CN112454081A - Nine-shaft machining grinding machine - Google Patents

Nine-shaft machining grinding machine Download PDF

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Publication number
CN112454081A
CN112454081A CN202011460895.9A CN202011460895A CN112454081A CN 112454081 A CN112454081 A CN 112454081A CN 202011460895 A CN202011460895 A CN 202011460895A CN 112454081 A CN112454081 A CN 112454081A
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CN
China
Prior art keywords
axis
servo motor
screw rod
output panel
mechanical structural
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CN202011460895.9A
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Chinese (zh)
Inventor
胡功明
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胡功明
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Priority to CN202011460895.9A priority Critical patent/CN112454081A/en
Publication of CN112454081A publication Critical patent/CN112454081A/en
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B24GRINDING; POLISHING
    • B24BMACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B19/00Single-purpose machines or devices for particular grinding operations not covered by any other main group

Abstract

The application discloses a nine-shaft machining grinding machine, wherein a grinding machine base is of a rectangular structure made of granite; an X-axis mechanical structural part is fixed on the left rectangular area through a nut; the Y-axis mechanical structural part is fixed on the output panel of the X-axis mechanical structural part; a Z-axis mechanical structural part is fixed on an output panel of the Y-axis mechanical structural part; a main shaft is arranged on an output panel of the Z-axis mechanical structural part; the carriage of the X-axis mechanical structural component is made of granite; the carriage of the Y-axis mechanical structural part is made of granite or cast iron; the carriage of the Z-axis mechanical structural part is made of cast iron; the heightening block assembly is fixed on the right rectangular area through a nut; a servo manipulator driving structural part, a material disc and a rotary table mechanism are sequentially arranged on the heightening block component from front to back; in this application embodiment, to granite grinding machine base recycle, establish the processing grinding machine through predetermined position, utilize the installation and the use that the block subassembly of bed hedgehopping realized diversified mechanical components.

Description

Nine-shaft machining grinding machine
Technical Field
The application relates to the technical field of machining grinders, in particular to a nine-shaft machining grinder.
Background
The existing large machine tool is updated along with the innovation of the production and processing industry at present, a lot of eliminated machine tool hardware still has the value of recycling, and then due to the fact that the size of the grinding machine is large, reprocessing is difficult, the reason of processing cost is considered under many conditions, a lot of grinding machine equipment is idle, and great resources are wasted.
Disclosure of Invention
In order to solve the technical problem, an embodiment of the application provides a nine-axis machining grinding machine, which comprises a grinding machine base, an X-axis mechanical structural part, a Y-axis mechanical structural part, a Z-axis mechanical structural part, a main shaft, a turntable mechanism, a servo manipulator driving structural part, a material disc, a protective outer metal plate and a numerical control system; the protective outer metal plate covers the grinding machine base to serve as a shell of the grinding machine; the right side and the front side in the sheet metal shell are provided with movable doors, and the movable doors slide along a base sliding rail of the sheet metal shell;
an operation box of the numerical control system is positioned outside the sheet metal shell and on the left side of one surface facing the operation station;
the grinding machine base is of a rectangular structure made of granite; the top surface of the grinding machine base is divided into a left rectangular area and a right rectangular area, the left rectangular area is used as a main shaft moving area, and the right rectangular area is used as a manipulator loading and unloading area; the moving direction of the left rectangular area to the right rectangular area is marked as Y direction, and the direction vertical to the Y direction on the horizontal plane is marked as X direction; the direction of the treatment and the horizontal plane is marked as Z direction;
an X-axis mechanical structural part is fixed on the left rectangular area through a nut; the output panel of the X-axis mechanical structural part moves in the X direction; the Y-axis mechanical structural part is fixed on the output panel of the X-axis mechanical structural part; the output panel of the Y-axis mechanical structural part moves in the Y direction; a Z-axis mechanical structural part is fixed on an output panel of the Y-axis mechanical structural part; the output panel of the Z-axis mechanical structural part moves in the Z direction; a main shaft is arranged on an output panel of the Z-axis mechanical structural part; the output shaft of the main shaft faces the right rectangular area;
the carriage of the X-axis mechanical structural component is made of granite; the carriage of the Y-axis mechanical structural part is made of granite or cast iron; the carriage of the Z-axis mechanical structural part is made of cast iron;
the heightening block assembly is fixed on the right rectangular area through a nut; a servo manipulator driving structural part, a material disc and a rotary table mechanism are sequentially arranged on the heightening block component from front to back;
the heightening block component comprises a base and two groups of heightening seats; the two groups of heightening seats are divided into a first heightening block positioned at the bottom and a second heightening block positioned on the first heightening block, the first heightening block and the second heightening block are both in a step-shaped structure, and the first heightening block is positioned on the top surface of the base and fixed through bolts; the servo manipulator driving structural part is positioned on the step of the second heightening block; the material tray is positioned on the step of the first heightening block, and the bottom of the material tray is flush with the step of the second heightening block; the turntable mechanism is positioned below the step of the first heightening block; the servo manipulator driving structural part is used for material transfer between the material disc and the turntable mechanism; the rotary table mechanism is used for clamping materials and is matched with the output end of the main shaft to process the materials.
Further, the X-axis mechanical structure includes:
an X-axis carriage: integrally casting with a grinding machine base; the guide rail groove of the X-axis carriage is embedded, and the two guide rail grooves are parallel in the same plane; the guide rail matched with the guide rail groove is a roller-shaped rectangular guide rail; the rolling column-shaped rectangular guide rails are matched with rolling column-shaped sliding blocks, and each guide rail adopts 2 sliding blocks for matching use; the guide rail and the sliding block form a plane precision structure;
x axial lead screw actuating mechanism: the X-axis lead screw transmission device comprises an X-axis lead screw, a bearing seat, a bearing and a lead screw nut sleeve, which form a transmission precision structure;
the X-axis screw rod adopts a high-precision screw rod with the grade of more than C5, the bearing seats are used by combining a front bearing seat and a rear bearing seat, 1 6 series high-precision thrust bearing in matched combination is arranged in the front bearing seat, and 2 7 series high-precision thrust bearings in matched combination are arranged in the rear bearing seat;
the screw rod nut sleeve adopts a split type nut sleeve, and the flange surface of the nut is connected with the output panel to form a 90-degree right-angle surface; two ends of the screw rod are arranged in bearings of the bearing block, two ends of the screw rod are fixed at the central position on the carriage base through the bearing block, and the input end of the screw rod is arranged in the bearing block at the rear end; the mounting position of the bearing seat is lower than the guide rail surface; two linear guide rails are respectively arranged on two sides of the screw rod, a sliding block is arranged on the linear guide rails, and the output panel is arranged on the sliding block; the output panel is connected with the feed screw nut sleeve and the feed screw nut, and the feed screw rotates to drive the nut and the output panel to move on the guide rail;
along the X-axis direction, two sides of the output panel are connected with shaft seal plates and a cover body of a servo motor through an organ cover; side seal plates are connected to two sides of the output panel; the side sealing plates and the output panel organ cover form a sealing protection cover for the X-axis carriage assembly;
the servo motor is positioned in front of the X-axis mechanical structural part, and the output end of the servo motor is connected with the input end of the screw rod through a zero-clearance coupler.
Further, the Y-axis mechanical structure includes:
y-axis carriage: an included angle of 90 degrees is formed horizontally with an output panel of the X-axis mechanical structural component, and the bottom of the included angle is fixed on the output panel of the X-axis mechanical structural component through a nut; the guide rail groove of the Y-axis carriage is embedded, and the two guide rail grooves are parallel in the same plane; the guide rail matched with the guide rail groove is a roller-shaped rectangular guide rail; the rolling column-shaped rectangular guide rails are matched with rolling column-shaped sliding blocks, and each guide rail adopts 2 sliding blocks for matching use; the guide rail and the sliding block form a plane precision structure;
y axial lead screw actuating mechanism: the transmission precision structure comprises a Y-axis screw rod, a bearing seat, a bearing and a screw rod nut sleeve;
the Y-axis screw rod adopts a high-precision screw rod with the grade of more than C5, the bearing seats are used by combining a front bearing seat and a rear bearing seat, 1 6 series high-precision thrust bearing in matched combination is arranged in the front bearing seat, and 2 7 series high-precision thrust bearings in matched combination are arranged in the rear bearing seat; the screw rod nut sleeve adopts a split type nut sleeve, and the flange surface of the nut is connected with the output panel to form a 90-degree right-angle surface;
two ends of the screw rod are arranged in bearings of the bearing block, two ends of the screw rod are fixed at the central position on the carriage base through the bearing block, and the input end of the screw rod is arranged in the bearing block at the rear end; the mounting position of the bearing seat is lower than the guide rail surface; two linear guide rails are respectively arranged on two sides of the screw rod, a sliding block is arranged on the linear guide rails, and the output panel is arranged on the sliding block; the output panel is connected with the feed screw nut sleeve and the feed screw nut, and the feed screw rotates to drive the nut and the output panel to move on the guide rail;
along the Y-axis direction, two sides of the output panel are connected with shaft seal plates and a cover body of the servo motor through an organ cover; side seal plates are connected to two sides of the output panel; the Y-axis carriage assembly is formed into a sealing protection cover by the side sealing plates and the output panel organ cover;
the servo motor is positioned on the left side of the Y-axis mechanical structural part, and the output end of the servo motor is connected with the input end of the screw rod through a zero-clearance coupler.
