CN211361852U

CN211361852U - Nine-shaft intelligent control tool grinding machine

Info

Publication number: CN211361852U
Application number: CN201921695839.6U
Authority: CN
Inventors: 胡功明
Original assignee: Individual
Current assignee: Individual
Priority date: 2019-10-11
Filing date: 2019-10-11
Publication date: 2020-08-28
Anticipated expiration: 2029-10-11

Abstract

The utility model discloses a nine-axis intelligent control tool grinding machine, which comprises a machine body platform, wherein a Y axis and an X axis are sequentially arranged on the left side of the machine body 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; the C shaft is sequentially provided with an E shaft and an F shaft, the F shaft is provided with an A shaft, and the output end of the A shaft is provided with a pneumatic chuck seat and a chuck; a Z shaft is arranged on the rear right side of the lathe bed platform, 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 an air cylinder and a mechanical finger are arranged at the output end of the V shaft. The utility model discloses an arm borrows Z axle up-and-down motion, utilizes the XY diaxon to carry out the position motion, installs EF diaxon numerical control location additional simultaneously, makes the work piece knife tip of being processed can accurate all the time in C axle center rotary motion's (RTCP) function, moves in centre of a circle top spin through the numerical control work piece and reaches higher spherical surface machining precision.

Description

Nine-shaft intelligent control tool grinding machine

Technical Field

The utility model relates to a grinding machine technical field especially relates to nine intelligence accuse tool grinder, by numerical control system and corresponding software automatic calculation, realizes real-time online tool point centre of a circle control processing (RTCP) function, the numerical value that is ground off after processing at every turn, supports three-dimensional measuring probe by numerical control system after measuring once more, carries out the finish machining again, guarantees the work piece at last all on C axle centre of a circle, and the unmanned operation is realized to the rethread manipulator.

Background

The tool grinder is more and more widely applied to mechanical manufacturing and processing, is used for processing vertical milling cutters, ball end milling cutters, step drills, reamers, forming milling cutters, deep hole drills, triangular chisels, shaping plane cutters and the like, can be used for grinding the cutting edges and grooves of metal cutting tools and the excircles, planes and complex surfaces of common middle and small parts, and the maximum grinding workpiece diameter is 250 millimeters.

In the technical field of automation degree, structure and transmission system rationality of numerical control tool grinder processing, the requirements of unattended full-automatic processing production cannot be met. The existing numerical control tool grinding machine generally adopts five XYZAC axial structure systems and a six-joint manipulator motion control unit, controls a machine tool in a split mode, controls and coordinates the motion control of the XYZAC five-axis tool grinding machine and the six-joint manipulator through two control systems respectively in actual work, occupies a large space on a mechanical structure, consumes a large amount of resources on the control, and is low in efficiency.

In addition, in the working process of the five-axis tool grinding machine, the five-axis tool grinding machine can not control the position of the tool nose point of a workpiece to be machined under the condition that 2E-axis and F-axis are not additionally arranged because the workpiece to be machined is different in length, the top end part of the workpiece cannot be arranged on the rotating central point of the C-axis in each clamping, only the positions of the two axes of the E-axis and the F-axis are moved and positioned, the tool nose point of the workpiece with different lengths can be moved to the circle center position of the C-axis only by the accurate control of a numerical control system, the control of the tool nose point on the circle center all the time, except for the addition of a mechanical structural part and the support of control software, the length and the diameter of each workpiece in the clamping process are measured by a three-dimensional measuring probe and then fed back to the numerical control system, the numerical control system and corresponding software are automatically calculated to directly position the rotating circle center of the C-axis, and performing finish machining, and finally ensuring the roundness of the machined workpiece.

Disclosure of Invention

The purpose of the invention is as follows: the utility model provides a to the aforesaid is not enough, provides a real-time nine intelligence accuse tool grinding machines of online knife tip centre of circle point control processing, realizes unmanned operation.

The technical scheme is as follows:

the nine-shaft intelligent control tool grinding machine comprises a machine body base, nine-shaft mechanical structural parts, a sheet metal shell and a numerical control system, wherein a machine body platform is formed above the machine body base, a plurality of bottom feet are uniformly arranged at the bottom of the machine body base at intervals, and clearance positions convenient for forking are formed between the separated bottom feet;

the nine-shaft mechanical structure member includes:

a Y-axis carriage assembly is arranged at the left side position on 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 crossed manner; the C-axis rotating assembly and a material taking disc base are simultaneously and horizontally arranged on an output panel of the X-axis carriage assembly (2), and the material taking disc base is arranged on an X-axis panel of the X-axis carriage assembly and is positioned in front of the C-axis rotating assembly; a C-axis output panel is mounted on an output shaft of the C-axis rotation assembly, an E-axis carriage assembly is mounted on the C-axis output panel, an F-axis carriage assembly is mounted on the E-axis carriage assembly, and the F-axis carriage assembly and the E-axis carriage assembly are formed by cross superposition; an A-axis output panel is mounted on the F-axis carriage assembly, an A-axis indexing assembly is mounted on the A-axis output panel, a pneumatic chuck seat is mounted at the output end of the A-axis indexing assembly through an A-axis indexing head connecting flange plate, a spring chuck is mounted in the pneumatic chuck seat, the spring chuck is connected with the numerical control system, and the automatic feeding and discharging functions are realized through the control of the numerical control system; the material taking disc base is provided with three combined material discs, 2 material discs are arranged in parallel in a front-back manner, one material disc is used for pre-loading rough blanks, and the other material disc is used for receiving processed finished products;

a Z-axis upright post assembly is arranged at the right rear side of the lathe bed platform and comprises a Z-axis mounting platform, Z-axis upright posts, a Z-axis motor, a Z-axis lead screw, a Z-axis transmission seat, a Z-axis nut sleeve, a Z-axis guide rail, a Z-axis slide block, a Z-axis panel and a Z-axis organ cover; the Z-axis mounting platform is mounted on the lathe bed platform and located at the right rear side, and the Z-axis upright post is mounted on the Z-axis mounting platform in a locking mode through a bolt; a Z-axis bearing seat is installed at the top of the front side surface of the Z-axis upright column, and the Z-axis transmission seat is installed at the lower part of the front side surface of the Z-axis upright column; the Z-axis bearing block comprises an upper bearing and a lower bearing which are integrally designed, a Z-axis motor is vertically arranged on an upper bearing of the Z-axis bearing block, a Z-axis lead screw is arranged between a lower bearing of the Z-axis bearing block and the Z-axis transmission seat, an output shaft of the Z-axis motor is connected with an input end of the Z-axis lead screw through a coupling, a Z-axis nut is arranged on the Z-axis lead screw, a Z-axis nut sleeve is sleeved on the Z-axis nut, and a screw hole is formed in 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 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 each Z-axis sliding block is consistent with that of each Z-axis nut sleeve, and each Z-axis sliding block is also provided with a screw hole; the Z-axis panel is arranged on the Z-axis nut sleeve and the Z-axis sliding block in a matched manner through a bolt and a screw hole; 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 baffles are arranged on the upper end and the lower end of the Z-axis upright post assembly for sealing; a Z-axis motor cover is covered outside the Z-axis motor for sealing, and the left end and the right end of the Z-axis stand column are sealed and protected through labyrinth type sheet metal baffles;

the Z-axis panel is provided with an installation hoop, a U-axis output panel fixing and heightening seat is arranged below the installation hoop on the Z-axis panel, and the U-axis mechanical arm module is arranged on the U-axis output panel fixing and heightening seat;

