F-axis motor, 563 is an F-axis bearing seat, 564 is an F-axis screw rod, 565 is an F-axis transmission seat, 566 is an F-axis guide rail, 567 is an F-axis sliding block, 568 is an F-axis nut sleeve, and 569 is an F-axis organ cover;

6 is an A-axis indexing assembly, 61 is an A-axis motor seat, 611 is an A-axis output panel, 62 is an A-axis motor, 63 is an A-axis indexing head, 64 is an A-axis indexing head connecting flange plate, and 65 is a chuck;

7 is a U-axis mechanical arm module, 71 is a U-axis servo motor, 711 is a U-axis servo motor plate, 712 is a U-axis servo motor cover, 713 is a U-axis servo motor wire outlet cover, 714 is a U-axis servo motor sealing joint, 72 is a synchronous pulley transmission mechanism, 721 is a synchronous pulley mounting plate, 722 is a U-axis servo motor synchronous pulley, 723 is a U-axis screw rod synchronous pulley, 724 is a synchronous belt, 725 is a synchronous pulley protective cover, 73 is a U-axis output panel fixing heightening seat, 74 is a U-axis module, 741 is a U-axis module sheet metal protective cover, 742 is a U-axis module adapter plate, 75 is a U-axis organ cover, 751 is a U-axis organ cover connecting plate;

8 is a V-axis rotary positioning assembly, 81 is a V-axis fixed plate, 82 is a V-axis servo motor, 821 is a V-axis servo motor cover, 822 is a V-axis servo motor wire cover, 823 is a V-axis motor sealing joint, 83 is a V-axis harmonic reducer, 831 is a V-axis harmonic reducer output plate, 84 is a manipulator cylinder, and 85 is a pneumatic finger;

9 is an electric spindle, 91 is a mounting anchor ear, 92 is a grinding wheel handle, 93 is a grinding wheel, 94 is an electric spindle cover;

10 is a tray.

Detailed Description

The invention is further elucidated below in connection with the drawings and the specific embodiments.

Fig. 1 is a schematic structural diagram of a seven-axis five-linkage intelligent control tool grinder of the present invention. As shown in FIG. 1, the seven-axis five-linkage intelligent control tool grinding machine comprises a base 1, nine-axis mechanical structural members, a sheet metal shell and a numerical control system; fig. 1 is a schematic structural view of a base in the present invention, as shown in fig. 1, a bed platform 11 is formed above the base 1, the base 1 is integrally cast, 3 feet 13 are uniformly and alternately arranged at the bottom of the base 1, a clearance space is formed between the feet 13 to facilitate fork truck fork insertion, a peripheral edge 12 higher than the bed platform 11 is arranged at the outer edge of the bed platform 11, a plurality of oil pollution discharge ports 14 are arranged at one side of the bed platform 11, and the pollution discharge ports 14 are lower than the platform surface of the bed platform 11.

The nine-axis mechanical structure comprises:

A Y-axis carriage assembly 3 is arranged on the left side of the lathe bed platform 11, an X-axis carriage assembly 2 is arranged above the Y-axis carriage assembly 3, and the Y-axis carriage assembly 3 and the X-axis carriage assembly 2 are overlapped in a crisscross manner; the X-axis panel of the X-axis carriage assembly 2 is horizontally provided with the C-axis rotating assembly 5 and a material taking disc base, and the material taking disc base is arranged in front of the C-axis rotating assembly 5; a C-axis output panel 53 is installed on an output shaft of the C-axis rotation assembly 5, an E-axis carriage assembly 55 is installed on the C-axis output panel 53, an F-axis carriage assembly 56 is installed on the E-axis carriage assembly 55, and the F-axis carriage assembly 56 and the E-axis carriage assembly 55 are overlapped in a crisscross manner; an A-axis output panel 611 is mounted on the F-axis carriage assembly 56, an A-axis indexing assembly 6 is mounted on the A-axis output panel 611, a pneumatic chuck seat is mounted at the output end of the A-axis indexing assembly 6 through an A-axis indexing head connecting flange plate 64, and a chuck 65 is mounted in the pneumatic chuck seat; on the tray base, three combined trays 10 are mounted as shown in fig. 9. The Z-axis upright post assembly 4 is arranged on the right rear side of the lathe bed platform 11, the electric spindle 9 is fixedly arranged on a Z-axis panel 413 of the Z-axis upright post assembly 4, a diamond grinding wheel 93 for grinding is arranged at the output end of the electric spindle 9, a spindle motor is arranged in the electric spindle 9, a grinding wheel cutter handle 92 is arranged on a motor shaft of the spindle motor, and the grinding wheel 93 is arranged on the grinding wheel cutter handle 92. A U-axis mechanical arm module 7 is installed below the motorized spindle 9 on the Z-axis panel 413, and a V-axis rotational positioning assembly 8 is installed at one end of the U-axis mechanical arm module 7 facing the chuck 65 of the a-axis indexing assembly 6, as shown in fig. 12.

FIG. 3 is a schematic view of the structure of the Y-axis carriage assembly according to the present invention. As shown in fig. 1 and 3, the Y-axis carriage assembly 3 includes a Y-axis carriage 30, a Y-axis motor 31, a Y-axis transmission seat 34, a Y-axis screw rod 35, a Y-axis nut sleeve 36, a Y-axis slide guide rail 37, a Y-axis slide 38, a Y-axis panel 39, and a Y-axis organ cover 32, wherein the Y-axis carriage 30 and the bed platform 11 are integrally cast, the Y-axis carriage 30 is used as a reference machining station of the whole machine tool, and all parallelism\angle\verticality are installed in sequence by taking the Y-axis carriage 30 as a measurement reference; the Y-axis motor 31 is mounted on the bed platform 11 through a motor base, and a Y-axis motor cover 312 is provided thereon. The Y-axis motor shaft 311 of the Y-axis motor 31 is coupled with the input end of the Y-axis screw rod 35 through a coupling, Y-axis transmission seat mounting seats 341 are respectively arranged at two ends of the Y-axis carriage 30, and the tail end of the Y-axis screw rod 35 is fixed on the Y-axis transmission seat mounting seats 341 through the Y-axis transmission seat 34. A Y-axis nut is mounted on the Y-axis screw rod 35, a Y-axis nut sleeve 36 is sleeved on the Y-axis nut, and a screw hole is formed in the Y-axis nut sleeve 36. Y-axis guide rails 37 parallel to the Y-axis screw rods 35 are respectively arranged on two sides of the Y-axis screw rods 35 on the Y-axis carriage 30, two Y-axis sliding blocks 38 are slidably arranged on each Y-axis guide rail 37, the installation height of each Y-axis sliding block 38 is consistent with the installation height of the Y-axis nut sleeve 36, and screw holes are also arranged on the Y-axis sliding blocks 38. Screw holes are formed in positions, corresponding to the Y-axis nut sleeve 36 and the Y-axis sliding block 38, of the Y-axis panel 39, and the Y-axis panel 39 is mounted on the Y-axis nut sleeve 36 and the Y-axis sliding block 38 through matching of bolts and the screw holes. The Y-axis organ cover 32 covers the left and right sides of the Y-axis panel 39, and seals the left and right ends of the Y-axis carriage assembly 3 by the Y-axis organ cover baffle 33. The Y-axis motor 31 is covered with a Y-axis motor cover 312, and both sides of the Y-axis panel 39 are sealed by labyrinth sheet metal members.