Further, the Z-axis mechanical structure includes:
a Z-axis carriage: an included angle of 90 degrees is formed between the Y-axis carriage and the Y-axis carriage, and the end part of the Y-axis carriage is fixed on an output panel of the Y-axis mechanical structural part through a nut; the guide rail groove of the Z-axis carriage is embedded, and the two guide rail grooves are parallel in the same plane; the guide rail matched with the guide rail groove adopts a roller-shaped rectangular guide rail; the rolling column-shaped rectangular guide rails are matched with rolling column-shaped sliding blocks, and each guide rail adopts 2 sliding blocks for matching use; the guide rail and the sliding block form a plane precision structure;
z axial lead screw actuating mechanism: the transmission precision structure comprises a Z-axis screw rod, a bearing seat, a bearing and a screw rod nut sleeve;
the Z-axis screw rod adopts a high-precision screw rod with the grade of more than C5, the bearing seats are combined by a front bearing seat and a rear bearing seat, each bearing seat is internally provided with 2 high-precision thrust bearings with the grade of more than 7 series P5 which are combined in a matched mode, the screw rod nut sleeve adopts a split nut sleeve, and the flange surface of the nut is connected with the output panel to form a 90-degree right-angle surface;
two ends of the screw rod are arranged in bearings of the bearing block, two ends of the screw rod are fixed on the central position on the carriage base through the bearing block, and the mounting position of the bearing block is lower than the guide rail surface; two sides of the screw rod are respectively provided with a linear guide rail, the slide block is arranged on the linear guide rails, and the output panel is arranged on the slide block; the output panel is connected with the feed screw nut sleeve and the feed screw nut, and the nut and the output panel are driven to move on the guide rail when the feed screw rotates;
along the Z-axis direction, two sides of the output panel are connected with the shaft sealing plate and the cover body of the servo motor through the organ cover; side sealing plates are connected with the two sides of the output panel; the Z-axis carriage assembly is formed into a sealing protection cover by the side sealing plates and the output panel organ cover;
the servo motor is positioned above the Z-axis mechanical structural part, and the output end of the servo motor is connected with the input end of the screw rod through the zero-clearance coupler.
Further, the turntable mechanism comprises an A-axis dividing head, a rotating table plate and a C-axis driving mechanism; the A-axis dividing head is fixed at the tail end of the top surface of the rotary table plate, the C-axis driving mechanism is fixed at the bottom of the rotary table plate, and the output axis of the C-axis driving mechanism rotates to drive the A-axis dividing head and the rotary table plate to move in the C-axis direction.
Further, the C-axis drive mechanism includes:
the C-axis dividing head, the harmonic speed reducer, the motor plate, the servo motor and the motor cover;
the C-axis indexing head is positioned at the front end of the bottom of the rotating bedplate; the bottom of the C-axis dividing head is used as an output end and is connected with the output end of the C-axis servo motor through a belt pulley transmission mechanism; the C-axis servo motor is positioned on the first heightening block; the top of the C-axis servo motor is lower than the bottom of the rotary table plate; the middle of the bottom of the rotating bedplate is provided with a cavity for wiring;
the harmonic speed reducer consists of an outer ring steel wheel, an inner ring flexible wave wheel and a wave generator connected with a servo motor, and is arranged in the C-axis dividing head main shell; the output end of an inner ring flexible impeller of the harmonic reducer is connected with the tail end of an output shaft of a C-axis dividing head, the output shaft of the C-axis dividing head is supported by a turntable bearing, a fixed ring of the turntable bearing is fixed in a dividing head shell, and an inner ring is fixed with the output shaft by rotary kinetic energy; an oil seal for sealing is arranged between the indexing head output shaft and the shell, and a metal plate circular cover is further arranged outside the indexing head shell to form double protection.
Furthermore, two material trays are arranged side by side in the grabbing direction of the servo manipulator driving structural part and staggered front and back.
Further, the servo manipulator driving structural part comprises a U-axis mechanical structural part, a V-axis mechanical structural part, a W-axis mechanical structural part and a pneumatic gripper;
the U-shaft mechanical structural part is arranged at the right front of the grinding machine base and drives the V-shaft mechanical structural part to do reciprocating motion in the Y-axis direction;
the U-axis mechanical structural part comprises a U-axis planker, a U-axis module, a U-axis servo motor and a U-axis organ cover; the bottom of the U-axis carriage is arranged on the machine tool base, and the U-axis module is arranged on the U-axis carriage; a nut sleeve is fixedly arranged on a U-axis output panel of the U-axis module, 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 a U-axis bearing seat, and the U-axis module is transversely arranged on a U-axis carriage through the matching of the U-axis screw rod and the nut sleeve; the U-axis module is externally covered with U-axis organ covers at two ends of the U-axis output panel, the U-axis organ covers are in a square-tube integral sealing seamless design and are connected with a side plate metallographic phase of the U-axis output panel to form a closed movable cavity; the U-axis mechanical structural part adopts a structural mode that the U-axis module moves integrally and the U-axis output panel is fixed; the right end of the U-axis mechanical structural part is used as an input end and is connected with the output end of the U-axis servo motor through a coupler;
a V-axis upright column bottom plate is arranged on an output panel of the U-axis mechanical structural part, and the V-axis mechanical structural part is fixedly arranged on the V-axis upright column bottom plate; the V-axis mechanical structural part drives the W-axis mechanical structural part to do Z-axis reciprocating motion;
the V-axis mechanical structural part comprises a V-axis upright post, a V-axis module, a V-axis servo motor and a V-axis organ cover; the bottom of the V-axis upright post is arranged on a V-axis upright post bottom plate, and the V-axis module is arranged on the V-axis upright post; a nut sleeve is fixedly arranged on a V-axis output panel of the V-axis module, a V-axis screw rod is fixedly arranged in the V-axis module, two ends of the V-axis screw rod are arranged in the V-axis module through a V-axis bearing seat, and the V-axis module is transversely arranged on a V-axis upright post through the matching of the V-axis screw rod and the nut sleeve; the V-axis module is externally connected with V-axis organ covers at two ends of the V-axis output panel, and the V-axis organ covers are in a square-tube integral sealing seamless design and are connected with a side plate metallographic phase of the V-axis output panel to form a closed movable cavity; the V-axis mechanical structural part adopts a structural mode that the V-axis module moves integrally and the V-axis output panel is fixed;
a V-axis servo motor is arranged at the top of an output panel of the V-axis mechanical structural part; the output port of the V-axis servo motor is connected with a V-axis screw rod through a coupler; a V-axis servo motor cover is sleeved on the V-axis servo motor, a V-axis servo motor outgoing cover is covered on an outgoing line port on the right side of the V-axis servo motor cover, and a V-axis servo motor sealing joint is arranged on the V-axis servo outgoing cover;
the W-axis mechanical structural part comprises a W-axis sliding block heightening plate, a W-axis module, a W-axis sliding block, a synchronous pulley transmission mechanism and a W-axis organ cover; the bottom of the W-axis sliding block heightening plate is arranged on an output panel of the V-axis mechanical structural part, and the W-axis module is arranged on the W-axis sliding block heightening plate; a W-shaft screw rod is fixedly arranged in the W-shaft module, two ends of the W-shaft screw rod are arranged in the W-shaft module through W-shaft bearing seats, and the W-shaft module is transversely arranged on a W-shaft sliding block heightening plate through the matching of the W-shaft screw rod and a W-shaft sliding block; a W-axis connecting metal plate is arranged on the outer side of the W-axis module; the W shaft connecting plate is arranged on the W shaft sliding block heightening plate; the W-axis organ covers are connected to the two ends of the W-axis connecting metal plate in a square-cylinder integral sealing seamless mode and are connected with the W-axis connecting metal plate to form a closed cavity capable of moving; the W-axis mechanical structural part adopts a structural mode that the W-axis module moves integrally and the W-axis output panel is fixed;
a synchronous belt wheel transmission mechanism is arranged at the right end of the W-axis mechanical structural part and comprises a synchronous belt wheel mounting plate, a W-axis servo motor synchronous wheel, a W-axis servo motor, a W-axis lead screw synchronous wheel and a synchronous belt; a W-axis servo motor plate is arranged on the synchronous belt pulley mounting plate, a W-axis servo motor is arranged on the W-axis servo motor plate through a screw on the side face of the W-axis servo motor plate, and the W-axis servo motor is arranged above the left side of the W-axis servo motor plate; a W-axis servo motor synchronous wheel is sleeved with an output shaft of the W-axis servo motor in a tensioning sleeve mode, a W-axis screw rod synchronous wheel is sleeved on the end of a W-axis screw rod in a tensioning sleeve mode, and the W-axis servo motor synchronous wheel and the W-axis screw rod synchronous wheel are sleeved through a synchronous belt to realize accurate matching; a synchronous wheel protective cover is sleeved on the synchronous belt wheel mounting plate, a W-axis servo motor cover is sleeved on the W-axis servo motor, a W-axis servo motor outgoing cover is covered on an outgoing line port above the W-axis servo motor cover, and a W-axis servo motor sealing joint is arranged on the W-axis servo outgoing cover;