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

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

the synchronous belt pulley transmission mechanism is arranged at the right rear end of the U-axis mechanical arm module and comprises a synchronous belt pulley mounting plate, a U-axis servo motor synchronous wheel, a U-axis servo motor, a U-axis screw rod synchronous wheel and a synchronous belt; the synchronous belt pulley mounting plate is mounted at the rear right end of the U-axis module, a U-axis servo motor plate is mounted on the synchronous belt pulley 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; the U-axis servo motor synchronizing wheel is sleeved with an output shaft of the U-axis servo motor in a tensioning sleeve mode, the U-axis screw rod synchronizing wheel is sleeved on the end of the U-axis screw rod in a tensioning sleeve mode, and the U-axis servo motor synchronizing wheel and the U-axis screw rod synchronizing wheel are precisely matched through the synchronous belt sleeve; 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 wire outlet cover is covered on a wire outlet below the U-shaft servo motor cover, and a U-shaft servo motor sealing joint is arranged on the U-shaft servo motor wire outlet cover; a U-axis module metal plate protective cover is arranged at the joint of the U-axis module and a U-axis output panel on a fixed heightening seat of the U-axis output panel, U-axis organ covers are externally connected to two ends of the U-axis module metal plate protective cover, the U-axis organ covers are in a square-tube integral type sealing seamless design and are connected with the metal plate protective 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 the 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 fixing 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 mounted on a 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 mounted 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 mounted 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 reducer is arranged on the other side surface of the front end plate of the V-axis fixing support through a bolt, 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 reducer output plate is arranged on an output shaft of the V-axis harmonic reducer, the manipulator cylinder is arranged at the tail end of the V-axis harmonic reducer output plate, the pneumatic finger is arranged on the output end of the manipulator cylinder, the pneumatic fingers are controlled by the manipulator cylinder to perform unclamping motion and are composed of two pieces, one of the two pieces is fixedly installed as a reference positioning surface and is not moved, the other piece controls the air pressure to do reciprocating motion through a numerical control system, the pneumatic finger reference surface is designed for a fine grinding and fine positioning plane, and the pneumatic finger motion fingers are in cross-section shapes of various workpieces.

The Y-axis carriage assembly comprises a Y-axis carriage, a Y-axis motor, a Y-axis transmission seat, a Y-axis lead screw, 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 machining station of the whole machine tool, and all parallelism \ angle \ verticality are sequentially installed by taking the Y-axis carriage as a measurement comparison reference; the Y-axis motor is arranged on the Y-axis carriage through a motor base, and a motor cover is arranged on the Y-axis carriage; a motor shaft of the Y-axis motor is connected with an input end of the Y-axis lead screw through a coupler, Y-axis transmission seat mounting seats are respectively arranged at two ends of the Y-axis carriage, and the tail end of the Y-axis lead screw is fixed on the Y-axis transmission seat mounting seats through the Y-axis transmission seats; a Y-axis nut is mounted 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 further respectively mounted on the Y-axis carriage at two sides of the Y-axis screw rods, two Y-axis slide blocks are slidably mounted on each Y-axis guide rail, the mounting height of each Y-axis slide block is consistent with that of each Y-axis nut sleeve, and screw holes are formed in the Y-axis slide blocks; screw holes are formed in the 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 installed 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 cover 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 side and the right side 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 in a way that the movement direction of the X-axis carriage and the movement direction of the Y-axis panel form an angle of 90 degrees; the X-axis carriage assembly and the Y-axis carriage are installed by taking a contrast Y-axis carriage as a reference for measurement and installation, all parallelism \ angle \ verticality are installed in sequence by taking the Y-axis carriage as a measurement and contrast reference, and the X-axis carriage assembly comprises an X-axis motor, an X-axis transmission seat, an X-axis lead screw, 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 a motor seat and is provided with a motor cover; an X-axis motor output shaft of the X-axis motor is connected with an 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 mounted on the X-axis lead screw, an X-axis nut sleeve is sleeved on the X-axis nut, and a screw hole is formed in the X-axis nut sleeve; x-axis guide rails parallel to the X-axis screw rods are further respectively mounted on the X-axis carriage and positioned on two sides of the X-axis screw rods, two X-axis sliding blocks are slidably mounted on each X-axis guide rail, the mounting height of each X-axis sliding block is consistent with that of each X-axis nut sleeve, and screw holes are formed in the X-axis sliding blocks; the X-axis panel is provided with a screw hole at a position corresponding to the X-axis nut sleeve and the X-axis sliding block, and the X-axis panel is arranged on the X-axis nut sleeve and the X-axis sliding block through the matching of a bolt and the screw hole; the X-axis organ covers cover 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 installed at the rear position on the X-axis panel, a C-axis motor base is installed at the rear end of the C-axis rotating shaft body through a motor adapter plate, a C-axis servo motor is installed in the C-axis motor base, 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 installed in the C-axis indexing rotating shaft body, and a worm of 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 worm or the cam of the roller cam indexing transmission structure is driven to rotate by inputting work through the C-axis servo motor, the worm rotates at high speed to drive the worm gear to rotate or the cam drives the roller transmission structure to rotate, 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, an E-axis planker assembly is arranged on the C-axis output panel, an F-axis planker assembly is arranged on the E-axis planker assembly, and the F-axis planker assembly and the E-axis planker assembly are formed by cross superposition; an A-axis output panel is mounted on the F-axis carriage assembly, an 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 a bolt, 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 spring chuck; the automatic clamping device comprises an A-axis motor base, an A-axis motor, an A-axis reducer, an A-axis dividing head, a chuck base, a spring chuck and a numerical control system, wherein the A-axis motor base is installed above an A-axis output panel, the A-axis motor is installed on the A-axis motor base, the A-axis reducer is installed on an output shaft of the A-axis motor, the A-axis dividing head is installed at the output end of the A-axis reducer, the chuck base is installed on an output shaft of the A-axis dividing head through an A-axis dividing head connecting flange plate, the spring chuck is installed in the chuck base and connected with the numerical control.

