CN217914622U - Compound type grinding mechanical arm and grinding work station manufactured by same - Google Patents

Abstract

The utility model provides a compound arm of polishing and the processing workstation of polishing that makes thereof, wherein this compound arm of polishing includes: elevating gear, feed arrangement, grinding device, wherein grinding device fixes in elevating gear one side, feed arrangement includes: the horizontal joint mechanical arm holds the material mechanism, wherein the tail end of horizontal joint mechanical arm is fixed in elevating gear's removal end, hold the wrist at horizontal joint mechanical arm of material mechanism connection, horizontal joint mechanical arm cooperates its exhibition arm position of elevating gear adjustment, drives and holds the grinding field that material mechanism got into grinding device. Therefore, the manual double-arm labor division polishing gesture is simulated, the polishing device is flexibly suitable for polishing of various workpieces, and the processing flexibility is ensured.

Description

Compound type grinding mechanical arm and grinding work station manufactured by same

Technical Field

The utility model relates to an automatic technical field that polishes especially relates to a compound grinding machinery arm and the processing workstation of polishing of making thereof.

Background

Traditional work piece scheme of polishing, it is common for manual polishing or process with modes such as special polisher, however manual polishing though can process the variety transform great, and polish the comparatively complicated work piece of technological requirement, but only be suitable for the little condition in product batch, simultaneously because workman operation grinding tool and work piece intensity of labour are great, the randomness is also big, often causes the unstability of the quality of polishing, and dust and noise pollution are great in polishing moreover, also can harm workman's health.

Therefore, the prior art also proposes that a polishing device is additionally arranged on the currently popular six-axis mechanical arm to simulate the polishing action of the manual arm for automatic polishing, however, if only one six-axis mechanical arm is used for polishing a workpiece at a fixed position, the variety of the parts which can be processed is limited to a certain extent, but if one six-axis mechanical arm is additionally arranged to specially hold the workpiece to simulate the manual double-arm work-division polishing action for processing, although the flexible processing degree can be improved, the current six-axis robot has higher selling price, so the prior six-axis robot is not economical in view of the cost of the processing device.

Under the comprehensive consideration, a novel scheme is urgently needed in the field, the equipment cost is reduced, meanwhile, the manual double-arm labor division polishing gesture can be simulated, the polishing processing of various workpieces is flexibly adapted, and the processing flexibility is ensured.

SUMMERY OF THE UTILITY MODEL

A primary object of the present invention is to provide a composite polishing machine arm and a polishing station made thereby, which solve at least some of the related technical problems in the background art.

In order to achieve the above object, according to the utility model discloses an aspect provides a compound arm of polishing, it includes: elevating gear, feed arrangement, grinding device, wherein grinding device fixes in elevating gear one side, feed arrangement includes: the horizontal joint mechanical arm holds the material mechanism, wherein the tail end of horizontal joint mechanical arm is fixed in elevating gear's removal end, hold the wrist at horizontal joint mechanical arm of material mechanism connection, horizontal joint mechanical arm cooperates its exhibition arm position of elevating gear adjustment, drives and holds the grinding field that material mechanism got into grinding device.

Preferably, the holding mechanism comprises: chuck, servo motor, motor mounting panel, RV reduction gear, wherein the servo motor drive the RV reduction gear drives the chuck and rotates, servo motor and RV reduction gear are connected with the horizontal joint arm through the motor mounting panel, with will the chuck sets up the wrist at the horizontal joint arm.

Preferably, the grinding device includes: the grinding machine comprises a first support, an X-axis rotating mechanism, a Y-axis rotating mechanism and a grinding unit, wherein the X-axis rotating mechanism is fixed on one side of a lifting device through the first support, the Y-axis rotating mechanism is connected with the rotating end of the X-axis rotating mechanism, and the grinding unit is connected with the rotating end of the Y-axis rotating mechanism.

Preferably, the grinding unit includes: the grinding device comprises a grinder and a base, wherein the grinder is arranged on the base, and the base is connected with the rotating end of the Y-axis rotating mechanism.

Preferably, the sander is multiple, and the sanders are arranged on the base in a reverse direction.

Preferably, the grinding unit further comprises: and the force control device is arranged between the base and the Y-axis rotating mechanism and used for acquiring contact force information of the sander and the workpiece machining surface so as to feed back the contact force information to a control system.