a pneumatic gripper is arranged at the left end of the W-axis mechanical structural part; the pneumatic gripper comprises a fixing plate, a servo motor, a harmonic speed reducer, a manipulator cylinder and a pneumatic finger; the fixed plate is installed on the left end of the W-axis module through a bolt, a support is arranged on the left side of the fixed plate, a motor shaft through hole is formed in the support, the servo motor is transversely installed on the support through the bolt, and an output shaft of the servo motor penetrates through the motor shaft through hole; the harmonic speed reducer is installed on the other side face of the support through a bolt, a central wave generator of the harmonic speed reducer is sleeved on a motor shaft of the servo motor, a harmonic speed reducer output plate is installed on an output shaft of the harmonic speed reducer, a manipulator cylinder is installed at the tail end of the harmonic speed reducer output plate, a pneumatic finger is installed on the output end of the manipulator cylinder, the pneumatic finger is controlled to perform unclamping motion through the manipulator cylinder, the pneumatic finger consists of two pieces, one piece of the pneumatic finger is fixedly installed and used as a reference positioning surface and is not moved, the other piece of the pneumatic finger controls air pressure to perform reciprocating motion through a numerical control system, the reference surface of the pneumatic finger is designed as a fine grinding fine positioning plane, and the moving finger of.
In the embodiment of the application, the granite grinding machine base is recycled, and the machining grinding machine is constructed through a preset position.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic view of the overall structure of the present application;
FIG. 2 is a schematic view of the internal mechanical structure of the grinding machine of the present application;
FIG. 3 is a schematic top view of the structure of FIG. 2;
FIG. 4 is a right side view of the interior of FIG. 1;
FIG. 5 is a schematic view of the structure of the grinder base;
FIG. 6 is a schematic view of the overall structure of the Y-axis mechanical structure, the Z-axis mechanical structure and the main shaft;
FIG. 7 is a schematic bottom view of the X-axis mechanical structure;
FIG. 8 is a schematic front view of the structure of FIG. 6;
FIG. 9 is a schematic view of a portion of the structure of FIG. 8;
FIG. 10 is a schematic view of a U-axis mechanical structure and a V-axis mechanical structure;
FIG. 11 is a bottom view angle schematic of FIG. 10;
FIG. 12 is another angular schematic view of FIG. 10;
FIG. 13 is a schematic view of a W-axis mechanical structure;
FIG. 14 is a schematic view of a turret mechanism;
fig. 15 is a front view of fig. 14.
The meaning of the reference symbols in the figures:
100-sheet metal shell, 200-movable door, 300-numerical control box, 400-grinder base, 401-first padding seat, 402-second padding seat, 403-base, 404-material tray, 11-motor, 12-sand baffle, 13-grinding wheel, 14-probe, 15-rotating platen,
500-X axis mechanical structure part, 501-motor, 503-organ cover, 505-output panel, 506-screw rod, 507-nut, 508-guide rail, 509-X axis carriage,
600-Y axis mechanical structural component, 601-motor, 603-organ cover, 604-side plate, 605-output panel,
700-Z axis mechanical structural component, 701-motor, 702-Z axis upright post, 703-organ cover, 706-screw rod, 707-nut, 708-guide rail, 709-slide block,
801-C axis index head, 802-motor, 803-synchronous belt,
901-connecting plate, 902-A axis dividing head, 904-cylinder chuck, 905-driving motor,
1000-U shaft mechanical structure part, 1001-U shaft planker, 1002-U shaft organ cover, 1003-U shaft output panel, 1004-U shaft screw rod, 1005-U shaft bearing seat, 1006-U shaft nut sleeve, 1007-synchronous pulley mounting plate, 1008-U shaft servo motor synchronous wheel, 1009-U shaft screw rod synchronous wheel, 1010-synchronous belt, 1011-U shaft servo motor,
1100-V shaft mechanical structural part, 1101-V shaft upright post, 1102-V shaft organ cover, 1103-V shaft output panel, 1104-V shaft screw rod, 1105-V shaft bearing seat, 1106-V shaft nut sleeve, 1107-V shaft servo motor, 1108-motor cover, 1109-V shaft upright post bottom plate,
1200-W shaft mechanical structural part, 1201-W shaft sliding block heightening plate, 1202-W shaft organ cover, 1203-W shaft connecting metal plate, 1204-synchronous pulley mounting plate, 1205-U shaft servo motor, 1206-fixing plate, 1207 servo motor, 1208-support, 1209-harmonic speed reducer, 1210-manipulator cylinder and 1211-pneumatic finger.
Detailed Description
In order to make the purpose, features and advantages of the present application more obvious and understandable, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the embodiments described below are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The invention is further elucidated with reference to the drawings and the embodiments.
In the description of the present application, it is to be understood that the terms "upper", "lower", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing the present application and simplifying the description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present application.
All words in the directions of front, back, left, right, up and down are used as reference positions.
The application provides a nine-shaft machining grinding machine, including grinding machine base, X axle mechanical structure spare, Y axle mechanical structure spare, Z axle mechanical structure spare, main shaft, revolving stage mechanism, servo manipulator drive structure spare, material dish, protection outer panel beating and numerical control system.
The grinding machine that adopts in this application is the transformation that goes on to current cuboid lathe bed, at first because the lathe bed of this kind of granite will carry out the reprocessing of terminal surface mounting hole basically, and it originally reforms into very big, to this, this application need not carry out the transformation of mounting hole to it, and on the overall arrangement, divide into two rectangle regions about on the top surface with the grinding machine base, left side rectangle region removes the region as the main shaft, and the right side is as the unloading region on the manipulator.
The protective outer metal plate covers the grinding machine base to serve as a shell of the grinding machine. The right side in the sheet metal shell and the front all are provided with the floating gate, and the floating gate slides along the base slip track of sheet metal shell. Both the movable doors are transparent so as to observe the machining condition inside the grinding machine from the outside.
The directions in this application are as follows: the moving direction of the left rectangular area to the right rectangular area is marked as Y direction, and the direction vertical to the Y direction on the horizontal plane is marked as X direction; the direction of the treatment from the horizontal plane is denoted as the Z-direction.
An X-axis mechanical structural part is fixed on the left rectangular area through a nut; the output panel of the X-axis mechanical structural part moves in the X direction; the Y-axis mechanical structural part is fixed on the output panel of the X-axis mechanical structural part; the output panel of the Y-axis mechanical structural part moves in the Y direction; a Z-axis mechanical structural part is fixed on an output panel of the Y-axis mechanical structural part; the output panel of the Z-axis mechanical structural part moves in the Z direction; a main shaft is arranged on an output panel of the Z-axis mechanical structural part; the output shaft of the main shaft faces the right rectangular area;
in the material, a planker of the X-axis mechanical structural part adopts granite; the carriage of the Y-axis mechanical structural part is made of granite or cast iron; the carriage of the Z-axis mechanical structural part is made of cast iron;
the heightening block assembly is fixed on the right rectangular area through a nut; a servo manipulator driving structural part, a material disc and a rotary table mechanism are sequentially arranged on the heightening block component from front to back;
the heightening block component comprises a base and two groups of heightening seats; the two groups of heightening seats are divided into a first heightening block positioned at the bottom and a second heightening block positioned on the first heightening block, the first heightening block and the second heightening block are both in a step-shaped structure, and the first heightening block is positioned on the top surface of the base and fixed through bolts; the servo manipulator driving structural part is positioned on the step of the second heightening block; the material tray is positioned on the step of the first heightening block, and the bottom of the material tray is flush with the step of the second heightening block; the turntable mechanism is positioned below the step of the first heightening block; the servo manipulator driving structural part is used for material transfer between the material disc and the turntable mechanism; the rotary table mechanism is used for clamping materials and is matched with the output end of the main shaft to process the materials.