FIG. 4 is a schematic diagram of the mating structure of the X-axis carriage assembly and the Y-axis carriage assembly of the present invention. As shown in fig. 4, an X-axis carriage 24 is mounted on the Y-axis panel 39, the X-axis carriage 24 and the Y-axis panel 39 are horizontally and fixedly mounted at an angle of 90 degrees, the mounting of the X-axis carriage assembly 3 and the Y-axis carriage 39 is measured and mounted with reference to a comparative Y-axis carriage 30, all parallelism\angle\verticality are mounted in sequence with reference to the measurement of the Y-axis carriage 30, and the X-axis carriage comprises an X-axis motor 21, an X-axis transmission seat 25, an X-axis screw 26, an X-axis nut sleeve, an X-axis guide rail 27, an X-axis slider, an X-axis panel 28 and an X-axis organ cover 22, wherein the X-axis motor 21 is mounted on the X-axis carriage 24 through a motor seat, and a motor cover is arranged on the X-axis motor cover; an X-axis motor output shaft 211 of the X-axis motor 21 is connected with the input end of the X-axis screw rod 26 through a coupler, and the tail end of the X-axis screw rod 26 is fixed on the X-axis carriage 24 through the X-axis transmission seat 25; an X-axis nut is arranged on the X-axis screw rod 26, an X-axis nut sleeve is sleeved on the X-axis nut, and a screw hole is formed in the X-axis nut sleeve; an X-axis guide rail 27 parallel to the X-axis screw rod 26 is also respectively arranged on two sides of the X-axis screw rod 26 on the X-axis carriage 24, two X-axis sliding blocks are slidably arranged on each X-axis guide rail 27, the installation height of each X-axis sliding block is consistent with the installation height of the X-axis nut sleeve, and screw holes are arranged on the X-axis sliding blocks; screw holes are formed in positions, corresponding to the X-axis nut sleeve and the X-axis sliding block, of the X-axis panel 28, and the X-axis panel 28 is mounted on the X-axis nut sleeve and the X-axis sliding block through the matching of bolts and the screw holes; the X-axis organ cover 22 covers the front side and the rear side of the X-axis panel 28, the front end and the rear end of the X-axis carriage assembly 2 are sealed through an X-axis organ cover baffle 23, and the left side and the right side of the X-axis panel 28 are sealed through labyrinth sheet metal parts. The mating structure of the X-axis carriage assembly 2 and the Y-axis carriage assembly 3 shown in FIG. 5 is finally formed.

FIG. 5 is a schematic view of the installation of the C-axis rotating assembly of the present invention. As shown in fig. 5, a C-axis indexing rotary shaft body 51 is installed at a rear position on the X-axis panel 28, a C-axis motor seat is installed at a rear end of the C-axis indexing rotary shaft body 51 through a motor adapter plate, a C-axis servo motor 54 is installed in the C-axis motor seat, the C-axis servo motor 54 is coupled with an input shaft of the C-axis indexing rotary shaft body 51 through a coupling, a worm gear or a roller cam indexing transmission structure is installed in the C-axis indexing rotary shaft body 51, and a worm of the worm gear is fixedly connected with the input shaft of the C-axis indexing rotary shaft body 51 or a cam of the roller cam indexing transmission structure is fixedly connected with the input shaft of the C-axis indexing rotary shaft body 51; the worm of the worm wheel and the worm or the cam of the roller cam indexing transmission structure is driven to rotate by the input of the C-axis servo motor 54 to drive the worm wheel to rotate at a high speed or the cam drives the roller transmission structure to rotate, a turntable bearing 52 is sleeved on the worm wheel or the cam to serve as a support, a connecting sleeve is additionally arranged at the output end of the worm wheel or the cam, a C-axis output panel 53 is arranged on the connecting sleeve, and an E-axis carriage assembly 55 is arranged on the C-axis output panel 53.

Fig. 6 is a schematic structural diagram of the inside of the E-axis carriage assembly according to the present invention, and fig. 7 is a schematic structural diagram of the inside of the F-axis carriage assembly according to the present invention. As shown in fig. 6 and 7, the E-axis carriage assembly 55 includes an E-axis carriage 550, an E-axis bearing seat 553, an E-axis motor 551, an E-axis organ cover 552, an E-axis screw 554, an E-axis nut 555, an E-axis nut sleeve 556, an E-axis guide rail 557, and an E-axis slider 558; the E-axis carriage 550 is mounted on the C-axis output panel 53, the E-axis bearing seat 553 is mounted on the tail end of the E-axis carriage 550, the E-axis bearing seat 553 comprises an inner bearing and an outer bearing which are integrally designed, the E-axis motor 551 is mounted on the tail end of the E-axis carriage 550 through an outer bearing of the E-axis bearing seat 553, the E-axis screw 554 is mounted on an inner bearing 555 of the E-axis bearing seat 553, and a motor shaft of the E-axis motor 551 is connected with the input end of the E-axis screw 554 through a coupling; an E-axis nut is arranged on the E-axis screw rod 554, an E-axis nut sleeve 556 is sleeved on the E-axis nut, and a screw hole is formed in the E-axis nut sleeve 556; e-axis guide rails 557 parallel to the E-axis screw rods 554 are respectively arranged on the two sides of the E-axis screw rods 554 on the C-axis output panel 53, two E-axis sliding blocks 558 are slidably arranged on each E-axis guide rail 557, the installation height of each E-axis sliding block 558 is consistent with the installation height of each E-axis nut sleeve 556, and screw holes are also arranged on each E-axis sliding block 558; the F-axis carriage 561 of the F-axis carriage assembly 56 is mounted on the E-axis nut sleeve 556 and the E-axis slide block 558 by the cooperation of bolts and screw holes, and the F-axis carriage 561 and the E-axis carriage assembly 55 are fixedly mounted at an angle of 90 degrees. The E-axis organ cover 552 covers the E-axis carriage 550 at both sides of the F-axis carriage 561, and seals at both ends of the E-axis carriage assembly 55 by E-axis organ cover baffles. The E-axis motor 551 is covered with an E-axis motor cover 559, and both side surfaces of the E-axis carriage 550 are sealed by labyrinth sheet metal members.