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 mounted on the C-axis output panel, the E-axis bearing seat is mounted at the tail end of the E-axis carriage and comprises an inner bearing and an outer bearing which are integrally designed, the E-axis motor is mounted 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 mounted 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 coupler; an E-axis nut is mounted 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 further respectively mounted on the two sides of the E-axis carriage on the E-axis carriage, two E-axis slide blocks are slidably mounted on each E-axis guide rail, the mounting height of each E-axis slide block is consistent with that of each E-axis nut sleeve, and each E-axis slide block is also provided with a screw hole; an 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 a bolt and a screw hole, and the moving direction of the F-axis carriage and the moving direction of the E-axis carriage assembly are fixedly arranged at an angle of 90 degrees; the E-axis organ cover covers the E-axis carriage and is positioned on two sides of the F-axis carriage, and two ends of the E-axis carriage assembly are sealed through E-axis organ cover baffles; an E-axis motor cover covers the E-axis motor for sealing, and two side surfaces of the E-axis carriage are sealed through labyrinth sheet metal parts;

an F-axis bearing seat is arranged at one end of the F-axis planker, and an F-axis transmission seat is arranged at the other end of the F-axis planker; the F-axis bearing block comprises an inner bearing and an outer bearing which are integrally designed, the F-axis motor is installed on the F-axis carriage through the outer bearing of the F-axis bearing, and an F-axis screw rod is installed on the 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 installed in the F-axis transmission seat; an F-axis nut is mounted 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-axis guide rails parallel to the F-axis screw rods are further respectively mounted on the F-axis carriage and located on two sides of the F-axis screw rods, two F-axis sliding blocks are slidably mounted on each F-axis guide rail, the mounting height of each F-axis sliding block is consistent with that of each F-axis nut sleeve, and screw holes are also formed in the F-axis sliding blocks; the A-shaft output panel is arranged on the F-shaft nut sleeve and the F-shaft sliding block in a matched mode through bolts and screw holes; f-axis organ covers are respectively arranged on the F-axis carriage and positioned on two sides of the A-axis output panel, and two ends of the F-axis carriage assembly are sealed through F-axis organ cover baffles; an F-axis motor cover is covered outside the F-axis motor for sealing, and two side surfaces of the F-axis carriage are sealed through labyrinth type sheet metal parts.

The distance between the U-axis servo motor and the U-axis module is adjusted through screws on the side face of the U-axis servo motor plate, so that the tightness of the synchronous belt between the synchronous wheel of the U-axis servo motor and the synchronous wheel of the U-axis screw rod is adjusted.

U axle servo motor synchronizing wheel with U axle screw synchronizing wheel all adopts AT3 high accuracy synchronous pulley, the hold-in range adopts AT3 high accuracy resistant oily hold-in range.

The lathe bed base is integrally cast, the lathe bed base and the Y-axis carriage assembly are integrated, the casting position of the Y-axis carriage assembly is higher than the plane in the lathe bed platform, and the bottom surface platform installed on the Z-axis upright post assembly is protruded out of the plane of the lathe bed platform.

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

The clamping operation of different workpieces is realized by replacing the spring chucks with different inner apertures, so that the mode of automatic production is realized.

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

Has the advantages that:

1. the utility model discloses a nine-axle intelligence accuse tool grinder installs the material dish on X axle planker assembly through many years's experiment demonstration for unchangeable material dish can be high-speed motion in X axle and Y axle direction among the prior art, has further demonstrated the positioning accuracy of X axle Y axle and has far higher than general manipulator robot precision simultaneously, because according to mechanical principle (the technique of disclosing) show that the robot generally only participates in the fine processing cooperation production, and fine processing location high accuracy generally can only be accomplished by the lathe, and its reason is that robot rigidity and precision can't reach the lathe precision, simultaneously the utility model discloses fix the U axle arm at Z epaxially, borrowed the motion positioning accuracy of Z axle, become current diaxon with six joint axle arms originally, only used a rotatory index shaft V axle moreover. The utility model discloses added two axles of E axle and F axle again between C axle and A axle, carried out high accuracy location motion through borrowing EF two, the numerical value that is ground off after processing at every turn is calculated after supporting three-dimensional measuring probe to measure once more by numerical control system, and the motion of rethread control E axle and F axle guarantees that the work piece is located the centre of a circle position of C axle all the time, carries out the finish machining again, realizes knife tip point centre of a circle control processing (RTCP) function.

2. The utility model discloses improve the multiaxis structure of original five-axis tool grinding machine and six joint axis arms into seven tool grinding machines and the nine-axis structure of two-axis arms, saved the space greatly, the structure is compacter, the most central motion positioning accuracy is synchronous with the lathe, and space idle stroke operation distance shrinks countless times, has reached the result of high efficiency high accuracy high speed motion.

3. The utility model discloses can be with the control operation procedure direct write-in seven tool grinder's of two-axis manipulator control system in.

Drawings

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

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

Fig. 3 is a schematic structural diagram of the interior of the Y-axis carriage assembly of the present invention.

Fig. 4 is a schematic view of the matching structure of the X-axis carriage assembly and the Y-axis carriage assembly of the present invention.

Fig. 5 is an installation schematic diagram of the C-axis rotating assembly of the present invention.

Fig. 6 is a schematic structural view of the interior of the E-axis carriage assembly of the present invention.

Fig. 7 is a schematic structural view of the interior of the carriage assembly with F-axis according to the present invention.

Fig. 8 is a schematic view of the matching structure of the shaft E, the shaft F and the shaft C of the present invention.

Fig. 9 is a schematic structural view of the left side part 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 structural view of the Z-axis panel in the middle Z-axis column assembly of the present invention.

Fig. 12 is a schematic view of the mounting structure of the electric spindle and the U-axis manipulator module of the present invention.

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

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

Fig. 15 is an exploded view of the U-axis robot arm module according to the present invention.

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

Wherein:

the device comprises a machine body base 1, a machine body platform 11, a surrounding edge 12, a footing 13, a sewage discharge outlet 14, a sheet metal mounting hole 15, a sheet metal shell 16, a numerical control system operation box 17 and a closed movable door 18, wherein the machine body base is arranged on the machine body platform;

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

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 sliding block, and 39 is a Y-axis panel;

4, a Z-axis upright post assembly, 40, a Z-axis mounting platform, 41, a Z-axis motor, 411, an output shaft of the Z-axis motor, 412, a Z-axis screw rod, 413, a Z-axis panel, 414, a Z-axis bearing seat, 415, a Z-axis transmission seat, 416, a Z-axis nut sleeve, 417, 418, a Z-axis sliding block, 42, a Z-axis organ cover, 43, a Z-axis upright post and 44, namely 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 slide 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 base, 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, a U-axis mechanical arm module, 71, 711, 712, 713, 714 and 72 are U-axis servo motor sealing joints, synchronous pulley transmission mechanisms, 721, 722, 723, 724, 725, 73, a U-axis output panel fixing and heightening seat, 74, 741, a U-axis module sheet metal protective cover, 742, 75, 751 and 751;

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

9 is an electric spindle, 91 is an installation hoop, 92 is a grinding wheel knife handle, 93 is a grinding wheel, and 94 is an electric spindle cover;

and 10 is a material tray.

Detailed Description

The invention will be further elucidated with reference to the drawings and the specific embodiments.

Fig. 1 is the structure schematic diagram of the seven-axis five-linkage intelligent control tool grinding machine of the utility model. As shown in fig. 1, the seven-axis five-linkage intelligent control tool grinding machine of the utility model comprises a base 1, a nine-axis mechanical structural member, a sheet metal shell and a numerical control system; fig. 1 is the utility model discloses the structural schematic diagram of well base, as shown in fig. 1 base 1 top is formed with lathe bed platform 11, base 1 is whole casting, the even interval in bottom of base 1 is provided with 3 footing 13, and it is separated by and forms between the footing 13 and keeps away the empty position and make things convenient for the fork truck to fork to go into lathe bed platform 11's outward flange is equipped with and is higher than lathe bed platform 11's surrounding edge 12 one side of lathe bed platform 11 is equipped with a plurality of greasy dirt drain 14, drain 14 is less than lathe bed platform 11's terrace surface.