The whole body of the heightening block assembly is arranged on the rectangular area on the right side, the heightening block assembly has the advantages that the right area can be modified according to different processing requirements, the heightening block can be directly replaced aiming at different mounting holes of a servo manipulator driving structural member, a material disc and a rotary table mechanism, the mounting holes of a grinding machine base do not need to be reprocessed, and meanwhile, the height positions of the servo manipulator driving structural member, the material disc and the rotary table mechanism can be adjusted due to the introduction of the heightening block. Although the servo manipulator driving structure and the turntable mechanism can be used for raising the height, a large part of the stroke is not used, and the whole structure position is wasted. In addition, the base in the block assembly can change the mounting hole position, and the technology enables the fixed mounting of the structural member in the block area to be flexible.
The X-axis mechanical structure includes:
an X-axis carriage: integrally casting with a grinding machine base; the guide rail groove of the X-axis carriage is embedded, and the two guide rail grooves are parallel in the same plane; the guide rail matched with the guide rail groove adopts a roller-shaped rectangular guide rail; the rolling column-shaped rectangular guide rails are matched with rolling column-shaped sliding blocks, and each guide rail adopts 2 sliding blocks for matching use; the guide rail and the sliding block form a plane precision structure;
x axial lead screw actuating mechanism: the X-axis lead screw transmission device comprises an X-axis lead screw, a bearing seat, a bearing and a lead screw nut sleeve, which form a transmission precision structure;
the X-axis screw rod adopts a high-precision screw rod with the grade of more than C5, the bearing seats are used by combining a front bearing seat and a rear bearing seat, 1 6 series high-precision thrust bearing which are combined in a matched mode is arranged in the front bearing seat, 2 7 series high-precision thrust bearings which are combined in a matched mode are arranged in the rear bearing seat, the screw rod nut sleeve adopts a split nut sleeve, and a nut flange surface is connected with the output panel to form a 90-degree right-angle surface; two ends of the screw rod are arranged in bearings of the bearing block, two ends of the screw rod are fixed on the central position on the carriage base through the bearing block, and the mounting position of the bearing block is lower than the guide rail surface; two sides of the screw rod are respectively provided with a linear guide rail, the slide block is arranged on the linear guide rails, and the output panel is arranged on the slide block; the output panel is connected with the feed screw nut sleeve and the feed screw nut, and the nut and the output panel are driven to move on the guide rail when the feed screw rotates;
along the X-axis direction, two sides of the output panel are connected with shaft seal plates and a cover body of the servo motor through an organ cover; side sealing plates are connected with the two sides of the output panel; the side sealing plates and the output panel organ cover form a sealing protection cover for the X-axis carriage assembly;
the servo motor is positioned in front of the X-axis mechanical structural part, and the output end of the servo motor is connected with the input end of the screw rod through the zero-clearance coupler.
The Y-axis mechanical structure includes:
y-axis carriage: an included angle of 90 degrees is formed horizontally with an output panel of the X-axis mechanical structural component, and the bottom of the included angle is fixed on the output panel of the X-axis mechanical structural component through a nut; the guide rail groove of the Y-axis carriage is embedded, and the two guide rail grooves are parallel in the same plane; the guide rail matched with the guide rail groove adopts a roller-shaped rectangular guide rail; the rolling column-shaped rectangular guide rails are matched with rolling column-shaped sliding blocks, and each guide rail adopts 2 sliding blocks for matching use; the guide rail and the sliding block form a plane precision structure;
y axial lead screw actuating mechanism: the transmission precision structure comprises a Y-axis screw rod, a bearing seat, a bearing and a screw rod nut sleeve;
the Y-axis screw rod adopts a high-precision screw rod with the grade of more than C5, the bearing seats are used by combining a front bearing seat and a rear bearing seat, 1 6 series high-precision thrust bearing which are combined in a matched mode is arranged in the front bearing seat, 2 7 series high-precision thrust bearings which are combined in a matched mode are arranged in the rear bearing seat, the screw rod nut sleeve adopts a split nut sleeve, and a nut flange surface is connected with the output panel to form a 90-degree right-angle surface;
two ends of the screw rod are arranged in bearings of the bearing block, two ends of the screw rod are fixed on the central position on the carriage base through the bearing block, and the mounting position of the bearing block is lower than the guide rail surface; two sides of the screw rod are respectively provided with a linear guide rail, the slide block is arranged on the linear guide rails, and the output panel is arranged on the slide block; the output panel is connected with the feed screw nut sleeve and the feed screw nut, and the nut and the output panel are driven to move on the guide rail when the feed screw rotates;
along the Y-axis direction, two sides of the output panel are connected with the shaft sealing plate and the cover body of the servo motor through the organ cover; side sealing plates are connected with the two sides of the output panel; the Y-axis carriage assembly is formed into a sealing protection cover by the side sealing plate and the output panel organ cover;
the servo motor is positioned on the left side of the Y-axis mechanical structural part, and the output end of the servo motor is connected with the input end of the screw rod through the zero-clearance coupler.
The Z-axis mechanical structure comprises:
a Z-axis carriage: an included angle of 90 degrees is formed between the Y-axis carriage and the Y-axis carriage, and the end part of the Y-axis carriage is fixed on an output panel of the Y-axis mechanical structural part through a nut; the guide rail groove of the Z-axis carriage is embedded, and the two guide rail grooves are parallel in the same plane; the guide rail matched with the guide rail groove adopts a roller-shaped rectangular guide rail; the rolling column-shaped rectangular guide rails are matched with rolling column-shaped sliding blocks, and each guide rail adopts 2 sliding blocks for matching use; the guide rail and the sliding block form a plane precision structure;
z axial lead screw actuating mechanism: the transmission precision structure comprises a Z-axis screw rod, a bearing seat, a bearing and a screw rod nut sleeve;
the Z-axis screw rod adopts a high-precision screw rod with the grade of more than C5, the bearing seats are combined by a front bearing seat and a rear bearing seat, each bearing seat is internally provided with 2 high-precision thrust bearings with the grade of more than 7 series P5 which are combined in a matched mode, the screw rod nut sleeve adopts a split nut sleeve, and the flange surface of the nut is connected with the output panel to form a 90-degree right-angle surface;
two ends of the screw rod are arranged in bearings of the bearing block, two ends of the screw rod are fixed on the central position on the carriage base through the bearing block, and the mounting position of the bearing block is lower than the guide rail surface; two sides of the screw rod are respectively provided with a linear guide rail, the slide block is arranged on the linear guide rails, and the output panel is arranged on the slide block; the output panel is connected with the feed screw nut sleeve and the feed screw nut, and the nut and the output panel are driven to move on the guide rail when the feed screw rotates;
along the Z-axis direction, two sides of the output panel are connected with the shaft sealing plate and the cover body of the servo motor through the organ cover; side sealing plates are connected with the two sides of the output panel; the Z-axis carriage assembly is formed into a sealing protection cover by the side sealing plates and the output panel organ cover;
the servo motor is positioned above the Z-axis mechanical structural part, and the output end of the servo motor is connected with the input end of the screw rod through the zero-clearance coupler.
The main shaft includes: the device comprises a main shaft servo motor, a main shaft shell, a main shaft axis, 4 7-series thrust bearings, a coupler and a probe; the main shaft is positioned in the main shaft shell; the probe is positioned beside one side of the grinding wheel close to the manipulator.