An F-shaft bearing housing 563 is installed at one end of the F-shaft carriage 561, and an F-shaft transmission housing 565 is installed at the other end of the F-shaft carriage 561; the F-axis bearing seat 563 comprises an inner bearing and an outer bearing which are integrally designed, the F-axis motor 562 is arranged on the F-axis carriage 561 through an outer bearing of the F-axis bearing 563, and an F-axis screw rod 564 is arranged on an inner bearing of the F-axis bearing 563; the input end of the F-axis screw rod 564 is connected with a motor shaft of the F-axis motor 562 through a coupler, and the other end of the F-axis screw rod is arranged in the F-axis transmission seat 565; an F-axis nut is arranged on the F-axis screw rod 564, an F-axis nut sleeve 568 is sleeved on the F-axis nut, and a screw hole is formed in the F-axis nut sleeve 568; f-axis guide rails 566 parallel to the F-axis guide rails 564 are respectively arranged on two sides of the F-axis guide rails 564 on the F-axis carriage 561, two F-axis sliding blocks 567 are slidably arranged on each F-axis guide rail 566, the installation height of each F-axis sliding block 567 is consistent with the installation height of the F-axis nut sleeve 568, and screw holes are also arranged on each F-axis sliding block; the a-axis output panel 611 is mounted on the F-axis nut housing 568 and the F-axis slider 567 by a bolt and screw hole. F-axis bellows 569 are mounted on the F-axis carriage 561 at both sides of the A-axis output panel 611, respectively, and seal with F-axis bellows baffles at both ends of the F-axis carriage assembly 56. The F-axis motor 562 is covered with an F-axis motor cover to seal, and both side surfaces of the F-axis carriage 561 are sealed by a labyrinth sheet metal member.

Fig. 8 is a schematic diagram of the fitting structure of the E axis, the F axis and the C axis in the present invention. As shown in fig. 8, an a-axis motor seat 61 is mounted on the a-axis output panel 611, an a-axis motor 62 is mounted on the a-axis motor seat 61, an a-axis speed reducer is connected to an output shaft of the a-axis motor 62 through a coupling, an a-axis dividing head 63 is mounted at an output end of the a-axis speed reducer, a chuck seat is mounted on an output shaft of the a-axis dividing head 63 through an a-axis dividing head coupling flange 64, a collet 65 is mounted in the chuck seat, the collet 65 is connected with the numerical control system, and an automatic unclamping function is realized through the numerical control system. In the invention, various workpieces can be clamped by replacing the spring chucks with different inner apertures, thereby realizing an automatic production mode.

FIG. 10 is a schematic view of the internal structure of the Z-axis column assembly of the present invention. As shown in fig. 10, the Z-axis column assembly 4 includes a Z-axis mounting platform 40, a Z-axis column 43, a Z-axis motor 41, a Z-axis screw 412, a Z-axis transmission seat 415, a Z-axis nut housing 416, a Z-axis guide 417, a Z-axis slider 418, a Z-axis panel 413, and a Z-axis organ cover 42. The Z-axis installation platform 40 is installed on the lathe bed platform 11 and located at the right rear side, the Z-axis upright post 43 is installed on the Z-axis installation platform 40 through bolts, a Z-axis bearing seat is installed at the top of the front side surface of the Z-axis upright post 43, and a Z-axis transmission seat 415 is installed at the lower part of the front side surface of the Z-axis upright post 43; the Z-axis bearing seat comprises an upper bearing and a lower bearing which are integrally designed, a Z-axis motor 41 is vertically arranged on the upper bearing of the Z-axis bearing seat, a Z-axis screw rod 412 is arranged between the lower bearing of the Z-axis bearing seat and the Z-axis transmission seat 415, and a Z-axis motor output shaft 411 of the Z-axis motor 41 is connected with the input end of the Z-axis screw rod 412 through a coupler; a Z-axis nut is arranged on the Z-axis screw rod 412, a Z-axis nut sleeve 416 is sleeved on the Z-axis nut, and a screw hole is arranged on the Z-axis nut sleeve 416; z-axis guide rails 417 are respectively arranged on the front side surface of the Z-axis upright post 43 and positioned on the two sides of the Z-axis screw rod 412, a Z-axis sliding block 418 is slidably arranged on each Z-axis guide rail 417, the installation height of the Z-axis sliding block 418 is consistent with the installation height of the Z-axis nut sleeve 416, and screw holes are also arranged on the Z-axis sliding block 418; the Z-axis panel 413 is mounted on the Z-axis nut sleeve 416 and the Z-axis sliding block 418 through matching of bolts and screw holes. Z-axis organ covers 42 are arranged on the front side surface of the Z-axis upright post 43 and on the upper and lower sides of the Z-axis panel 413, and Z-axis organ cover baffle plates are arranged on the upper and lower ends of the Z-axis upright post assembly 4 for sealing; the Z-axis motor 41 is covered with a Z-axis motor cover for sealing, and the left and right ends of the Z-axis column 43 are sealed and protected by labyrinth sheet metal baffles, so that the structure shown in fig. 11 is formed. As shown in fig. 11, an installation anchor ear 91 is installed on the Z-axis panel 413, a U-axis output panel fixing and heightening seat 73 is installed below the installation anchor ear 91 on the Z-axis panel 413, and the U-axis mechanical arm module 7 is installed on a U-axis output panel on the U-axis output panel fixing and heightening seat 73.

Fig. 12 is a schematic diagram of an installation structure of the motorized spindle and the U-axis mechanical arm module according to the present invention, and fig. 13 is an exploded view of the motorized spindle according to the present invention. As shown in fig. 12 and 13, the motorized spindle 9 is fixedly mounted on the Z-axis panel 413 through the mounting anchor ear 91, a grinding wheel handle 92 capable of mounting a grinding wheel is mounted on one end of the motor shaft 9 facing the chuck 65 on the a-axis indexing assembly 6, and a grinding wheel 93 is detachably mounted on the grinding wheel handle 92; a contact type three-dimensional online measurement probe is arranged on one side of the motorized spindle 9, which is positioned at the rear lower part of the grinding wheel handle 92, and is used for measuring the relative position between the materials clamped on the clamping head 65 and the grinding wheel on the motorized spindle 9 so as to accurately adjust the relative positions of the materials and the grinding wheel; an electric spindle cover 94 is arranged outside the mounting anchor ear 91 to seal and protect a spindle motor in the electric spindle 9.

In the invention, an oil injection pipe bracket is also arranged above the motorized spindle 9, and is provided with an oil injection pipe, and a spray head of the oil injection pipe faces the direction of the grinding wheel and is used for cooling and lubricating the grinding wheel during material processing.