The nine-shaft mechanical structure member includes:

a Y-axis carriage assembly 3 is mounted on the lathe bed platform 11 at the left side, an X-axis carriage assembly 2 is mounted above the Y-axis carriage assembly 3, and the Y-axis carriage assembly 3 and the X-axis carriage assembly 2 are formed by cross superposition; the C-axis rotating assembly 5 and the material taking disc base are horizontally arranged on an X-axis panel of the X-axis carriage assembly 2 at the same time, and the material taking disc base is arranged in front of the C-axis rotating assembly 5; a C-axis output panel 53 is mounted on an output shaft of the C-axis rotation assembly 5, an E-axis carriage assembly 55 is mounted on the C-axis output panel 53, an F-axis carriage assembly 56 is mounted on the E-axis carriage assembly 55, and the F-axis carriage assembly 56 and the E-axis carriage assembly 55 are stacked in a crossed 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 64, and a chuck 65 is mounted in the pneumatic chuck seat; a three-piece combined tray 10 is mounted on the tray taking base, as shown in fig. 9. A Z-axis column assembly 4 is installed on the bed platform 11 at the right rear side, an electric spindle 9 is fixedly installed on a Z-axis panel 413 of the Z-axis column assembly 4, a diamond grinding wheel 93 for grinding is installed at the output end of the electric spindle 9, a spindle motor is installed in the electric spindle 9, a grinding wheel tool shank 92 is installed on a motor shaft of the spindle motor, and the grinding wheel 93 is installed on the grinding wheel tool shank 92. A U-axis robot module 7 is mounted on the Z-axis panel 413 below the motorized spindle 9, and a V-axis rotation positioning assembly 8 is mounted on one end of the U-axis robot module 7 facing the chuck 65 of the a-axis indexing assembly 6, as shown in fig. 12.

Fig. 3 is a schematic structural diagram of the interior of the Y-axis carriage assembly of 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 35, a Y-axis nut sleeve 36, a Y-axis slider guide rail 37, a Y-axis slider 38, a Y-axis panel 39, and a Y-axis organ cover 32, the Y-axis carriage 30 and the bed platform 11 are integrally cast, the Y-axis carriage 30 serves as a reference machining station of the whole machine tool, and all parallelism \ angle \ verticality are sequentially installed 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. A Y-axis motor shaft 311 of the Y-axis motor 31 is coupled to an input end of the Y-axis screw 35 through a coupler, Y-axis transmission seat mounting seats 341 are respectively disposed at two ends of the Y-axis carriage 30, and a tail end of the Y-axis screw 35 is fixed to 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 rod 35 are further respectively mounted on the Y-axis carriage 30 at two sides of the Y-axis screw rod 35, two Y-axis sliders 38 are slidably mounted on each Y-axis guide rail 37, the mounting height of each Y-axis slider 38 is the same as that of each Y-axis nut sleeve 36, and each Y-axis slider 38 is also provided with a screw hole. Screw holes are formed in the 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 installed 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 covers 32 cover the left side and the right side of the Y-axis panel 39, and the left end and the right end of the Y-axis carriage assembly 3 are sealed through Y-axis organ cover baffles 33. A Y-axis motor cover 312 covers the Y-axis motor 31 for sealing, and labyrinth sheet metal parts seal the left and right sides of the Y-axis panel 39.

Fig. 4 is a schematic view of the matching 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 in the moving direction, the X-axis carriage assembly 3 and the Y-axis carriage 39 are mounted by taking a comparison Y-axis carriage 30 as a reference for measurement and mounting, and all parallelism \ angle \ verticality are mounted by taking the Y-axis carriage 30 as a measurement and comparison reference in sequence, and include 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 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 disposed thereon; an X-axis motor output shaft 211 of the X-axis motor 21 is connected with an input end of the X-axis screw 26 through a coupler, and a tail end of the X-axis screw 26 is fixed on the X-axis carriage 24 through the X-axis transmission seat 25; an X-axis nut is mounted 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; the X-axis carriage 24 is also provided with X-axis guide rails 27 parallel to the X-axis lead screw 26 on two sides of the X-axis lead screw 26, two X-axis slide blocks are slidably mounted on each X-axis guide rail 27, the mounting height of each X-axis slide block is consistent with that of the X-axis nut sleeve, and each X-axis slide block is provided with a screw hole; screw holes are arranged on the X-axis panel 28 corresponding to the X-axis nut sleeve and the X-axis sliding block, and the X-axis panel 28 is arranged 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 covers 22 cover the front and back sides of the X-axis panel 28, the front and back ends of the X-axis carriage assembly 2 are sealed through X-axis organ cover baffles 23, and the left and right sides of the X-axis panel 28 are sealed through labyrinth sheet metal parts. Finally, the matching structure of the X-axis carriage assembly 2 and the Y-axis carriage assembly 3 shown in FIG. 5 is formed.

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

Fig. 6 is a schematic structural view of the interior of the E-axis carriage assembly of the present invention, and fig. 7 is a schematic structural view of the interior of the F-axis carriage assembly of 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 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 at the end of the E-axis carriage 550, the E-axis bearing seat 553 includes an inner bearing and an outer bearing which are integrally designed, the E-axis motor 551 is mounted at the end of the E-axis carriage 550 through the outer bearing of the E-axis bearing seat 553, the E-axis lead 554 is mounted on the inner bearing 555 of the E-axis bearing seat 553, and a motor shaft of the E-axis motor 551 is coupled with an input end of the E-axis lead 554 through a coupler; an E-axis nut is mounted on the E-axis screw 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 lead screw 554 are further mounted on the C-axis output panel 53 and located on two sides of the E-axis lead screw 554 respectively, two E-axis slide blocks 558 are mounted on each E-axis guide rail 557 in a sliding manner, the mounting height of each E-axis slide block 558 is consistent with that of each E-axis nut sleeve 556, and the E-axis slide blocks 558 are also provided with screw holes; an 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 through matching of bolts and screw holes, and the F-axis carriage 561 and the E-axis carriage assembly 55 are fixedly mounted in a 90-degree angle in the moving direction. The E-axis bellows 552 covers the E-axis carriage 550 at two sides of the F-axis carriage 561, and is sealed at two ends of the E-axis carriage assembly 55 by E-axis bellows baffles. An E-axis motor cover 559 is covered outside the E-axis motor 551 for sealing, and two side surfaces of the E-axis carriage 550 are sealed by labyrinth type sheet metal parts.