The output end of the main shaft shell is provided with a labyrinth air seal, the axis of the output end of the main shaft is sleeved with a skeleton oil seal for sealing a bearing, the tail end of the main shaft shell is provided with a motor plate, and a main shaft servo motor is arranged in the motor plate; the main shaft servo motor is connected with the tail end of the main shaft axis through a coupler, and is provided with a motor cover and a sealing outlet box for sealing;
the side surface of the main shaft shell is fixed on an output panel of the Z-axis mechanical structural part;
the output end of the main shaft is connected with the input end of a grinding wheel rod, the output end of the main shaft is a 7:24 inner conical opening, the 7:24 outer conical opening of the input end of the grinding wheel rod is matched with the inner cone of the main shaft in a high-precision manner, and a grinding wheel is arranged at the front end of the grinding wheel rod; the center of the grinding wheel is hollow, a bolt penetrates through a formed center hole, and a grinding wheel rod is locked in the inner hole at the front end of the axis of the spindle by the bolt;
the output end of the main shaft is provided with a grinding wheel splash-proof breakage-proof cover, the main shaft shell is provided with an oil spraying pipe bracket, and the bracket is provided with a plurality of bendable oil spraying pipes.
The probe is positioned in front of the main shaft on the front surface of the lathe bed, the Z-axis output panel is provided with a probe support, and the probe is arranged at the front end of the support.
Of course, the spindle may be various other types of spindles.
In the present embodiment, the spindle 1100 is fixed to a surface of the Z-axis mechanical structure 700 facing the robot 1000, and can perform Z-axis movement along with the Z-axis mechanical structure 700. The spindle 1100 is stationary on the Z-axis mechanical structure 700, and the spindle 1100 motor drives the grinding wheel 1103 to perform high-speed rotation motion. In order to make this scheme more meticulous, by emery wheel 1103, one side that is close to C axle graduation revolving stage 800 is provided with probe 1104 structure, and this structure can directly adopt current probe 1104 for through the mode of physics touching tool bit in the course of working, utilize self internal sensor, realize the accurate location of tool bit, this structure is favorable to further refine the processing to tool bit in the production process of this device.
The casing and the mounting flange integration of main shaft 1100, main casing rear portion of main shaft 1100 is equipped with the servo motor board, installs high-speed servo motor on the servo motor board, and servo motor passes through special shaft coupling hookup with the axle center of main shaft 1100 input shaft, and the output interface on main shaft 1100 axle center is BBT series, and the tapering is 7:24, the BBT knife handle is connected with the axis and locked by bolts, and the output rod of the knife handle is provided with one or more grinding wheels 1103, thus being capable of grinding.
The turntable mechanism comprises an A-axis dividing head, a rotary table plate and a C-axis driving mechanism; the A-axis dividing head is fixed at the tail end of the top surface of the rotary table plate, the C-axis driving mechanism is fixed at the bottom of the rotary table plate, and the output axis of the C-axis driving mechanism rotates to drive the A-axis dividing head and the rotary table plate to move in the C-axis direction.
The C-axis drive mechanism includes: the C-axis dividing head, the harmonic speed reducer, the motor plate, the servo motor and the motor cover;
the C-axis indexing head is positioned at the front end of the bottom of the rotating bedplate; the bottom of the C-axis dividing head is used as an output end and is connected with the output end of the C-axis servo motor through a belt pulley transmission mechanism (namely a synchronous belt); the C-axis servo motor is positioned on the first heightening block; the top of the C-axis servo motor is lower than the bottom of the rotary table plate; the middle of the bottom of the rotating bedplate is provided with a cavity for wiring;
the harmonic speed reducer consists of an outer ring steel wheel, an inner ring flexible wave wheel and a wave generator connected with a servo motor, and is arranged in the C-axis dividing head main shell; the output end of an inner ring flexible impeller of the harmonic reducer is connected with the tail end of an output shaft of a C-axis dividing head, the output shaft of the C-axis dividing head is supported by a turntable bearing, a fixed ring of the turntable bearing is fixed in a dividing head shell, and an inner ring is fixed with the output shaft by rotary kinetic energy; an oil seal for sealing is arranged between the indexing head output shaft and the shell, and a metal plate circular cover is further arranged outside the indexing head shell to form double protection.
The A-axis dividing head comprises an A-axis dividing head shell, a harmonic speed reducer, a motor plate, a servo motor and a motor cover: the A-axis dividing head is parallel to the horizontal plane; the A-axis dividing head harmonic speed reducer consists of an outer ring steel wheel, an inner ring flexible wave wheel and a wave generator connected with a servo motor and is arranged in the A-axis dividing head shell; the output end of an inner ring flexible impeller of the harmonic speed reducer is connected with the tail end of an output shaft of an A-shaft dividing head, the output shaft of the A-shaft dividing head is supported by a high-precision turntable bearing or a crossed roller bearing, a fixing ring of the turntable bearing or the crossed roller bearing is fixed in a dividing head shell, the inner ring is fixed with the output shaft as rotary kinetic energy, an oil seal for sealing is arranged between the output shaft of the dividing head and the shell, the output shaft of the A-shaft dividing head is designed in an inwards concave plane mode, a plurality of adjustable screw holes are formed in the outer edge of the output shaft of the A-shaft dividing head.
The cylinder chuck seat adopts a front-mounted cylinder, and the cylinder and the chuck seat are integrally combined; the cylinder chuck seat is internally provided with a spring chuck which is used for clamping a workpiece.
The speed reducer in the A-axis index head 902 is a harmonic speed reducer, three components and an output bearing of the harmonic speed reducer are independently installed in a main shell of the C-axis index head 801, the precision support is that a reference surface installed in the shell is a grinding surface, an output disc surface bearing is a crossed roller shaft or a turntable bearing with the high precision of more than P4 level, the output shaft center is grinding processing, and an input servo motor is connected with a harmonic generator through a direct connection structure or a high precision belt synchronous wheel. The side surface of an output flange of the A-axis dividing head 902 is provided with an axial coaxiality adjusting screw, so that various collet chuck seats can be axially and concentrically arranged for fine adjustment; the A-axis index head 902 can be arranged in various collet holders, the collet holders are in an air cylinder tensioning type, and the collet chuck is an elastic collet chuck; the collet chuck base can be rapidly replaced according to different types of processed workpieces, the collet chuck base can be integrated with a front cylinder and can also be provided with other passive locking types, and the collet chuck base is provided with adjusting screws for adjusting the flatness and can adjust the jumping precision of the output surface.
As a specific embodiment, two material trays are adopted and are arranged side by side along the grabbing direction of the servo manipulator driving structural part and staggered front and back.
As a specific embodiment, the servo manipulator driving structural part comprises a U-axis mechanical structural part, a V-axis mechanical structural part, a W-axis mechanical structural part and a pneumatic gripper;
in this application, the pneumatic finger of U axle mechanical structure spare, V axle mechanical structure spare, W axle mechanical structure spare control moves on U axle, V axle and W axle.
The U-axis mechanical structural part is arranged at the right front of the machine tool base and drives the V-axis mechanical structural part to do X-axis reciprocating motion; the U-axis mechanical structural part comprises a U-axis planker, a U-axis module, a U-axis servo motor, a synchronous belt pulley transmission mechanism and a U-axis organ cover; the bottom of the U-axis carriage is arranged on the machine tool base, and the U-axis module is arranged on the U-axis carriage; a nut sleeve is fixedly arranged on a U-axis output panel of the U-axis module, 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 a U-axis bearing seat, and the U-axis module is transversely arranged on a U-axis carriage through the matching of the U-axis screw rod and the nut sleeve; the U-axis module is externally covered with U-axis organ covers at two ends of the U-axis output panel, the U-axis organ covers are in a square-tube integral sealing seamless design and are connected with a side plate metallographic phase of the U-axis output panel to form a closed movable cavity; the U-axis mechanical structural part adopts a structural mode that the U-axis module moves integrally and the U-axis output panel is fixed.
A synchronous belt wheel transmission mechanism is arranged at the right end of the U-axis mechanical structural part and comprises a synchronous belt wheel mounting plate, a U-axis servo motor synchronous wheel, a U-axis servo motor, a U-axis lead screw synchronous wheel and a synchronous belt; a synchronous belt wheel mounting plate is mounted at the right end of the U-axis mechanical structural part, a U-axis servo motor plate is mounted on the synchronous belt wheel mounting plate, a U-axis servo motor is mounted on the U-axis servo motor plate through screws on the side face of the U-axis servo motor plate, and the U-axis servo motor is mounted behind and below the U-axis module; a U-axis servo motor synchronizing wheel is sleeved with an output shaft of a U-axis servo motor in a tensioning sleeve mode, a U-axis screw rod synchronizing wheel is sleeved on the end head of a U-axis screw rod in a tensioning sleeve mode, and the same U-axis servo motor synchronizing wheel and the U-axis screw rod synchronizing wheel are sleeved through a synchronous belt to realize accurate matching; a synchronous wheel protective cover is sleeved on the synchronous belt wheel mounting plate, a U-shaft servo motor cover is sleeved on the U-shaft servo motor, a U-shaft servo motor outgoing cover is covered on an outgoing line port below the U-shaft servo motor cover, and a U-shaft servo motor sealing joint is arranged on the U-shaft servo outgoing cover.