Fig. 14 is a schematic structural diagram of a U-axis mechanical arm module according to the present invention. As shown in fig. 14, the U-axis mechanical arm module 7 is horizontally mounted, and comprises a U-axis module 74, a U-axis servo motor 71, a synchronous pulley transmission mechanism 72 and a U-axis organ cover 75, wherein a nut sleeve is fixedly mounted on a U-axis output panel fixing and heightening seat 73, a U-axis screw is fixedly mounted in the U-axis module 74, two ends of the U-axis screw are mounted in the U-axis module 74 through a U-axis bearing seat, and the U-axis module 74 is transversely mounted on a U-axis output panel on the U-axis output panel fixing and heightening seat 73 through the cooperation of the U-axis screw and the nut sleeve.

FIG. 15 is an exploded view of the U-axis robot module of the present invention. As shown in fig. 15, a synchronous pulley transmission mechanism 72 is installed at the right rear end of the U-axis mechanical arm module 7, and the synchronous pulley transmission mechanism 72 adopts a synchronous pulley and synchronous belt matching structure, and includes a synchronous pulley mounting plate 721, a U-axis servo motor synchronous pulley 722, a U-axis servo motor 71, a U-axis screw rod synchronous pulley 723 and a synchronous belt 724; the right rear end of the U-axis mechanical arm module 7 is provided with the synchronous pulley mounting plate 721, the synchronous pulley mounting plate 721 is provided with a U-axis servo motor plate 711, the U-axis servo motor plate 711 is provided with a U-axis servo motor 71 through screws on the side surface of the U-axis servo motor plate 711, and the installation direction of the U-axis servo motor 71 is behind and below the U-axis module 74; a U-shaft servo motor synchronous wheel 722 is sleeved with an output shaft of the U-shaft servo motor 71 in a tensioning sleeve mode, a U-shaft screw rod synchronous wheel 723 is sleeved on the end of the U-shaft screw rod in a tensioning sleeve mode, and the U-shaft servo motor synchronous wheel 722 and the U-shaft screw rod synchronous wheel 723 are sleeved through a synchronous belt 724 to realize accurate matching; the distance between the U-axis servo motor 71 and the U-axis module 74 is adjusted through screws on the side face of the U-axis servo motor plate 711, so that the tightness of a synchronous belt 724 between the U-axis servo motor synchronous wheel 722 and the U-axis screw rod synchronous wheel 723 is adjusted; in the invention, the U-axis servo motor synchronous pulley 722 and the U-axis screw rod synchronous pulley 723 are both AT3 high-precision synchronous pulleys, and the synchronous belt 724 is an AT3 high-precision oil-resistant synchronous belt; a synchronous pulley protective cover 725 is sleeved on the synchronous pulley mounting plate 721, a U-shaft servo motor cover 712 is sleeved on the U-shaft servo motor 71, a U-shaft servo motor outlet cover 713 is covered on an outlet below the U-shaft servo motor cover 712, and a U-shaft servo motor sealing joint 714 is arranged on the U-shaft servo motor outlet cover 713; the U-axis module 74 with U-axis output panel junction on the fixed heightening seat 73 of U-axis output panel is equipped with U-axis module panel beating protection casing 741 be located on the U-axis module 74U-axis module panel beating protection casing 741 both ends enclosing cover has connect U-axis organ cover 75, U-axis organ cover 75 adopts the sealed seamless design of square cylindric integral and links with panel beating protection casing 741, forms a airtight and mobilizable cavity, and barrier propterty is better. In the invention, the U-axis mechanical arm module 7 is fixed by an output panel, and the whole U-axis module 74 moves along with the U-axis servo motor 71 at the rear end and the V-axis rotary positioning assembly 8 at the front end in the moving process.

As shown in fig. 15, a U-axis module adapter plate 742 is installed at the left front end of the U-axis mechanical arm module 7, and a V-axis rotational positioning assembly 8 is installed on the U-axis module adapter plate 742; the V-axis rotary positioning assembly 8 comprises a V-axis fixing plate 81, a V-axis servo motor 82, a V-axis harmonic speed reducer 83, a manipulator cylinder 84 and a pneumatic finger 85; the V-axis fixing plate 81 is mounted on the U-axis module adapter plate 742 at the left front end of the U-axis mechanical arm module 7 through a bolt, the V-axis fixing plate 81 is an L-shaped plate formed by a base plate mounted on the U-axis module adapter plate 742 and a front end plate thereof, a motor shaft through hole is formed in the front end plate of the V-axis fixing plate 81, the V-axis servo motor 82 is transversely mounted on the front end plate of the V-axis fixing plate 81 through a bolt, and an output shaft thereof passes through the motor shaft through hole; the V-axis harmonic speed reducer 83 is mounted on the other side face of the front end plate of the V-axis fixed support 81 through bolts, a central wave generator of the V-axis harmonic speed reducer 83 is sleeved on a motor shaft of the V-axis servo motor 82, a V-axis harmonic speed reducer output plate 831 is mounted on an output shaft of the V-axis harmonic speed reducer 83, a manipulator cylinder 84 is mounted at the tail end of the V-axis harmonic speed reducer output plate 851, a pneumatic finger 85 is mounted on the output end of the manipulator cylinder 84, the pneumatic finger 85 is controlled to perform loose clamping movement through the manipulator cylinder 84, one piece of the pneumatic finger 85 is fixedly mounted to serve as a reference positioning surface and does not move, the other piece of the pneumatic finger is controlled to perform reciprocating movement through a numerical control system, the reference surface of the pneumatic finger is designed to be a precise accurate grinding positioning plane, and the pneumatic finger movement fingers are various workpiece-shaped cross sections.

In the present invention, the tray 10 is a three-piece combined tray, and 2 trays 10 are arranged in parallel front and back, one of which is used for pre-assembling blanks, and the other is used for receiving finished products after processing.

Fig. 16 is a schematic view of the structure of the housing of the present invention. As shown in fig. 16, a plurality of metal plate mounting holes 15 are formed in the edge of the bed platform 11, a metal plate housing 16 is mounted on the metal plate mounting holes 15 on the bed platform 11 through bolts and nuts, a numerical control operation box 17 is mounted on the metal plate housing 16, and a numerical control system is mounted in the numerical control operation box 17. A closed movable door 18 is mounted on the sheet metal housing 16 at a front position.

The working principle of the invention is as follows:

The X-axis carriage assembly 3 moves rightwards, the U-axis mechanical arm module 7 is linked with the X-axis carriage assembly 2, and the V-axis rotary positioning assembly 8 at the tail end of the U-axis mechanical arm module 7 moves to the upper part of the material tray 10; the U-axis mechanical arm module 7 is controlled to move above the materials to be grabbed on the material tray 10, meanwhile, the Z-axis upright post assembly 4 is controlled to move downwards, the V-axis rotary positioning assembly 8 at the tail end of the U-axis mechanical arm module 7 is controlled to grab the materials on the material tray 10, and the material taking work is completed.