An F-axis bearing seat 563 is installed at one end of the F-axis carriage 561, and an F-axis transmission seat 565 is installed at the other end of the F-axis carriage 561; the F-axis bearing block 563 comprises an integrally designed inner bearing and an outer bearing, the F-axis motor 562 is mounted on the F-axis carriage 561 through the outer bearing of the F-axis bearing 563, and the inner bearing of the F-axis bearing 563 is mounted with an F-axis lead 564; the input end of the F-axis lead screw 564 is coupled with the motor shaft of the F-axis motor 562 through a coupler, and the other end of the F-axis lead screw is installed in the F-axis transmission seat 565; an F-shaft nut is arranged on the F-shaft lead screw 564, an F-shaft nut sleeve 568 is sleeved on the F-shaft nut, and a screw hole is formed in the F-shaft nut sleeve 568; f-axis guide rails 566 parallel to the F-axis lead bar 564 are further respectively mounted on the F-axis carriage 561 at two sides of the F-axis lead bar 564, two F-axis sliders 567 are slidably mounted on each F-axis guide rail 566, the mounting height of each F-axis slider 567 is consistent with that of each F-axis nut bushing 568, and the F-axis sliders are also provided with screw holes; the a-axis output panel 611 is mounted on the F-axis nut 568 and the F-axis slide block 567 by means of bolts and screw holes. An F-axis organ cover 569 is respectively installed on the F-axis carriage 561 at two sides of the a-axis output panel 611, and two ends of the F-axis carriage assembly 56 are sealed by F-axis organ cover baffles. An F-axis motor cover is covered outside the F-axis motor 562 for sealing, and two side surfaces of the F-axis carriage 561 are sealed through labyrinth type sheet metal parts.

Fig. 8 is a schematic view of the matching structure of the shaft E, the shaft F and the shaft C of the present invention. As shown in fig. 8, an a-axis motor base 61 is mounted on the a-axis output panel 611, an a-axis motor 62 is mounted on the a-axis motor base 61, an a-axis reducer is connected to an output shaft of the a-axis motor 62 through a coupling, an a-axis index head 63 is mounted at an output end of the a-axis reducer, a collet base is mounted on an output shaft of the a-axis index head 63 through an a-axis index head connecting flange 64, a collet chuck 65 is mounted in the collet base, and the collet chuck 65 is connected to the numerical control system and is controlled by the numerical control system to realize an automatic clamping loosening function. The utility model discloses in, can be through the spring chuck who changes different inner bore diameters various work pieces of centre gripping to realize automatic production's 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 lead screw 412, a Z-axis transmission seat 415, a Z-axis nut sleeve 416, a Z-axis guide rail 417, a Z-axis slider 418, a Z-axis panel 413, and a Z-axis organ cover 42. The Z-axis mounting platform 40 is mounted on the lathe bed platform 11 and located at the right rear side, the Z-axis upright column 43 is mounted on the Z-axis mounting platform 40 through bolts, a Z-axis bearing seat is mounted at the top of the front side surface of the Z-axis upright column 43, and a Z-axis transmission seat 415 is mounted at the lower part of the front side surface of the Z-axis upright column 43; the Z-axis bearing block 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 block, a Z-axis screw 412 is arranged between the lower bearing of the Z-axis bearing block and the Z-axis transmission seat 415, and a Z-axis motor output shaft 411 of the Z-axis motor 41 is connected with an input end of the Z-axis screw 412 through a coupler; a Z-axis nut is mounted 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 formed in the Z-axis nut sleeve 416; z-axis guide rails 417 are respectively installed on the front side surface of the Z-axis upright column 43 and positioned on two sides of the Z-axis screw rod 412, a Z-axis sliding block 418 is installed on each Z-axis guide rail 417 in a sliding manner, the installation height of the Z-axis sliding block 418 is consistent with the installation height of the Z-axis nut sleeve 416, and the Z-axis sliding block 418 is also provided with a screw hole; the Z-axis panel 413 is mounted on the Z-axis nut sleeve 416 and the Z-axis slider 418 by a bolt and a screw hole. Z-axis organ covers 42 are arranged on the front side surface of the Z-axis upright column 43 and positioned on the upper side and the lower side of the Z-axis panel 413, and Z-axis organ cover baffles are arranged on the upper end and the lower end of the Z-axis upright column assembly 4 for sealing; a Z-axis motor cover is covered outside the Z-axis motor 41 for sealing, and the left and right ends of the Z-axis column 43 are sealed and protected by labyrinth sheet metal baffles, so as to form a structure as shown in fig. 11. As shown in fig. 11, an installation hoop 91 is installed on the Z-axis panel 413, a U-axis output panel fixing and raising seat 73 is installed below the installation hoop 91 on the Z-axis panel 413, and the U-axis robot arm module 7 is installed on the U-axis output panel fixing and raising seat 73.

Fig. 12 is a schematic view of the installation structure of the middle electric spindle and the U-axis mechanical arm module of the present invention, and fig. 13 is an exploded view of the electric spindle of the present invention. As shown in fig. 12 and 13, the electric spindle 9 is fixedly mounted on the Z-axis panel 413 through the mounting hoop 91, a grinding wheel holder 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 holder 92; a contact type three-dimensional online measuring probe is arranged on one side of the electric spindle 9, which is positioned at the rear lower part of the grinding wheel tool holder 92, and measures the relative position between the material clamped on the chuck 65 and the grinding wheel on the electric spindle 9, so that the relative position between the material and the grinding wheel can be accurately adjusted; an electric main shaft cover 94 is installed outside the installation hoop 91 to seal and protect a main shaft motor in the electric main shaft 9.

The utility model discloses in still install the oil spout pipe support in electricity main shaft 9's top, install on it and spout the oil pipe, the shower nozzle that spouts the oil pipe is facing to emery wheel direction is used for right the emery wheel is carrying out the cooling and the lubrication of material man-hour.

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

Fig. 15 is an exploded view of the U-axis robot arm module according to 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 robot arm module 7, and the synchronous pulley transmission mechanism 72 adopts a structure in which a synchronous wheel is matched with a synchronous belt, and includes a synchronous pulley installation plate 721, a U-axis servo motor synchronous wheel 722, a U-axis servo motor 71, a U-axis lead screw synchronous wheel 723 and a synchronous belt 724; the synchronous pulley mounting plate 721 is mounted on the rear right end of the U-axis module 74 of the U-axis robot arm module 7, a U-axis servomotor plate 711 is mounted on the synchronous pulley mounting plate 721, a U-axis servomotor 71 is mounted on the U-axis servomotor plate 711 by screws on the side thereof, and the mounting direction of the U-axis servomotor 71 is below and behind the U-axis module 74; a U-axis servo motor synchronizing 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 synchronizing wheel 723 is sleeved on the end of the U-axis screw rod in a tensioning sleeve mode, and the same U-axis servo motor synchronizing wheel 722 and the U-axis screw rod synchronizing 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 surface of the U-axis servo motor plate 711, so that the tightness of a synchronous belt 724 between a synchronous wheel 722 of the U-axis servo motor and a synchronous wheel 723 of the U-axis screw rod is adjusted; in the utility model, the U-axis servo motor synchronizing wheel 722 and the U-axis lead screw synchronizing wheel 723 both adopt AT3 high-precision synchronous belt wheels, and the synchronous belt 724 adopts AT3 high-precision oil-resistant synchronous belts; a synchronous wheel protective cover 725 is sleeved on the synchronous pulley mounting plate 721, a U-axis servo motor cover 712 is sleeved on the U-axis servo motor 71, a U-axis servo motor outgoing line cover 713 is covered on an outgoing line port below the U-axis servo motor cover 712, and a U-axis servo motor sealing joint 714 is arranged on the U-axis servo outgoing line cover 713; a U-axis module metal plate protective cover 741 is arranged at the joint of the U-axis module 74 and the U-axis output panel on the U-axis output panel fixing and heightening seat 73, U-axis organ covers 75 are covered and connected at two ends of the U-axis module 74 and located on two ends of the U-axis module metal plate protective cover 741, the U-axis organ covers 75 are in a square-cylinder-shaped integral sealing seamless design and are connected with the metal plate protective cover 741 to form a closed movable cavity, and the protective performance is better. The utility model discloses in, U axle arm module 7 is that output panel is fixed, and whole U axle module 74 is in the motion, its rear end in the motion U axle servo motor 71 and the V axle rotational positioning assembly 8 of front end are together with the motion.