A V-axis upright column bottom plate is arranged on an output panel of the U-axis mechanical structural part, and the V-axis mechanical structural part is fixedly arranged on the V-axis upright column bottom plate; the V-axis mechanical structural part drives the W-axis mechanical structural part to do Z-axis reciprocating motion; the V-axis mechanical structural part comprises a V-axis upright post, a V-axis module, a V-axis servo motor, a synchronous belt pulley transmission mechanism and a V-axis organ cover; the bottom of the V-axis upright post is arranged on a V-axis upright post bottom plate, and the V-axis module is arranged on the V-axis upright post; a nut sleeve is fixedly arranged on a V-axis output panel of the V-axis module, a V-axis screw rod is fixedly arranged in the V-axis module, two ends of the V-axis screw rod are arranged in the V-axis module through a V-axis bearing seat, and the V-axis module is transversely arranged on a V-axis upright post through the matching of the V-axis screw rod and the nut sleeve; the V-axis module is externally connected with V-axis organ covers at two ends of the V-axis output panel, and the V-axis organ covers are in a square-tube integral sealing seamless design and are connected with a side plate metallographic phase of the V-axis output panel to form a closed movable cavity; the V-axis mechanical structural part adopts a structural mode that the V-axis module moves integrally and the V-axis output panel is fixed; a V-axis servo motor is arranged at the top of the V-axis mechanical structural part; the output port of the V-axis servo motor is connected with a V-axis screw rod through a coupler; a V-axis servo motor cover is sleeved on the V-axis servo motor, a V-axis servo motor outgoing cover is covered on an outgoing line port on the right side of the V-axis servo motor cover, and a V-axis servo motor sealing joint is arranged on the V-axis servo outgoing cover;
the W-axis mechanical structural part comprises a W-axis sliding block heightening plate, a W-axis module, a W-axis sliding block, a synchronous pulley transmission mechanism and a W-axis organ cover; the bottom of the W-axis sliding block heightening plate is arranged on the V-axis output panel, and the W-axis module is arranged on the W-axis sliding block heightening plate; a W-shaft screw rod is fixedly arranged in the W-shaft module, two ends of the W-shaft screw rod are arranged in the W-shaft module through W-shaft bearing seats, and the W-shaft module is transversely arranged on a W-shaft sliding block heightening plate through the matching of the W-shaft screw rod and a W-shaft sliding block; a W-axis connecting metal plate is arranged on the outer side of the W-axis module; the W shaft connecting plate is arranged on the W shaft sliding block heightening plate; the W-axis organ covers are connected to the two ends of the W-axis connecting metal plate in a square-cylinder integral sealing seamless mode and are connected with the W-axis connecting metal plate to form a closed cavity capable of moving; the W-axis mechanical structural part adopts a structural mode that the W-axis module moves integrally and the W-axis output panel is fixed; a synchronous belt wheel transmission mechanism is arranged at the right end of the W-axis mechanical structural part and comprises a synchronous belt wheel mounting plate, a W-axis servo motor synchronous wheel, a W-axis servo motor, a W-axis lead screw synchronous wheel and a synchronous belt; a W-axis servo motor plate is arranged on the synchronous belt pulley mounting plate, a W-axis servo motor is arranged on the W-axis servo motor plate through a screw on the side face of the W-axis servo motor plate, and the W-axis servo motor is arranged above the left side of the W-axis servo motor plate; a W-axis servo motor synchronous wheel is sleeved with an output shaft of the W-axis servo motor in a tensioning sleeve mode, a W-axis screw rod synchronous wheel is sleeved on the end of a W-axis screw rod in a tensioning sleeve mode, and the W-axis servo motor synchronous wheel and the W-axis screw rod synchronous wheel are sleeved through a synchronous belt to realize accurate matching; a synchronous wheel protective cover is sleeved on the synchronous belt wheel mounting plate, a W-axis servo motor cover is sleeved on the W-axis servo motor, a W-axis servo motor outgoing cover is covered on an outgoing line port above the W-axis servo motor cover, and a W-axis servo motor sealing joint is arranged on the W-axis servo outgoing cover;
a pneumatic gripper is arranged at the left end of the W-axis mechanical structural part; the pneumatic gripper comprises a fixing plate, a servo motor, a harmonic speed reducer, a manipulator cylinder and a pneumatic finger; the fixed plate is installed on the left end of the W-axis module through a bolt, a support is arranged on the left side of the fixed plate, a motor shaft through hole is formed in the support, the servo motor is transversely installed on the support through the bolt, and an output shaft of the servo motor penetrates through the motor shaft through hole; the harmonic speed reducer is installed on the other side face of the support through a bolt, a central wave generator of the harmonic speed reducer is sleeved on a motor shaft of the servo motor, a harmonic speed reducer output plate is installed on an output shaft of the harmonic speed reducer, a manipulator cylinder is installed at the tail end of the harmonic speed reducer output plate, a pneumatic finger is installed on the output end of the manipulator cylinder, the pneumatic finger is controlled to perform unclamping motion through the manipulator cylinder, the pneumatic finger consists of two pieces, one piece of the pneumatic finger is fixedly installed and used as a reference positioning surface and is not moved, the other piece of the pneumatic finger controls air pressure to perform reciprocating motion through a numerical control system, the reference surface of the pneumatic finger is designed as a fine grinding fine positioning plane, and the moving finger of.
Although the preferred embodiments of the present invention have been described in detail, the present invention is not limited to the details of the foregoing embodiments, and various equivalent changes (such as number, shape, position, etc.) may be made to the technical solution of the present invention within the technical spirit of the present invention, and the equivalents are protected by the present invention.

Claims (9)

1. A nine-axis machining grinding machine is characterized by comprising a grinding machine base, an X-axis mechanical structural part, a Y-axis mechanical structural part, a Z-axis mechanical structural part, a main shaft, a turntable mechanism, a servo manipulator driving structural part, a material disc, a protective outer metal plate and a numerical control system; the protective outer metal plate covers the grinding machine base to serve as a shell of the grinding machine; the right side and the front side in the sheet metal shell are provided with movable doors, and the movable doors slide along a base sliding rail of the sheet metal shell;
an operation box of the numerical control system is positioned outside the sheet metal shell and on the left side of one surface facing an operation station;
the grinding machine base is of a rectangular structure made of granite; the top surface of the grinding machine base is divided into a left rectangular area and a right rectangular area, the left rectangular area is used as a main shaft moving area, and the right rectangular area is used as a manipulator loading and unloading area; the moving direction of the left rectangular area to the right rectangular area is marked as Y direction, and the direction vertical to the Y direction on the horizontal plane is marked as X direction; the direction of the treatment and the horizontal plane is marked as Z direction;
an X-axis mechanical structural part is fixed on the rectangular area on the left side through a nut; the output panel of the X-axis mechanical structural part moves in the X direction; a Y-axis mechanical structural part is fixed on an output panel of the X-axis mechanical structural part; the output panel of the Y-axis mechanical structural part moves in the Y direction; a Z-axis mechanical structural part is fixed on an output panel of the Y-axis mechanical structural part; the output panel of the Z-axis mechanical structural part moves in the Z direction; a main shaft is arranged on an output panel of the Z-axis mechanical structural part; the output shaft of the main shaft faces the rectangular area on the right side;
the carriage of the X-axis mechanical structural part is made of granite; the carriage of the Y-axis mechanical structural part is made of granite or cast iron; the carriage of the Z-axis mechanical structural part is made of cast iron;
the rectangular area on the right side is fixed with the heightening block assembly through a nut; the servo manipulator driving structural part, the material disc and the rotary table mechanism are sequentially arranged on the block-raising assembly from front to back.
2. The nine-axis machining grinder of claim 1,
the heightening block assembly comprises a base and two groups of heightening seats; the two groups of heightening seats are divided into a first heightening block positioned at the bottom and a second heightening block positioned on the first heightening block, the first heightening block and the second heightening block are both in step-shaped structures, and the first heightening block is positioned on the top surface of the base and fixed through bolts; the servo manipulator driving structural part is positioned on the step of the second heightening block; the material tray is positioned on the step of the first heightening block, and the bottom of the material tray is flush with the step of the second heightening block; the turntable mechanism is positioned below the step of the first heightening block; the servo manipulator driving structural part is used for material transfer between the material disc and the rotary table mechanism; the rotary table mechanism is used for clamping materials and is matched with the output end of the main shaft to process the materials.