Preferably, the sander comprises: at least one of a finger-like grinding head sander and a disc-like grinding head sander.

Preferably, the horizontal joint robot arm includes: the lifting device comprises a first movable arm, a second movable arm, a first Z-axis rotating mechanism and a second Z-axis rotating mechanism, wherein the first Z-axis rotating mechanism is fixed at the moving end of the lifting device, the first end of the first movable arm is connected with the rotating end of the first Z-axis rotating mechanism, the second end of the first movable arm is connected with the rotating end of the second Z-axis rotating mechanism, the first end of the second movable arm is fixed on the second Z-axis rotating mechanism, and the second end of the second movable arm is connected with a material holding mechanism.

Preferably, the lifting device includes: the horizontal joint mechanical arm comprises a module bracket, a driving machine, a ball screw transmission pair, a linear guide rail and a sliding block support, wherein the driving machine and the ball screw transmission pair are fixed on the module bracket, the driving machine is in driving connection with the ball screw transmission pair, the moving end of the ball screw transmission pair is connected with the sliding block support, the sliding block support is in sliding connection with the linear guide rail, the ball screw transmission pair is driven by the driving machine, the moving end of the ball screw transmission pair drives the sliding block support to do Z-axis linear reciprocating motion along the linear guide rail, and the tail end of the horizontal joint mechanical arm is fixed on the sliding block support.

In order to achieve the above object, according to the utility model discloses a another aspect still provides a processing workstation polishes, and it includes, material loading transfer chain, unloading transfer chain, the arm of polishing, wherein the material loading transfer chain treats the processing work piece for the arm transport of polishing machinery, the work piece that polishing machinery arm processing was accomplished is received to the unloading transfer chain, wherein the arm of polishing adopts as above arbitrary the compound arm of polisher make.

Through the utility model provides a this compound processing workstation that polishes arm and make thereof, its beneficial effect includes: the feeding device and the lifting device can cooperatively form four degrees of freedom, and the grinding device has 2 degrees of freedom, so that 6 degrees of freedom can be combined, manual and double-hand-division grinding postures can be flexibly simulated, various grinding tracks and feeding motions of a workpiece relative to the grinder are realized, the motion degree of freedom and the processing range are improved, and flexible processing is realized.

Compare six arms of tradition simultaneously, the present case distributes 6 degrees of freedom to feed arrangement, elevating gear and grinding device on come the branch work of artifical both hands of imitation when polishing, compare six arms of transmission degree of freedom and be higher, nevertheless can't imitate artifical both hands gesture of polishing (handheld material on one hand, polish on one hand) with a arm, it is more economic to see the scheme of this kind of rational distribution 6 degrees of freedom of present case, and equipment cost is lower.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification. In the drawings:

fig. 1 is a schematic view of the overall structure of the composite polishing mechanical arm of the present invention;

fig. 2 is a schematic view of the overall structure of the composite polishing mechanical arm of the present invention;

fig. 3 is a schematic structural view of a lifting device of the composite polishing mechanical arm of the present invention;

fig. 4 is a schematic structural view of a holding mechanism of the composite polishing mechanical arm of the present invention;

fig. 5 is the overall structure schematic diagram of the polishing work station of the present invention.

Description of the reference numerals

The device comprises a lifting device 1, a feeding device 2, a polishing device 3, a feeding conveying line 4, a discharging conveying line 5, a workpiece 6, a control system 7, a horizontal joint mechanical arm 21, a holding mechanism 22, a first support 31, an X-axis slewing mechanism 32, a Y-axis slewing mechanism 33, a grinding unit 34, a polisher 341, a base 342, a module support 11, a driving machine 12, a ball screw transmission pair 13, a linear guide rail 14, a slider support 15, a first movable arm 211, a second movable arm 212, a first Z-axis slewing mechanism 213, a second Z-axis slewing mechanism 214, a chuck 221, a servo motor 222, a motor mounting plate 223 and an RV reducer 224.

Detailed Description

To make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the attached drawings in the embodiments of the present invention are combined to clearly and completely describe the technical solution in the embodiments of the present invention, and obviously, the described embodiments are part of the embodiments of the present invention, rather than all embodiments. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate the directions or positional relationships based on the directions or positional relationships shown in the drawings, or the directions or positional relationships that the products of the present invention are usually placed when used, and are only for the convenience of describing the present invention and simplifying the description, but do not indicate or imply that the device or element indicated must have a specific direction, be constructed and operated in a specific direction, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another, and are not to be construed as indicating or implying relative importance. And the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions.