Controlling the X-axis carriage assembly 2 and the Y-axis carriage assembly 3 to move, simultaneously controlling the C-axis rotating assembly 5 to link, and controlling the up-and-down movement of the Z-axis upright post assembly 4 and the movement of the U-axis mechanical arm module 7 to put the materials grabbed by the V-axis rotating and positioning assembly 8 on the U-axis mechanical arm module 7 into the clamping head 65 on the A-axis dividing head 63 to finish feeding;

Controlling the U-axis mechanical arm module 7 and the V-axis rotary positioning assembly 8 to return, controlling the X-axis carriage assembly 2, the Y-axis carriage assembly 3 and the C-axis rotary assembly 5, simultaneously controlling the Z-axis upright post assembly 4 to be linked, moving the material on the chuck 65 to the position of the grinding wheel mounted on the electric spindle 9, measuring the relative position between the material clamped on the chuck 65 and the grinding wheel on the electric spindle 9 through the contact type three-dimensional on-line measuring probe 93, automatically calculating by a numerical control system and corresponding software, controlling the movement of the E-axis carriage assembly 55 and the F-axis carriage assembly 56, controlling the workpiece to be positioned on the circle center position of the C-axis rotary assembly 5, and then processing the material; the numerical value ground after each processing is calculated according to the numerical control system and the result of the three-dimensional measuring probe, so that the processed workpiece is always positioned on the circle center position of the C-axis rotating assembly 5, and the function of controlling and processing (RTCP) of the tool nose point circle center is realized; then carrying out five-axis linkage control on an X axis, a Y axis, a Z axis, a C axis and an A axis through a control program according to specific actual working requirements, and finally finishing material processing work;

After the material processing is completed, the X-axis carriage assembly 2 and the Y-axis carriage assembly 3 are controlled, and the Z-axis upright post assembly 4, the U-axis mechanical arm module 7 and the V-axis rotary positioning assembly 8 are controlled to be linked, so that the material on the clamping head 65 is taken down, and the blanking work is completed;

the removed material is placed on the tray 10 through the movement of the U-axis mechanical arm module 7 and the Z-axis upright post assembly 4, and the unprocessed material is grabbed again to carry out new processing.

According to the nine-axis intelligent control tool grinder, a material disc is installed on an X-axis carriage assembly, years of experiments prove that the unchanged material disc in the prior art can move at high speed in the directions of an X axis and a Y axis, meanwhile, the positioning accuracy of the X axis and the Y axis is far higher than that of a common manipulator/robot, because the robot is indicated to be generally only involved in cooperative production of finish machining according to a mechanical principle (the disclosed technology), the positioning accuracy of finish machining is high and can be generally finished by a machine tool, the rigidity and the accuracy of the robot cannot reach the accuracy of the machine tool, meanwhile, the U-axis mechanical arm is fixed on a Z axis, the motion positioning accuracy of the Z axis is adopted, the multi-axis structure of the original five-axis tool grinder and the six-axis mechanical arm is improved to the nine-axis structure of the seven-axis tool grinder and the two-axis mechanical arm, meanwhile, the control operation program of the two-axis mechanical arm can be directly written into a control system of the seven-axis tool grinder, the space is greatly saved, the structure is more compact, the most core is that the motion positioning and the operation accuracy of the machine tool is synchronous, and the space accuracy is high, and the high-speed and high-accuracy of the machine tool is achieved. According to the invention, two shafts of an E shaft and an F shaft are added between the C shaft and the A shaft, high-precision positioning movement is carried out by using the EF shaft and the EF shaft, the numerical value ground after each machining is measured again by a three-dimensional measuring probe supported by a numerical control system and calculated, the movement of the E shaft and the F shaft is controlled, the workpiece is ensured to be always positioned on the center position of the C shaft, finish machining is carried out, and the real-time on-line point center control machining (RTCP) function of the tool nose point is realized.

The preferred embodiments of the present invention have been described in detail above, but the present invention is not limited to the specific details of the above embodiments, and various equivalent changes (such as number, shape, position, etc.) may be made to the technical solution of the present invention within the scope of the technical concept of the present invention, and these equivalent changes all belong to the protection of the present invention.

Claims

1. Nine-axis intelligent control tool grinding machine, including lathe bed base (1), nine-axis mechanical structure, panel beating casing and numerical control system lathe bed platform (11) are formed to lathe bed base (1) the bottom of lathe bed base (1) evenly is provided with a plurality of footing (13) at the interval, forms the clearance position that makes things convenient for fork truck fork income between footing (13) that is separated by, its characterized in that: the nine-axis mechanical structure comprises:

A Y-axis carriage assembly (3) is arranged on the left side of the lathe bed platform (11), an X-axis carriage assembly (2) is arranged above the Y-axis carriage assembly (3), and the Y-axis carriage assembly (3) and the X-axis carriage assembly (2) are overlapped in a crisscross manner; a C-axis rotating assembly (5) and a material taking disc base are horizontally arranged on an output panel of the X-axis carriage assembly (2), and the material taking disc base is arranged on the X-axis panel of the X-axis carriage assembly (2) and positioned in front of the C-axis rotating assembly (5); a C-axis output panel (53) is arranged on an output shaft of the C-axis rotating assembly (5), an E-axis carriage assembly (55) is arranged on the C-axis output panel (53), an F-axis carriage assembly (56) is arranged on the E-axis carriage assembly (55), and the F-axis carriage assembly (56) and the E-axis carriage assembly (55) are overlapped in a crisscross manner; An A-axis output panel (611) is arranged on the F-axis carriage assembly (56), an A-axis indexing assembly (6) is arranged on the A-axis output panel (611), a pneumatic chuck seat is arranged at the output end of the A-axis indexing assembly (6) through an A-axis indexing head connecting flange plate (64), a spring chuck is arranged in the pneumatic chuck seat, the spring chuck is connected with the numerical control system, and an automatic feeding and discharging function is realized through the numerical control system; three combined trays (10) are arranged on the material taking tray base, 2 trays (10) are arranged in parallel front and back, one of the trays is used for pre-assembling blanks, and the other tray is used for receiving finished products after processing; A Z-axis column assembly (4) is arranged on the right rear side position of the lathe bed platform (11), and the Z-axis column assembly (4) comprises a Z-axis mounting platform (40), a Z-axis column (43), a Z-axis motor (41), a Z-axis screw rod (412), a Z-axis transmission seat (415), a Z-axis nut sleeve (416), a Z-axis guide rail (417), a Z-axis sliding block (418), a Z-axis panel (413) and a Z-axis organ cover (42); the Z-axis installation platform (40) is installed on the lathe bed platform (11) and located at the right rear side, and the Z-axis upright post (43) is installed on the Z-axis installation platform (40) in a locking mode through bolts; A Z-axis bearing seat is arranged at the top of the front side surface of the Z-axis upright post (43), and a Z-axis transmission seat (415) is arranged at the lower part of the front side surface of the Z-axis upright post (43); the Z-axis bearing seat comprises an upper bearing and a lower bearing which are integrally designed, a Z-axis motor (41) is vertically arranged on the upper bearing of the Z-axis bearing seat, a Z-axis screw rod (412) is arranged between the lower bearing of the Z-axis bearing seat and the Z-axis transmission seat (415), a Z-axis motor output shaft (411) of the Z-axis motor (41) is connected with the input end of the Z-axis screw rod (412) through a coupler, a Z-axis nut is arranged on the Z-axis screw rod (412), a Z-axis nut sleeve (416) is sleeved on the Z-axis nut, and a screw hole is arranged on the Z-axis nut sleeve (416); Z-axis guide rails (417) are respectively arranged on two sides of the Z-axis screw rod (412) on the front side surface of the Z-axis upright post (43), Z-axis sliding blocks (418) are slidably arranged on each Z-axis guide rail (417), the installation height of each Z-axis sliding block (418) is consistent with the installation height of each Z-axis nut sleeve (416), and screw holes are also formed in each Z-axis sliding block (418); the Z-axis panel (413) is mounted on the Z-axis nut sleeve (416) and the Z-axis sliding block (418) in a matched mode through bolts and screw holes; z-axis organ covers (42) are arranged on the front side surface of the Z-axis upright post (43) and positioned on the upper side and the lower side of the Z-axis panel (413), and Z-axis organ cover baffle plates are arranged at the upper end and the lower end of the Z-axis upright post assembly (4) for sealing; The Z-axis motor (41) is covered with a Z-axis motor cover for sealing, and the left end and the right end of the Z-axis upright post (43) are sealed and protected by a labyrinth sheet metal baffle; a mounting anchor ear (91) is mounted on the Z-axis panel (413), a U-axis output panel fixing heightening seat (73) is mounted below the mounting anchor ear (91) on the Z-axis panel (413), and a U-axis mechanical arm module (7) is mounted on a U-axis output panel on the U-axis output panel fixing heightening seat (73); the electric spindle (9) is horizontally arranged in an installation anchor ear (91) on the Z-axis panel (413), a grinding wheel cutter handle (92) capable of being provided with a grinding wheel is arranged at the left output end of the electric spindle, the grinding wheel (93) is detachably arranged on the grinding wheel cutter handle (92), and a contact type three-dimensional online measurement probe is arranged on the electric spindle (9) and positioned at the rear lower side of the grinding wheel cutter handle (92); An electric spindle cover (94) is arranged outside the mounting hoop (91); a U-axis output panel fixing heightening seat (73) is arranged below the electric spindle (9) on the Z-axis panel (413), and the U-axis mechanical arm module (7) is horizontally arranged on a U-axis output panel on the U-axis output panel fixing heightening seat (73); the U-axis mechanical arm module (7) comprises a U-axis module (74), a U-axis servo motor (71), a synchronous pulley transmission mechanism (72) and a U-axis organ cover (75), wherein a nut sleeve is fixedly arranged on a U-axis output panel fixing heightening seat (73), a U-axis screw rod is fixedly arranged in the U-axis module (74), two ends of the U-axis screw rod are arranged in the U-axis module (74) through U-axis bearing seats, and the U-axis module (74) is transversely arranged on a U-axis output panel on the U-axis output panel fixing heightening seat (73) through the cooperation of the U-axis screw rod and the nut sleeve; the right rear end of the U-axis mechanical arm module (7) is provided with the synchronous pulley transmission mechanism (72), and the synchronous pulley transmission mechanism (72) comprises a synchronous pulley mounting plate (721), a U-axis servo motor synchronous pulley (722), a U-axis servo motor (71), a U-axis screw rod synchronous pulley (723) and a synchronous belt (724); the right rear end of the U-shaft module (74) is provided with the synchronous pulley mounting plate (721), the synchronous pulley mounting plate (721) is provided with a U-shaft servo motor plate (711), the U-shaft servo motor plate (711) is provided with a U-shaft servo motor (71) through screws on the side surface of the U-shaft servo motor plate (711), and the U-shaft servo motor (71) is arranged at the rear lower part of the U-shaft module (74); The U-axis servo motor synchronous wheel (722) is sleeved with an output shaft of the U-axis servo motor (71) in a tensioning sleeve mode, the U-axis screw rod synchronous wheel (723) is sleeved on the end of the U-axis screw rod in a tensioning sleeve mode, and the U-axis servo motor synchronous wheel (722) and the U-axis screw rod synchronous wheel (723) are sleeved through the synchronous belt (724) to realize accurate matching; a synchronous wheel protective cover (725) is sleeved on the synchronous pulley mounting plate (721), a U-shaft servo motor cover (712) is sleeved on the U-shaft servo motor (71), a U-shaft servo motor outlet cover (713) is covered on an outlet below the U-shaft servo motor cover (712), and a U-shaft servo motor sealing joint (714) is arranged on the U-shaft servo motor outlet cover (713); A U-shaft module sheet metal protection cover (741) is arranged at the joint of the U-shaft module (74) and the U-shaft output panel on the U-shaft output panel fixing heightening seat (73), U-shaft organ covers (75) are connected to the outer covers of the two ends of the U-shaft module sheet metal protection cover (741) on the U-shaft module (74), and the U-shaft organ covers (75) are in square-tube-shaped integral sealing seamless design and are connected with the sheet metal protection cover (741) to form a closed cavity capable of moving; the U-axis mechanical arm module (7) adopts a structural mode that a U-axis module (74) moves integrally and a U-axis output panel is fixed; A U-axis module adapter plate (742) is arranged at the left front end of the U-axis mechanical arm module (7), and a V-axis rotary positioning assembly (8) is arranged on the U-axis module adapter plate (742); the V-axis rotary positioning assembly (8) comprises a V-axis fixed plate (81), a V-axis servo motor (82), a V-axis harmonic speed reducer (83), a manipulator cylinder (84) and a pneumatic finger (85); the V-axis fixing plate (81) is arranged on the U-axis module adapter plate (742) at the left front end of the U-axis mechanical arm module (7) through bolts, the V-axis fixing plate (81) is an L-shaped plate formed by a base plate arranged on the U-axis module adapter plate (742) and a front end plate thereof, a motor shaft through hole is formed in the front end plate of the V-axis fixing plate (81), and the V-axis servo motor (82) is transversely arranged on the front end plate of the V-axis fixing plate (81) through bolts, and an output shaft of the V-axis servo motor passes through the motor shaft through hole; the V-axis harmonic speed reducer (83) is arranged on the other side surface of the front end plate of the V-axis fixed plate (81) through bolts, a central wave generator of the V-axis harmonic speed reducer (83) is sleeved on a motor shaft of the V-axis servo motor (82), a V-axis harmonic speed reducer output plate (831) is arranged on an output shaft of the V-axis harmonic speed reducer (83), a manipulator cylinder (84) is arranged at the tail end of the V-axis harmonic speed reducer output plate (831), a pneumatic finger (85) is arranged on the output end of the manipulator cylinder (84), the manipulator cylinder (84) is used for controlling the pneumatic finger (85) to perform loose clamping movement, the pneumatic finger (85) consists of two pieces, wherein one piece is fixedly installed as a reference positioning surface and is fixed, the other piece controls air pressure to reciprocate through a numerical control system, and the reference surface of the pneumatic finger is designed for fine grinding and fine positioning planes; A drain outlet (14) is arranged at the rear side of the lathe bed platform (11), and the drain outlet (14) is lower than the plane in the lathe bed platform (11); the machine tool comprises a machine tool body (11), and is characterized in that a plurality of sheet metal mounting holes (15) are formed in the edge of the machine tool body (11), a sheet metal shell (16) is mounted on the sheet metal mounting holes (15) in the machine tool body (11) through bolts and nuts, a numerical control operation box (17) is mounted on the sheet metal shell (16), a numerical control system is mounted in the numerical control operation box (17), and a closed movable door (18) is mounted at the front position on the sheet metal shell (16).