3. The nine-axis machining grinder of claim 1,
the X-axis mechanical structure includes:
an X-axis carriage: integrally casting with a grinding machine base; the guide rail groove of the X-axis carriage is embedded, and the two guide rail grooves are parallel in the same plane; the guide rail matched with the guide rail groove is a roller-shaped rectangular guide rail; the rolling column-shaped rectangular guide rails are matched with rolling column-shaped sliding blocks, and each guide rail adopts 2 sliding blocks for matching use; the guide rail and the sliding block form a plane precision structure;
x axial lead screw actuating mechanism: the X-axis lead screw transmission device comprises an X-axis lead screw, a bearing seat, a bearing and a lead screw nut sleeve, which form a transmission precision structure;
the X-axis screw rod adopts a high-precision screw rod with the grade of more than C5, the bearing seats are used by combining a front bearing seat and a rear bearing seat, 1 6 series high-precision thrust bearing in matched combination is arranged in the front bearing seat, and 2 7 series high-precision thrust bearings in matched combination are arranged in the rear bearing seat;
the screw rod nut sleeve adopts a split type nut sleeve, and the flange surface of the nut is connected with the output panel to form a 90-degree right-angle surface; two ends of the screw rod are arranged in bearings of the bearing block, two ends of the screw rod are fixed at the central position on the carriage base through the bearing block, and the input end of the screw rod is arranged in the bearing block at the rear end; the mounting position of the bearing seat is lower than the guide rail surface; two linear guide rails are respectively arranged on two sides of the screw rod, a sliding block is arranged on the linear guide rails, and the output panel is arranged on the sliding block; the output panel is connected with the feed screw nut sleeve and the feed screw nut, and the feed screw rotates to drive the nut and the output panel to move on the guide rail;
along the X-axis direction, two sides of the output panel are connected with shaft seal plates and a cover body of a servo motor through an organ cover; side seal plates are connected to two sides of the output panel; the side sealing plates and the output panel organ cover form a sealing protection cover for the X-axis carriage assembly;
the servo motor is positioned in front of the X-axis mechanical structural part, and the output end of the servo motor is connected with the input end of the screw rod through a zero-clearance coupler.
4. The nine-axis machining grinder of claim 1, wherein the Y-axis mechanical structure comprises:
y-axis carriage: an included angle of 90 degrees is formed horizontally with an output panel of the X-axis mechanical structural component, and the bottom of the included angle is fixed on the output panel of the X-axis mechanical structural component through a nut; the guide rail groove of the Y-axis carriage is embedded, and the two guide rail grooves are parallel in the same plane; the guide rail matched with the guide rail groove is a roller-shaped rectangular guide rail; the rolling column-shaped rectangular guide rails are matched with rolling column-shaped sliding blocks, and each guide rail adopts 2 sliding blocks for matching use; the guide rail and the sliding block form a plane precision structure;
y axial lead screw actuating mechanism: the transmission precision structure comprises a Y-axis screw rod, a bearing seat, a bearing and a screw rod nut sleeve;
the Y-axis screw rod adopts a high-precision screw rod with the grade of more than C5, the bearing seats are used by combining a front bearing seat and a rear bearing seat, 1 6 series high-precision thrust bearing in matched combination is arranged in the front bearing seat, and 2 7 series high-precision thrust bearings in matched combination are arranged in the rear bearing seat; the screw rod nut sleeve adopts a split type nut sleeve, and the flange surface of the nut is connected with the output panel to form a 90-degree right-angle surface;
two ends of the screw rod are arranged in bearings of the bearing block, two ends of the screw rod are fixed at the central position on the carriage base through the bearing block, and the input end of the screw rod is arranged in the bearing block at the rear end; the mounting position of the bearing seat is lower than the guide rail surface; two linear guide rails are respectively arranged on two sides of the screw rod, a sliding block is arranged on the linear guide rails, and the output panel is arranged on the sliding block; the output panel is connected with the feed screw nut sleeve and the feed screw nut, and the feed screw rotates to drive the nut and the output panel to move on the guide rail;
along the Y-axis direction, two sides of the output panel are connected with shaft seal plates and a cover body of the servo motor through an organ cover; side seal plates are connected to two sides of the output panel; the Y-axis carriage assembly is formed into a sealing protection cover by the side sealing plates and the output panel organ cover;
the servo motor is positioned on the left side of the Y-axis mechanical structural part, and the output end of the servo motor is connected with the input end of the screw rod through a zero-clearance coupler.
5. The nine-axis machining grinder of claim 1, wherein the Z-axis mechanical structure comprises:
a Z-axis carriage: an included angle of 90 degrees is formed between the Y-axis carriage and the Y-axis carriage, and the end part of the Y-axis carriage is fixed on an output panel of the Y-axis mechanical structural part through a nut; the guide rail groove of the Z-axis carriage is embedded, and the two guide rail grooves are parallel in the same plane; the guide rail matched with the guide rail groove is a roller-shaped rectangular guide rail; the rolling column-shaped rectangular guide rails are matched with rolling column-shaped sliding blocks, and each guide rail adopts 2 sliding blocks for matching use; the guide rail and the sliding block form a plane precision structure;
z axial lead screw actuating mechanism: the transmission precision structure comprises a Z-axis screw rod, a bearing seat, a bearing and a screw rod nut sleeve;
the Z-axis screw rod adopts a high-precision screw rod with the grade of more than C5, the bearing seats are combined by a front bearing seat and a rear bearing seat, each bearing seat is internally provided with 2 high-precision thrust bearings with the grade of more than 7 series P5 which are combined in a matched mode, the screw rod nut sleeve adopts a split nut sleeve, and the flange surface of the nut is connected with the output panel to form a 90-degree right-angle surface;
two ends of the screw rod are arranged in bearings of the bearing block, two ends of the screw rod are fixed on the central position of the carriage base through the bearing block, and the mounting position of the bearing block is lower than the guide rail surface; two linear guide rails are respectively arranged on two sides of the screw rod, a sliding block is arranged on the linear guide rails, and the output panel is arranged on the sliding block; the output panel is connected with the feed screw nut sleeve and the feed screw nut, and the feed screw rotates to drive the nut and the output panel to move on the guide rail;
along the Z-axis direction, two sides of the output panel are connected with shaft seal plates and a cover body of the servo motor through an organ cover; side seal plates are connected to two sides of the output panel; the Z-axis carriage assembly is formed into a sealing protection cover by the side sealing plates and the output panel organ cover;
the servo motor is positioned above the Z-axis mechanical structural part, and the output end of the servo motor is connected with the input end of the screw rod through a zero-clearance coupler.
6. The nine-axis machining grinder of claim 1, wherein the turntable mechanism includes an a-axis index head, a rotating platen, and a C-axis drive mechanism; the A-axis dividing head is fixed at the tail end of the top surface of the rotary table plate, the C-axis driving mechanism is fixed at the bottom of the rotary table plate, and the output axis of the C-axis driving mechanism rotates to drive the A-axis dividing head and the rotary table plate to move in the C-axis direction.
7. The nine-axis machining grinder of claim 6, wherein the C-axis drive mechanism includes:
the C-axis dividing head, the harmonic speed reducer, the motor plate, the servo motor and the motor cover;
the C-axis dividing head is positioned at the front end of the bottom of the rotating table plate; the bottom of the C-axis dividing head is used as an output end and is connected with the output end of the C-axis servo motor through a belt pulley transmission mechanism; the C-axis servo motor is positioned on the first heightening block; the top of the C-axis servo motor is lower than the bottom of the rotary table plate; the middle of the bottom of the rotating bedplate is provided with a cavity for wiring;
the harmonic speed reducer consists of an outer ring steel wheel, an inner ring flexible wave wheel and a wave generator connected with a servo motor, and is arranged in the C-axis dividing head main shell; the output end of an inner ring flexible impeller of the harmonic reducer is connected with the tail end of an output shaft of the C-axis dividing head, the output shaft of the C-axis dividing head is supported by a turntable bearing, a fixed ring of the turntable bearing is fixed in a dividing head shell, and an inner ring is fixed with the output shaft for rotating kinetic energy; an oil seal for sealing is arranged between the indexing head output shaft and the shell, and a metal plate circular cover is further arranged outside the indexing head shell to form double protection.
8. The nine-axis machining grinding machine according to claim 1, wherein two material trays are arranged side by side in the grabbing direction of the servo manipulator driving structural part and staggered front and back.