As shown in fig. 15, a U-axis module adapter plate 742 is installed at the front left end of the U-axis robot arm module 7, and a V-axis rotation 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 manipulator 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 reducer 83 is mounted on the other side surface of the front end plate of the V-axis fixing bracket 81 by 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 the output shaft of the V-axis harmonic speed reducer 83, the manipulator cylinder 84 is arranged at the end of the output plate 851 of the V-axis harmonic reducer, the pneumatic finger 85 is arranged at the output end of the manipulator cylinder 84, the manipulator cylinder 84 controls the pneumatic fingers 85 to perform unclamping movement, the pneumatic fingers 85 are composed of two pieces, one of the two pieces is fixedly installed as a reference positioning surface and is not moved, the other piece controls the air pressure to do reciprocating motion through a numerical control system, the pneumatic finger reference surface is designed for a fine grinding and fine positioning plane, and the pneumatic finger motion fingers are in cross-section shapes of various workpieces.

The utility model discloses in, charging tray 10 is three piece combination formula charging trays, the parallel range of being of charging tray 10 has 2, and one of them is used for preassembling the blank, and another is used for receiving the finished product material after the 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 sheet metal mounting holes 15 are formed in the edge of the bed platform 11, a sheet metal shell 16 is mounted in the sheet metal mounting holes 15 of the bed platform 11 through bolts and nuts, a numerical control operation box 17 is mounted on the sheet metal shell 16, and a numerical control system is mounted in the numerical control operation box 17. A sealing movable door 18 is mounted on the front surface of the sheet metal shell 16.

The working principle of the utility model 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 position above the material tray 10; through control U axle arm module 7 moves to the material top that needs snatch on the charging tray 10, simultaneously control Z axle stand assembly 4 downstream controls 7 end of U axle arm module 8 of V axle rotational positioning snatchs the material on the charging tray 10 is got to the completion and is got the material work.

Controlling the X-axis carriage assembly 2 and the Y-axis carriage assembly 3 to move, controlling the C-axis rotation assembly 5 to be linked, and controlling the vertical movement of the Z-axis upright post assembly 4 and the movement of the U-axis mechanical arm module 7 to place materials grabbed by the V-axis rotation positioning assembly 8 on the U-axis mechanical arm module 7 into the chuck 65 on the A-axis indexing head 63 so as to finish feeding work;

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 online measuring probe 93, automatically calculating by a numerical control system and corresponding software, controlling the workpiece to be processed to be located at the circle center position of the C-axis rotary assembly 5 by controlling the movement of the E-axis carriage assembly 55 and the F-axis carriage assembly 56, and then processing the material; the numerical value ground after each processing is calculated according to the result measured again by the numerical control system and the three-dimensional measuring probe, and the workpiece to be processed is ensured to be always positioned at the circle center position of the C-axis rotating assembly 5, so that the function of controlling the processing (RTCP) of the circle center of the tool point 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 work requirements, and finally finishing the material processing work;

after the material is processed, the material on the chuck 65 is taken down by controlling the X-axis carriage assembly 2 and the Y-axis carriage assembly 3 and simultaneously controlling the Z-axis upright post assembly 4, the U-axis mechanical arm module 7 and the V-axis rotary positioning assembly 8 to be linked, so as to complete the blanking work;

the taken-down materials are placed on the material tray 10 through the movement of the U-axis mechanical arm module 7 and the Z-axis upright post assembly 4, and the unprocessed materials are grabbed again for a new round of processing.

The nine-axis intelligent control tool grinding machine of the utility model is proved by years of experiments that the material disc is arranged on the X-axis carriage assembly, so that the material disc which is not changed in the prior art can move at high speed in the X-axis and Y-axis directions, and simultaneously, the positioning precision of the X-axis and the Y-axis is further proved to be far higher than the precision of a common mechanical arm/robot, because the robot is shown to generally only participate in the fine machining cooperative production according to the mechanical principle (the disclosed technology), and the fine machining positioning precision can be generally only completed by a machine tool because the rigidity and the precision of the robot can not reach the precision of the machine tool, meanwhile, the utility model fixes the U-axis mechanical arm on the Z axis, borrows the movement positioning precision of the Z axis, improves the structure of the original five-axis tool and six-joint-axis mechanical arm into the nine-axis structure of a seven-axis tool and a two-axis mechanical arm, and simultaneously can directly write the control operation program of the two-axis mechanical arm into the, the space is greatly saved, the structure is more compact, most importantly, the motion positioning precision is synchronous with the machine tool, the space idle stroke running distance is reduced by a plurality of times, and the result of high-efficiency \ high-precision \ high-speed motion is achieved. The utility model discloses added two axles of E axle and F axle again between C axle and A axle, carried out high accuracy positioning motion through borrowing EF two, the numerical value that is ground off after processing at every turn, support by numerical control system and calculate after three-dimensional measuring probe remeasures once more, the motion of rethread control E axle and F axle, guarantee that the work piece is located the centre of a circle position of C axle all the time, carry out the finish machining again, realize real-time online tool point centre of a circle control processing (RTCP) function.

The above detailed description describes the preferred embodiments of the present invention, but the present invention is not limited to the details of the above embodiments, and the technical concept of the present invention can be implemented with various equivalent transformations (such as quantity, shape, position, etc.), which all belong to the protection of the present invention.

Claims

1. Tool grinder is controlled to nine intelligence, including lathe bed base (1), nine mechanical structure spare, panel beating casing and numerical control system lathe bed base (1) top is formed with lathe bed platform (11) the even interval in bottom of lathe bed base (1) is provided with a plurality of footing (13), is being separated by form the empty position of keeping away that makes things convenient for fork truck fork to go into between footing (13), its characterized in that:

the nine-shaft mechanical structure member includes:

a Y-axis carriage assembly (3) is mounted on the lathe bed platform (11) at the left side, an X-axis carriage assembly (2) is mounted 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 crossed 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) at the same time, and the material taking disc base is arranged on the X-axis panel of the X-axis carriage assembly (2) and is positioned in front of the C-axis rotating assembly (5); a C-axis output panel (53) is mounted on an output shaft of the C-axis rotation assembly (5), an E-axis carriage assembly (55) is mounted on the C-axis output panel (53), an F-axis carriage assembly (56) is mounted on the E-axis carriage assembly (55), and the F-axis carriage assembly (56) and the E-axis carriage assembly (55) are formed by cross superposition; 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), a spring chuck is mounted 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 the automatic feeding and discharging functions; the three-piece combined material tray (10) is arranged on the material taking tray base, 2 material trays (10) are arranged in parallel in a front-back manner, one material tray is used for pre-loading rough blanks, and the other material tray is used for receiving processed finished products;