2. The nine-axis intelligent control tool grinder according to claim 1, wherein: the Y-axis carriage assembly (3) comprises a Y-axis carriage (30), a Y-axis motor (31), a Y-axis transmission seat (34), a Y-axis screw rod (35), a Y-axis nut sleeve (36), a Y-axis guide rail (37), a Y-axis sliding block (38), a Y-axis panel (39) and a Y-axis organ cover (32), wherein the Y-axis carriage (30) and the lathe bed platform (11) are integrally cast, the Y-axis carriage (30) is used as a reference machining station of the whole lathe bed, and all parallelism\angle\verticality are installed in sequence by taking the Y-axis carriage (30) as a measurement comparison reference; the Y-axis motor (31) is arranged on the Y-axis carriage (30) through a motor seat, and a motor cover is arranged on the Y-axis carriage; a motor shaft (311) of the Y-axis motor (31) is connected with the input end of the Y-axis screw rod (35) through a coupler, Y-axis transmission seat mounting seats (341) are respectively arranged at two ends of the Y-axis carriage (30), and the tail end of the Y-axis screw rod (35) is fixed on the Y-axis transmission seat mounting seats (341) through the Y-axis transmission seat (34); a Y-axis nut is arranged on the Y-axis screw rod (35), and a Y-axis nut sleeve (36) is sleeved on the Y-axis nut; y-axis guide rails (37) parallel to the Y-axis screw rods (35) are respectively arranged on two sides of the Y-axis screw rods (35) on the Y-axis carriage (30), two Y-axis sliding blocks (38) are slidably arranged on each Y-axis guide rail (37), the installation height of each Y-axis sliding block (38) is consistent with the installation height of each Y-axis nut sleeve (36), and screw holes are formed in each Y-axis sliding block (38); Screw holes are formed in positions, corresponding to the Y-axis nut sleeve (36) and the Y-axis sliding block (38), of the Y-axis panel (39), and the Y-axis panel (39) is mounted on the Y-axis nut sleeve (36) and the Y-axis sliding block (38) through matching of bolts and the screw holes; the Y-axis organ cover (32) covers the left side and the right side of the Y-axis panel (39), and seals the left end and the right end of the Y-axis carriage assembly (3) through Y-axis organ cover baffles (33); sealing the left and right sides of the Y-axis panel (39) through labyrinth sheet metal parts; an X-axis carriage (24) is arranged on the Y-axis panel (39), and the X-axis carriage (24) and the Y-axis panel (39) are horizontally and fixedly arranged at an angle of 90 degrees; The X-axis carriage assembly (2) and the Y-axis carriage (30) are installed by taking a comparison Y-axis carriage (30) as a reference for measurement and installation, all parallelism\angle\verticality are installed in sequence by taking the Y-axis carriage (30) as a measurement and comparison reference, and the X-axis carriage assembly comprises an X-axis motor (21), an X-axis transmission seat (25), an X-axis screw rod (26), an X-axis nut sleeve, an X-axis guide rail (27), an X-axis sliding block, an X-axis panel (28) and an X-axis organ cover (22), wherein the X-axis motor (21) is installed on the X-axis carriage (24) through a motor seat, and a motor cover is arranged on the X-axis motor; an X-axis motor output shaft (211) of the X-axis motor (21) is connected with the input end of the X-axis screw rod (26) through a coupler, and the tail end of the X-axis screw rod (26) is fixed on the X-axis carriage (24) through the X-axis transmission seat (25); An X-axis nut is arranged on the X-axis screw rod (26), an X-axis nut sleeve is sleeved on the X-axis nut, and a screw hole is formed in the X-axis nut sleeve; an X-axis guide rail (27) parallel to the X-axis screw rod (26) is also respectively arranged on two sides of the X-axis screw rod (26) on the X-axis carriage (24), two X-axis sliding blocks are slidably arranged on each X-axis guide rail (27), the installation height of each X-axis sliding block is consistent with the installation height of the X-axis nut sleeve, and screw holes are arranged on the X-axis sliding blocks; screw holes are formed in positions, corresponding to the X-axis nut sleeve and the X-axis sliding block, of the X-axis panel (28), and the X-axis panel (28) is mounted on the X-axis nut sleeve and the X-axis sliding block through the matching of bolts and the screw holes; The X-axis organ cover (22) covers the front side and the rear side of the X-axis panel (28), the front end and the rear end of the X-axis carriage assembly (2) are sealed through the X-axis organ cover baffle (23), and the left side and the right side of the X-axis panel (28) are sealed through labyrinth sheet metal parts.