9. The nine-axis machining grinding machine of claim 1, wherein the servo manipulator driving structure comprises a U-axis mechanical structure, a V-axis mechanical structure, a W-axis mechanical structure and a pneumatic gripper;
the U-shaft mechanical structural part is arranged at the right front of the grinding machine base and drives the V-shaft mechanical structural part to do Y-axial reciprocating motion;
the U-axis mechanical structural part comprises a U-axis planker, a U-axis module, a U-axis servo motor and a U-axis organ cover; the bottom of the U-axis carriage is arranged on a machine tool base, and the U-axis module is arranged on the U-axis carriage; a nut sleeve is fixedly arranged on a U-axis output panel of the U-axis module, 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 the U-axis carriage through the matching of the U-axis screw rod and the nut sleeve; the U-axis module is externally covered with U-axis organ covers at two ends of the U-axis output panel, and the U-axis organ covers are in a square-tube integral sealing seamless design and are connected with a side plate metallographic phase of the U-axis output panel to form a closed movable cavity; the U-axis mechanical structural part adopts a structural mode that the U-axis module moves integrally and the U-axis output panel is fixed; the right end of the U-axis mechanical structural part is used as an input end and is connected with the output end of a U-axis servo motor through a coupler;
a V-axis upright column bottom plate is arranged on an output panel of the U-axis mechanical structural part, and the V-axis mechanical structural part is fixedly arranged on the V-axis upright column bottom plate; the V-axis mechanical structural part drives the W-axis mechanical structural part to do Z-axis reciprocating motion;
the V-axis mechanical structural part comprises a V-axis upright post, a V-axis module, a V-axis servo motor and a V-axis organ cover; the bottom of the V-axis upright post is arranged on a V-axis upright post bottom plate, and the V-axis module is arranged on the V-axis upright post; a nut sleeve is fixedly arranged on a V-axis output panel of the V-axis module, a V-axis screw rod is fixedly arranged in the V-axis module, two ends of the V-axis screw rod are arranged in the V-axis module through a V-axis bearing seat, and the V-axis module is transversely arranged on the V-axis upright post through the matching of the V-axis screw rod and the nut sleeve; the V-axis module is externally connected with V-axis organ covers at two ends of the V-axis output panel in a covering manner, and the V-axis organ covers are in a square-tube-shaped integral sealing seamless design and are connected with a side plate metallographic phase of the V-axis output panel to form a closed movable cavity; the V-axis mechanical structural part adopts a structural mode that a V-axis module moves integrally and a V-axis output panel is fixed;
a V-axis servo motor is arranged at the top of an output panel of the V-axis mechanical structural part; the output port of the V-axis servo motor is connected with a V-axis screw rod through a coupler; a V-axis servo motor cover is sleeved on the V-axis servo motor, a V-axis servo motor outgoing cover is covered on an outgoing line port on the right side of the V-axis servo motor cover, and a V-axis servo motor sealing joint is arranged on the V-axis servo outgoing cover;
the W-axis mechanical structural part comprises a W-axis sliding block heightening plate, a W-axis module, a W-axis sliding block, a synchronous pulley transmission mechanism and a W-axis organ cover; the bottom of the W-axis sliding block heightening plate is arranged on an output panel of the V-axis mechanical structural part, and the W-axis module is arranged on the W-axis sliding block heightening plate; a W-shaft screw rod is fixedly arranged in the W-shaft module, two ends of the W-shaft screw rod are arranged in the W-shaft module through W-shaft bearing seats, and the W-shaft module is transversely arranged on the W-shaft sliding block heightening plate through the matching of the W-shaft screw rod and the W-shaft sliding block; a W-axis connecting metal plate is arranged on the outer side of the W-axis module; the W shaft connecting plate is arranged on the W shaft sliding block heightening plate; the W-axis organ cover is connected with the two ends of the W-axis connecting metal plate in a covering mode, adopts a square-cylinder integral sealing seamless design and is connected with the W-axis connecting metal plate to form a closed cavity capable of moving; the W-axis mechanical structural part adopts a structural mode that the W-axis module moves integrally and the W-axis output panel is fixed;
a synchronous belt wheel transmission mechanism is arranged at the right end of the W-axis mechanical structural part and comprises a synchronous belt wheel mounting plate, a W-axis servo motor synchronous wheel, a W-axis servo motor, a W-axis lead screw synchronous wheel and a synchronous belt; a W-axis servo motor plate is mounted on the synchronous belt pulley mounting plate, a W-axis servo motor is mounted on the W-axis servo motor plate through a screw on the side face of the W-axis servo motor plate, and the W-axis servo motor is mounted above the left side of the W-axis servo motor plate; the W-axis servo motor synchronizing wheel is sleeved with an output shaft of the W-axis servo motor in a tensioning sleeve mode, the W-axis screw rod synchronizing wheel is sleeved on the end of the W-axis screw rod in a tensioning sleeve mode, and the W-axis servo motor synchronizing wheel and the W-axis screw rod synchronizing wheel are sleeved through the synchronous belt to realize accurate matching; a synchronous wheel protective cover is sleeved on the synchronous belt wheel mounting plate, a W-axis servo motor cover is sleeved on the W-axis servo motor, a W-axis servo motor wire outlet cover is covered on a wire outlet above the W-axis servo motor cover, and a W-axis servo motor sealing joint is arranged on the W-axis servo motor wire outlet cover;
a pneumatic gripper is arranged at the left end of the W-axis mechanical structural part; the pneumatic gripper comprises a fixing plate, a servo motor, a harmonic speed reducer, a manipulator cylinder and a pneumatic finger; the fixed plate is installed on the left end of the W-axis module through a bolt, a support is arranged on the left side of the fixed plate, a motor shaft through hole is formed in the support, the servo motor is transversely installed on the support through the bolt, and an output shaft of the servo motor penetrates through the motor shaft through hole; the utility model discloses a pneumatic finger motion device, including servo motor, harmonic speed reducer, manipulator cylinder, pneumatic finger reference surface, pneumatic finger motion, servo motor, pneumatic finger, servo motor, harmonic speed reducer, manipulator cylinder, pneumatic finger motion is installed through the bolt on the another side of support, the central wave generator cover of harmonic speed reducer is established on servo motor's the motor shaft, install harmonic speed reducer output board on the output shaft of harmonic speed reducer, the manipulator cylinder is installed the pine clamp motion is made to pneumatic finger, pneumatic finger is two constitutions, and one of them piece fixed mounting is as the benchmark locating surface and not move, and another piece is through numerical control.
CN202011460895.9A 2020-12-11 2020-12-11 Nine-shaft machining grinding machine Pending CN112454081A (en)

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Application Number Priority Date Filing Date Title
CN202011460895.9A CN112454081A (en) 2020-12-11 2020-12-11 Nine-shaft machining grinding machine

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Application Number Priority Date Filing Date Title
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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05337808A (en) * 1992-06-04 1993-12-21 Aisan Ind Co Ltd Method of deburring workpiece
CN101407031A (en) * 2008-10-30 2009-04-15 麻城市正东科技有限公司 Disposal screw thread forming numerically controlled grinder for mini milling cutter for printed circuit board
CN108890466A (en) * 2018-08-15 2018-11-27 芜湖洪金机床有限公司 Single head full-automatic numerical control cutter and tool grinding machine
CN109434627A (en) * 2018-12-19 2019-03-08 台州北平机床有限公司 A kind of numerical control tool grinder
CN110682168A (en) * 2019-10-17 2020-01-14 胡功明 Grinding machine for spherical cutter head cutting numerical control tool
CN111085903A (en) * 2019-10-16 2020-05-01 胡功明 Five-axis linkage numerical control tool grinding machine

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05337808A (en) * 1992-06-04 1993-12-21 Aisan Ind Co Ltd Method of deburring workpiece
CN101407031A (en) * 2008-10-30 2009-04-15 麻城市正东科技有限公司 Disposal screw thread forming numerically controlled grinder for mini milling cutter for printed circuit board
CN108890466A (en) * 2018-08-15 2018-11-27 芜湖洪金机床有限公司 Single head full-automatic numerical control cutter and tool grinding machine
CN109434627A (en) * 2018-12-19 2019-03-08 台州北平机床有限公司 A kind of numerical control tool grinder
CN111085903A (en) * 2019-10-16 2020-05-01 胡功明 Five-axis linkage numerical control tool grinding machine
CN110682168A (en) * 2019-10-17 2020-01-14 胡功明 Grinding machine for spherical cutter head cutting numerical control tool

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