a Z-axis upright post assembly (4) is arranged at the right rear side of the bed platform (11), and the Z-axis upright post assembly (4) comprises a Z-axis mounting platform (40), a Z-axis upright post (43), a Z-axis motor (41), a Z-axis lead screw (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 mounting platform (40) is mounted on the lathe bed platform (11) and located at the right rear side, and the Z-axis upright post (43) is mounted on the Z-axis mounting platform (40) in a locking mode through a bolt; a Z-axis bearing seat is installed at the top of the front side surface of the Z-axis upright post (43), and the 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 block comprises an upper bearing and a lower bearing which are integrally designed, a Z-axis motor (41) is vertically arranged on an upper bearing of the Z-axis bearing block, a Z-axis lead screw (412) is arranged between a lower bearing of the Z-axis bearing block and the Z-axis transmission seat (415), a Z-axis motor output shaft (411) of the Z-axis motor (41) is connected with an input end of the Z-axis lead screw (412) through a coupler, a Z-axis nut is arranged on the Z-axis lead screw (412), a Z-axis nut sleeve (416) is sleeved on the Z-axis nut, and a screw hole is formed in the Z-axis nut sleeve (416); z-axis guide rails (417) are respectively installed on the two sides of the Z-axis screw rod (412) on the front side surface of the Z-axis upright post (43), a Z-axis sliding block (418) is installed on each Z-axis guide rail (417) in a sliding mode, the installation height of the Z-axis sliding block (418) is consistent with the installation height of the Z-axis nut sleeve (416), and the Z-axis sliding block (418) is also provided with a screw hole; the Z-axis panel (413) is installed on the Z-axis nut sleeve (416) and the Z-axis sliding block (418) through bolts and screw holes in a matched mode; 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 baffles are arranged on the upper end and the lower end of the Z-axis upright post assembly (4) for sealing; a Z-axis motor cover covers the Z-axis motor (41) for sealing, and the left end and the right end of the Z-axis upright post (43) are sealed and protected through labyrinth type sheet metal baffles;

an installation hoop (91) is installed on the Z-axis panel (413), a U-axis output panel fixing and heightening seat (73) is installed below the installation hoop (91) on the Z-axis panel (413), and a U-axis mechanical arm module (7) is installed on the U-axis output panel fixing and heightening seat (73);

the electric spindle (9) is horizontally arranged in a mounting hoop (91) on the Z-axis panel (413), a grinding wheel tool shank (92) capable of mounting a grinding wheel is mounted at the output end on the left side of the electric spindle, the grinding wheel (93) is detachably mounted on the grinding wheel tool shank (92), and a contact type three-dimensional online measuring probe is mounted on the electric spindle (9) and positioned on the rear lower side of the grinding wheel tool shank (92); an electric main shaft cover (94) is arranged outside the mounting hoop (91); a U-axis output panel fixing and heightening seat (73) is arranged below the motorized spindle (9) on the Z-axis panel (413), and the U-axis mechanical arm module (7) is horizontally arranged on the U-axis output panel fixing and 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), a nut sleeve is fixedly installed on a U-axis output panel fixing heightening seat (73), a U-axis lead screw is fixedly installed in the U-axis module (74), two ends of the U-axis lead screw are installed in the U-axis module (74) through a U-axis bearing seat, and the U-axis module (74) is transversely installed on the U-axis output panel fixing heightening seat (73) through the matching of the U-axis lead screw and the nut sleeve;

the synchronous pulley transmission mechanism (72) is arranged at the right rear end of the U-axis mechanical arm module (7), and the synchronous pulley transmission mechanism (72) comprises a synchronous pulley mounting plate (721), a U-axis servo motor synchronous wheel (722), a U-axis servo motor (71), a U-axis lead screw synchronous wheel (723) and a synchronous belt (724); the 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 a screw on the side surface of the U-shaft servo motor plate, and the U-shaft servo motor (71) is arranged below the rear part of the U-shaft module (74); the U-axis servo motor synchronizing 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 synchronizing wheel (723) is sleeved on the end of the U-axis screw rod in a tensioning sleeve mode, and the U-axis servo motor synchronizing wheel (722) and the U-axis screw rod synchronizing 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-axis servo motor cover (712) is sleeved on the U-axis servo motor (71), a U-axis servo motor outgoing line cover (713) is covered on an outgoing line port below the U-axis servo motor cover (712), and a U-axis servo motor sealing joint (714) is arranged on the U-axis servo motor outgoing line cover (713); a U-axis module metal plate protective cover (741) is arranged at the joint of the U-axis module (74) and a U-axis output panel on a U-axis output panel fixed heightening seat (73), U-axis organ covers (75) are externally connected to the two ends of the U-axis module metal plate protective cover (741) on the U-axis module (74), the U-axis organ covers (75) are in a square-cylinder integral type sealing seamless design and are connected with the metal plate protective cover (741) to form a closed movable cavity; the U-axis mechanical arm module (7) adopts a structural mode that the U-axis module (74) moves integrally and the U-axis output panel is fixed;

a U-axis module adapter plate (742) is installed at the front left end of the U-axis mechanical arm module (7), and a V-axis rotary 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 bolts, 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 bolts, and an output shaft of the V-axis servo motor penetrates through the motor shaft through hole; the V-axis harmonic reducer (83) is installed on the other side face of the front end plate of the V-axis fixing plate (81) through a bolt, a central wave generator of the V-axis harmonic reducer (83) is sleeved on a motor shaft of the V-axis servo motor (82), a V-axis harmonic reducer output plate (831) is installed on an output shaft of the V-axis harmonic reducer (83), the manipulator cylinder (84) is installed at the tail end of the V-axis harmonic reducer output plate (831), the pneumatic finger (85) is installed on an output end of the manipulator cylinder (84), the pneumatic finger (85) is controlled by the manipulator cylinder (84) to perform loose-clamping movement, the pneumatic finger (85) is composed of two pieces, one piece of the pneumatic finger is fixedly installed as a reference positioning surface and is not moved, the other piece of the numerical control system controls air pressure to perform reciprocating movement, the reference surface of the pneumatic finger is designed as a fine-grinding positioning plane, the pneumatic finger motion is in the shape of a cross section of various workpieces.