Furthermore, the terms "horizontal", "vertical", "overhang" and the like do not imply that the components are required to be absolutely horizontal or overhang, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.

In the description of the present invention, it should also be noted that, unless explicitly stated or limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, e.g., as either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those skilled in the art in combination with the prior art according to specific situations. Furthermore, the embodiments and features of the embodiments of the present invention may be combined with each other without conflict. One or more of the illustrated components may be required or unnecessary, and the relative positions of the illustrated components may be adjusted according to actual needs.

Referring to fig. 1 to 4 for example, the present invention provides a composite type polishing mechanical arm, which includes: elevating gear 1, feed arrangement 2, grinding device 3, wherein grinding device 3 is fixed in elevating gear 1 one side, feed arrangement 2 includes: horizontal joint arm 21 holds material mechanism 22, wherein the tail end of horizontal joint arm 21 is fixed at elevating gear 1's removal end, hold material mechanism 22 and connect the wrist at horizontal joint arm 21, horizontal joint arm 21 cooperates elevating gear 1 to adjust its exhibition arm position, drives and holds material mechanism 22 and get into grinding device 3's grinding field.

Specifically, as shown in fig. 1, in order to realize that the grinding device 3 has 2 degrees of freedom of movement, the grinding device 3 in this example preferably includes: a first bracket 31, an X-axis revolving mechanism 32, a Y-axis revolving mechanism 33, and a grinding unit 34, wherein the X-axis revolving mechanism 32 is fixed on one side of the lifting device 1 via the first bracket 31 so as to form a two-arm opposite configuration with the feeding device 2, and the Y-axis revolving mechanism 33 is connected with a rotating end of the X-axis revolving mechanism 32, wherein the grinding unit 34 comprises: a grinder 341 and a base 342, wherein the grinder 341 is provided on the base 342, and the base 342 is connected to a rotation end of the Y-axis rotation mechanism 33, so that the grinding unit 34 can have 2 degrees of freedom of movement.

On the other hand, in a preferred embodiment, the sander 341 may be provided in plural numbers, as shown in fig. 1 and 5, the sanders 341 are reversely arranged on the base 342, so that the Y-axis rotating mechanism 33 can rotate to switch different sanders 341. In this example, the number of the grinders 341 may be 2, such as a finger-shaped grinding head grinder 341 and a disc-shaped grinding head grinder 341, so as to facilitate and fast switch to adapt to the grinding process requirements of different workpieces 6.

Furthermore, in order to collect the contact force during grinding for forming a closed-loop feedback control, the grinding unit 34 further comprises: and the force control device (not shown in the figure) is arranged between the base 342 and the Y-axis rotating mechanism 33, so that when the grinding processing is carried out, the force control device can acquire contact force information of the grinding device 341 and the processing surface of the workpiece 6 in real time to feed back the contact force information to the control system, so that the magnitude and the acting direction of the output force are analyzed, the contact force of the grinding device 341 is controlled in a closed loop mode according to a set value, the contact force is maintained within a set value range, the grinding processing process is closer to the compliance degree of manual grinding, the grinding quality is improved, the surface of the workpiece 6 is smoother, the curved surface is natural in transition, and scratches formed by hard cut-in during grinding are avoided.

As shown in fig. 3, the lifting device 1 in this example includes: the module comprises a module bracket 11, a driving machine 12, a ball screw transmission pair 13, a linear guide rail 14 and a slide block support 15, wherein the driving machine 12 and the ball screw transmission pair 13 are fixed on the module bracket 11, the driving machine 12 is in driving connection with the ball screw transmission pair 13 so as to convert the rotary motion output by the driving machine 12 into linear reciprocating motion through the ball screw transmission pair 13, the moving end of the ball screw transmission pair 13 is connected with the slide block support 15, and the slide block support 15 is in sliding connection with the linear guide rail 14.

Therefore, when the ball screw transmission pair 13 is driven by the driving machine 12, the moving end of the ball screw transmission pair drives the slider support 15 to do Z-axis linear reciprocating motion along the linear guide rail 14, and the tail end of the horizontal joint mechanical arm 21 is fixed on the slider support 15, so that 1 degree of freedom of Z-axis lifting can be provided for the horizontal joint mechanical arm 21.