3. The nine-axis intelligent control tool grinder according to claim 2, wherein: a C-axis indexing rotary shaft body (51) is arranged at the upper rear position of the X-axis panel (28), a C-axis motor seat is arranged at the rear end of the C-axis indexing rotary shaft body (51) through a motor adapter plate, a C-axis servo motor (54) is arranged in the C-axis motor seat, the C-axis servo motor (54) is connected with an input shaft of the C-axis indexing rotary shaft body (51) through a coupling, a worm gear or a roller cam indexing transmission structure is arranged in the C-axis indexing rotary shaft body (51), and a worm of the worm gear is fixedly connected with the input shaft of the C-axis indexing rotary shaft body (51) or a cam of the roller cam indexing transmission structure is fixedly connected with the input shaft of the C-axis indexing rotary shaft body (51); the worm of the worm gear and the worm or the cam of the roller cam indexing transmission structure are driven to rotate through the input work of the C-axis servo motor (54), the worm is driven to rotate at a high speed or the cam is driven to rotate by the roller transmission structure, a turntable bearing (52) is sleeved on the worm gear or the cam to serve as a support, a connecting sleeve is additionally arranged at the output end of the worm gear or the cam, a C-axis output panel (53) is arranged on the connecting sleeve, an E-axis carriage assembly (55) is arranged on the C-axis output panel (53), an F-axis carriage assembly (56) is arranged on the E-axis carriage assembly (55), and the F-axis carriage assembly (56) and the E-axis carriage assembly (55) are overlapped in a cross manner; an A-axis output panel (611) is mounted on the F-axis carriage assembly (56), the A-axis indexing assembly (6) is mounted on the A-axis output panel (611), a body mounting reference surface of the A-axis indexing assembly (6) is connected with the A-axis output panel (611) through bolts, and the A-axis indexing assembly (6) comprises an A-axis motor (62), an A-axis speed reducer, an A-axis indexing head (63), a chuck seat and a spring chuck (65); the A-axis motor seat (61) is installed above the A-axis output panel (611), the A-axis motor (62) is installed on the A-axis motor seat (61), the A-axis speed reducer is installed on an output shaft of the A-axis motor (62), the A-axis dividing head (63) is installed at an output end of the A-axis speed reducer, the chuck seat is installed on an output shaft of the A-axis dividing head (63) through an A-axis dividing head connecting flange plate (64), the collet chuck (65) is installed in the collet chuck seat, the collet chuck (65) is connected with the numerical control system, and an automatic loosening and clamping function is realized through the numerical control system.

4. The nine-axis intelligent control tool grinder according to claim 1, wherein: the E-axis carriage assembly (55) comprises an E-axis carriage (550), an E-axis bearing seat (553), an E-axis motor (551), an E-axis organ cover (552), an E-axis screw rod (554), an inner bearing (555), an E-axis nut sleeve (556), an E-axis guide rail (557) and an E-axis sliding block (558); the E-axis carriage (550) is mounted on the C-axis output panel (53), the E-axis bearing seat (553) is mounted on the tail end of the E-axis carriage (550), the E-axis bearing seat (553) comprises an inner bearing and an outer bearing which are integrally designed, the E-axis motor (551) is mounted on the tail end of the C-axis output panel (53) through an outer bearing of the E-axis bearing seat (553), the E-axis screw rod (554) is mounted on an inner bearing (555) of the E-axis bearing seat (553), and a motor shaft of the E-axis motor (551) is connected with the input end of the E-axis screw rod (554) through a coupler; an E-axis nut is arranged on the E-axis screw rod (554), an E-axis nut sleeve (556) is sleeved on the E-axis nut, and a screw hole is formed in the E-axis nut sleeve (556); e-axis guide rails (557) parallel to the E-axis screw rods (554) are respectively arranged on two sides of the E-axis carriage (550), two E-axis sliding blocks (558) are slidably arranged on each E-axis guide rail (557), the installation height of each E-axis sliding block (558) is consistent with the installation height of each E-axis nut sleeve (556), and screw holes are also formed in each E-axis sliding block (558); The F-axis carriage (561) of the F-axis carriage assembly (56) is arranged on the E-axis nut sleeve (556) and the E-axis sliding block (558) through the matching of bolts and screw holes, and the F-axis carriage (561) and the E-axis carriage assembly (55) are fixedly arranged at an angle of 90 degrees in the movement direction; the E-axis organ cover (552) covers the E-axis carriage (550) and is positioned at two sides of the F-axis carriage (561), and the two ends of the E-axis carriage assembly (55) are sealed by the E-axis organ cover baffle plates; an E-axis motor cover (559) is covered on the E-axis motor (551) for sealing, and the two side surfaces of the E-axis carriage (550) are sealed by a labyrinth sheet metal part; An F-shaft bearing seat (563) is arranged at one end of the F-shaft carriage (561), and an F-shaft transmission seat (565) is arranged at the other end of the F-shaft carriage; the F-axis bearing seat (563) comprises an inner bearing and an outer bearing which are integrally designed, an F-axis motor (562) is arranged on the F-axis carriage (561) through an outer bearing of the F-axis bearing seat (563), and an F-axis screw rod (564) is arranged on an inner bearing of the F-axis bearing seat (563); the input end of the F-axis screw rod (564) is connected with a motor shaft of the F-axis motor (562) through a coupler, and the other end of the F-axis screw rod is arranged in the F-axis transmission seat (565); An F-axis nut is arranged on the F-axis screw rod (564), an F-axis nut sleeve (568) is sleeved on the F-axis nut, and a screw hole is formed in the F-axis nut sleeve (568); f shaft guide rails (566) parallel to the F shaft lead screw (564) are respectively arranged on two sides of the F shaft lead screw (564) on the F shaft carriage (561), two F shaft sliding blocks (567) are slidably arranged on each F shaft guide rail (566), the installation height of each F shaft sliding block (567) is consistent with the installation height of each F shaft nut sleeve (568), and screw holes are also formed in each F shaft sliding block; The A-axis output panel (611) is mounted on the F-axis nut sleeve (568) and the F-axis sliding block (567) in a matched manner through bolts and screw holes; f-axis organ covers (569) are respectively arranged on two sides of the A-axis output panel (611) on the F-axis carriage (561), and two ends of the F-axis carriage assembly (56) are sealed by the F-axis organ cover baffles; an F-axis motor cover is arranged outside the F-axis motor (562) for sealing, and the two side surfaces of the F-axis carriage (561) are sealed through labyrinth sheet metal parts.

5. The nine-axis intelligent control tool grinder according to claim 1, wherein: the distance between the U-axis servo motor (71) and the U-axis module (74) is adjusted through screws on the side face of the U-axis servo motor plate (711), so that the tightness of the synchronous belt (724) between the U-axis servo motor synchronous wheel (722) and the U-axis screw rod synchronous wheel (723) is adjusted.

6. The nine-axis intelligent control tool grinder according to claim 1, wherein: the U-axis servo motor synchronous wheel (722) and the U-axis screw rod synchronous wheel (723) are both AT3 high-precision synchronous pulleys, and the synchronous belt (724) is an AT3 high-precision oil-resistant synchronous belt.

7. The nine-axis intelligent control tool grinder according to claim 1, wherein: the machine body base (1) is integrally cast, the machine body base and the Y-axis carriage assembly (3) are integrated, the casting position of the Y-axis carriage assembly (3) is higher than the inner plane of the machine body platform (11), and the bottom surface platform installed by the Z-axis upright post assembly (4) is protruded on the plane of the machine body platform (11).

8. The nine-axis intelligent control tool grinder according to claim 1, wherein: different workpiece clamping operations are realized by replacing spring chucks (65) with different inner apertures, so that an automatic production mode is realized.