2. The nine-axis intelligent control tool grinding machine as claimed in 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 bed platform (11) are integrally cast, the Y-axis carriage (30) serves as a reference machining station of the whole machine tool, and all parallelism \ angle \ verticality are sequentially installed 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 base, and a motor cover is arranged on the Y-axis carriage; a motor shaft (311) of the Y-axis motor (31) is connected with an 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 mounted 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 lead screw (35) are further respectively mounted on the Y-axis carriage (30) and located on two sides of the Y-axis lead screw (35), two Y-axis sliding blocks (38) are slidably mounted on each Y-axis guide rail (37), the mounting height of each Y-axis sliding block (38) is consistent with that of each Y-axis nut sleeve (36), and each Y-axis sliding block (38) is provided with a screw hole; screw holes are formed in the 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 installed on the Y-axis nut sleeve (36) and the Y-axis sliding block (38) through the matching of bolts and the screw holes; the Y-axis organ covers (32) cover the left side and the right side of the Y-axis panel (39), and the left end and the right end of the Y-axis carriage assembly (3) are sealed through Y-axis organ cover baffles (33); the left side and the right side of the Y-axis panel (39) are sealed 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 in a way of forming an angle of 90 degrees with the moving direction; 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 by taking the Y-axis carriage (30) as a measurement and comparison reference in sequence, and the X-axis carriage assembly comprises an X-axis motor (21), an X-axis transmission seat (25), an X-axis lead screw (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 is provided with the motor cover; an X-axis motor output shaft (211) of the X-axis motor (21) is connected with an 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 mounted on the X-axis lead screw (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; x-axis guide rails (27) parallel to the X-axis screw rod (26) are further respectively mounted on the X-axis carriage (24) and located on two sides of the X-axis screw rod (26), two X-axis sliding blocks are slidably mounted on each X-axis guide rail (27), the mounting height of each X-axis sliding block is consistent with that of the X-axis nut sleeve, and screw holes are formed in the X-axis sliding blocks; screw holes are formed in the 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 installed 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 covers (22) cover 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 X-axis organ cover baffles (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 grinding machine as claimed in claim 2, wherein: a C-axis indexing rotating shaft body (51) is installed at the rear position on the X-axis panel (28), a C-axis motor base is installed at the rear end of the C-axis indexing rotating shaft body (51) through a motor adapter plate, a C-axis servo motor (54) is installed in the C-axis motor base, the C-axis servo motor (54) is connected with an input shaft of the C-axis indexing rotating shaft body (51) through a coupler, a worm gear and worm or roller cam indexing transmission structure is installed in the C-axis indexing rotating shaft body (51), a worm of the worm gear and worm is fixedly connected with the input shaft of the C-axis indexing rotating 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 rotating shaft body (51); the worm of the worm gear and worm or the cam of the roller cam indexing transmission structure are driven to rotate by inputting work through the C-axis servo motor (54), then the worm rotates at high speed to drive the worm gear to rotate or the cam drives the roller transmission structure to rotate, 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 planker assembly (55) is arranged on the C-axis output panel (53), an A-axis indexing assembly (6) is arranged on the A-axis output panel (611), a body installation 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 index head (63), a collet seat and a collet chuck (65); an A-axis motor base (61) is installed above the A-axis output panel (611), the A-axis motor base (61) is provided with the A-axis motor (62), an A-axis speed reducer is installed on an output shaft of the A-axis motor (62), the output end of the A-axis speed reducer is provided with the A-axis dividing head (63), a chuck base is installed on an output shaft of the A-axis dividing head (63) through an A-axis dividing head connecting flange plate (64), a spring chuck (65) is installed in the chuck base, the spring chuck (65) is connected with the numerical control system, and the automatic loosening and clamping function is achieved through control of the numerical control system.

4. The nine-axis intelligent control tool grinding machine as claimed in 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 slide block (558); the E-axis carriage (550) is mounted on the C-axis output panel (53), the E-axis bearing seat (553) is mounted at 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 at the tail end of the C-axis output panel (53) through the outer bearing of the E-axis bearing seat (553), the E-axis lead screw (554) is mounted on the inner bearing (555) of the E-axis bearing seat (553), and a motor shaft of the E-axis motor (551) is coupled with the input end of the E-axis lead screw (554) through a coupler; an E-axis nut is mounted 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 rod (554) are further respectively mounted on the E-axis carriage (550) and located on two sides of the E-axis screw rod (554), two E-axis sliding blocks (558) are mounted on each E-axis guide rail (557) in a sliding mode, the mounting height of each E-axis sliding block (558) is consistent with that of each E-axis nut sleeve (556), and the E-axis sliding blocks (558) are also provided with screw holes; an F-axis carriage (561) of the F-axis carriage assembly (56) is mounted on the E-axis nut sleeve (556) and the E-axis sliding block (558) through matching of bolts and screw holes, and the F-axis carriage (561) and the E-axis carriage assembly (55) are fixedly mounted in a mode that a 90-degree angle is formed between the moving direction of the F-axis carriage assembly and the moving direction of the E-axis carriage assembly; the E-axis organ covers (552) cover the E-axis carriage (550) and are positioned at two sides of the F-axis carriage (561), and two ends of the E-axis carriage assembly (55) are sealed through E-axis organ cover baffles; an E-axis motor cover (559) covers the outside of the E-axis motor (551) for sealing, and two side surfaces of the E-axis carriage (550) are sealed through labyrinth type sheet metal parts;

an F-axis bearing seat (563) is arranged at one end of the F-axis carriage (561), and an F-axis transmission seat (565) is arranged at the other end of the F-axis carriage; the F-axis bearing block (563) comprises an inner bearing and an outer bearing which are integrally designed, an F-axis motor (562) is installed on the F-axis carriage (561) through the outer bearing of the F-axis bearing block (563), and an F-axis screw rod (564) is installed on the inner bearing of the F-axis bearing block (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 installed in the F-axis transmission seat (565); an F-axis nut is mounted 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 screw rod (564) are further respectively mounted on the F-axis carriage (561) and located on two sides of the F-axis screw rod (564), two F-axis sliders (567) are slidably mounted on each F-axis guide rail (566), the mounting height of each F-axis slider (567) is consistent with that of each F-axis nut sleeve (568), and screw holes are also formed in each F-axis slider; the A-axis output panel (611) is installed on the F-axis nut sleeve (568) and the F-axis sliding block (567) in a matched mode through bolts and screw holes; f-axis organ covers (569) are respectively arranged on the F-axis carriage (561) and located on two sides of the A-axis output panel (611), and two ends of the F-axis carriage assembly (56) are sealed through F-axis organ cover baffles; an F-axis motor cover is covered outside the F-axis motor (562) for sealing, and two side faces of the F-axis dragging plate (561) are sealed through labyrinth type sheet metal parts.

5. The nine-axis intelligent control tool grinding machine as claimed in 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 grinding machine as claimed in claim 1, wherein: u axle servo motor synchronizing wheel (722) with U axle lead screw synchronizing wheel (723) all adopt AT3 high accuracy synchronous pulley, hold-in range (724) adopt AT3 high accuracy resistant oily hold-in range.

7. The nine-axis intelligent control tool grinding machine as claimed in claim 1, wherein: the lathe bed base (1) is integrally cast, the lathe bed base and the Y-axis carriage assembly (3) are integrated, the casting position of the Y-axis carriage assembly (3) is higher than the plane in the lathe bed platform (11), and a bottom surface platform installed on the Z-axis column assembly (4) is protruded out of the plane of the lathe bed platform (11).

8. The nine-axis intelligent control tool grinding machine as claimed in claim 1, wherein: a sewage draining outlet (14) is arranged on the rear side of the bed body platform (11), and the sewage draining outlet (14) is lower than the plane in the bed body platform (11).

9. The nine-axis intelligent control tool grinding machine as claimed in claim 1, wherein: the clamping operation of different workpieces is realized by replacing the spring chucks (65) with different inner apertures, so that the automatic production mode is realized.

10. The nine-axis intelligent control tool grinding machine as claimed in claim 1, wherein: lathe bed platform (11) border position is equipped with a plurality of panel beating mounting hole (15) panel beating shell (16) is installed through bolt and nut in panel beating mounting hole (15) on lathe bed platform (11) install numerical control box (17) on panel beating shell (16) install numerical control system in numerical control box (17) the airtight floating gate (18) are installed to positive position on panel beating shell (16).