On the other hand, in order to realize that the horizontal joint robot 21 has 2 degrees of freedom of movement, as shown in fig. 1 and 2, the horizontal joint robot 21 preferably includes: the horizontal joint mechanical arm comprises a first movable arm 211, a second movable arm 212, a first Z-axis rotating mechanism 213 and a second Z-axis rotating mechanism 214, wherein the first Z-axis rotating mechanism 213 is fixed on a slider support 15 of the lifting device 1, the first end of the first movable arm 211 is connected with the rotating end of the first Z-axis rotating mechanism 213, the second end of the first movable arm 211 is connected with the rotating end of the second Z-axis rotating mechanism 214, the first end of the second movable arm 212 is fixed on the second Z-axis rotating mechanism 214, and the second end of the second movable arm 212 is connected with a material holding mechanism 22, so that the horizontal joint mechanical arm 21 with 2 degrees of freedom of movement is formed.

As shown in fig. 1 and 4, in order to realize that the holding mechanism 22 has 1 degree of freedom of movement, the holding mechanism 22 includes: the robot comprises a chuck 221, a servo motor 222, a motor mounting plate 223 and an RV reducer 224, wherein the servo motor 222 drives the RV reducer 224 to drive the chuck 221 to rotate, and the servo motor 222 and the RV reducer 224 are fixed on the second end of the second movable arm 212 through the motor mounting plate 223 so as to arrange the chuck 221 on the wrist of the horizontal joint mechanical arm 21.

It is worth mentioning that, by the cooperation and combination of the lifting device 1, the horizontal joint mechanical arm 21 and the material holding mechanism 22 in the above example, a composite mechanical arm with 4 degrees of freedom can be formed in series, and the joint type of the composite mechanical arm is PRRR type, where P represents a linear moving mechanism and R represents a rotary motion mechanism, that is, 4 joints have independent degrees of freedom, and the motions of 1-4 mechanical arms can be sequentially and randomly combined to form a desired motion track to reach a specified position and posture.

It can be seen that such PRRR type articulated arm can move to any position within the accommodation range of the cylinder formed by the radius of the full extension of the horizontal articulated mechanical arm 21 and the stroke height of the lifting device 1.

If the center distance of the mounting holes at the two ends of the first movable arm 211 is L1, the center distance of the mounting holes at the two ends of the second movable arm 212 is L2, and the stroke of the lifting device 1 is S1, the theoretical accommodation volume of the cylinder is L1

. The cylindrical accommodation range can cover the whole circle range of the cylindrical coordinate system, so that the position of the feeding and discharging working area is easier to arrange.When the workpiece 6 moves in the combination of the joints with 4 degrees of freedom, the workpiece can freely and flexibly reach any position in the containing range of the cylinder, so that the mechanical arm has high degree of freedom, is flexible to operate, and has the effect of improving the precision of the product grinding process.

In addition, in the preferred embodiment, as shown in fig. 4, the chuck 221 is exemplified by a three-grip chuck 221, but those skilled in the art may replace the chuck with another special tool clamp according to actual needs to adapt to the workpiece 6 to be clamped. It is worth mentioning at the same time that, since the chuck 221 can be driven to rotate by the servo motor 222, so as to drive the workpiece 6 held by the chuck to rotate or rotate a set angle, even if the polishing device 3 is not moving, when the horizontal joint mechanical arm 21 and the lifting device 1 move up and down along the Z axis in the grinding field of the polishing device 3, the workpiece 6 can be passively polished, and therefore, the chuck is particularly suitable for polishing the cylindrical surface workpiece 6.

The operation process of the composite grinding mechanical arm for processing workpieces 6 with different shapes will be exemplarily described below.

When the surface of the workpiece 6 to be machined is a non-cylindrical surface, the horizontal joint mechanical arm 21 can change the position of the axis of the workpiece 6 held by the holding mechanism 22 relative to the sander 341, so that the spatial position of the contact point between the outer peripheral surface of the workpiece 6 and the sander 341 is kept unchanged, and the grinding of the non-cylindrical surface can be completed;

when the workpiece 6 is a non-cylindrical surface, the polishing position can be regarded as a spatial track on the surface of the workpiece 6, so that the holding mechanism 22 can be driven to rotate discontinuously, and the PRRR-type joint arm of the composite mechanical arm is driven to move compositely, so that the track points are sequentially moved to the positions of the polishing tool points, and the polisher 341 rotates to polish the workpiece 6.

On the other hand, by adjusting the rotation angles of the X-axis rotation mechanism 32 and the y-axis rotation mechanism 33 of the polishing device 3, the polishing tool point of the polisher 341 can be changed to adapt to the shape of the workpiece 6 to make a reasonable polishing posture, and at the same time, the polishing head can be changed to select one of the two to polish workpieces 6 with different requirements.

In addition, the cylindrical surface and the non-cylindrical surface may be the outer surface of the workpiece 6 or the inner surface of the workpiece 6, and for the inner surface of the workpiece 6, an appropriate sander 341, such as the finger-shaped sanding head sander 341, needs to be selected, so that the entire finger-shaped sanding head sander 341 does not interfere with the movement of the workpiece 6 during sanding.

Please refer to fig. 5, another aspect of the present invention further provides a polishing work station, which includes a feeding conveyor line 4, a discharging conveyor line 5, and a polishing robot, wherein the feeding conveyor line 4 conveys a workpiece to be processed for the polishing robot, and the discharging conveyor line 5 receives the workpiece processed by the polishing robot, wherein the polishing robot is made of the composite polishing robot according to the above embodiment.

On the other hand, the feeding conveyor line 4 and the discharging conveyor line 5 can be formed by adopting the equipment scheme in the prior art to respectively transport the workpiece 6 to be processed and the processed workpiece 6, and in addition, the existing manual operation scheme can be adopted for the feeding and discharging process of the polishing mechanical arm, and the existing multi-degree-of-freedom mechanical arm can also be adopted to grip the workpiece 6 to carry out the feeding and discharging procedures, so that the equipment control scheme for automatic feeding and discharging is formed, which belongs to the expectable conventional technical means for the technical personnel in the field, and therefore, the description is not repeated.

To sum up, through the utility model provides a this compound processing workstation of polishing arm and polishing that makes thereof, its beneficial effect includes: the feeding device 2 and the lifting device 1 can cooperatively form four degrees of freedom, and the polishing device 3 has 2 degrees of freedom, so that 6 degrees of freedom can be combined, manual and manual separated polishing postures can be flexibly simulated, various polishing tracks and feeding motions of the workpiece 6 relative to the polisher 341 are realized, the motion degree of freedom and the processing range are improved, and flexible processing is realized.

Compare six arms of tradition simultaneously, the present case distributes 6 degrees of freedom to feed arrangement 2, elevating gear 1 and grinding device 3 on come the branch work of imitation manual work when polishing of both hands, compare six arms of transmission degree of freedom and be higher, nevertheless can't imitate artifical both hands gesture of polishing (handheld material, polish on one hand) with a arm, it is more economic to see the scheme of this kind of rational distribution 6 degrees of freedom of present case, and equipment cost is lower.

The preferred embodiments of the present invention disclosed above are intended only to help illustrate the present invention. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and its practical applications, thereby enabling others skilled in the art to best understand the invention and its practical application. The present invention is limited only by the appended claims and their full scope and equivalents, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included within the protection scope of the present invention.

In addition, various different implementation manners of the embodiments of the present invention can be combined arbitrarily, and as long as it does not violate the idea of the embodiments of the present invention, it should be considered as the disclosure of the embodiments of the present invention.

Claims (10)

1. The utility model provides a compound arm of polishing which characterized in that includes: elevating gear, feed arrangement, grinding device, wherein grinding device fixes in elevating gear one side, feed arrangement includes: the horizontal joint mechanical arm holds the material mechanism, wherein the tail end of horizontal joint mechanical arm is fixed in elevating gear's removal end, hold the wrist at horizontal joint mechanical arm of material mechanism connection, horizontal joint mechanical arm cooperates its exhibition arm position of elevating gear adjustment, drives and holds the grinding field that material mechanism got into grinding device.

2. The compound sanding robot arm of claim 1, wherein the holding mechanism comprises: chuck, servo motor, motor mounting panel, RV reduction gear, wherein the servo motor drive the RV reduction gear drives the chuck and rotates, servo motor and RV reduction gear are connected with the horizontal joint arm through the motor mounting panel, in order to incite somebody to action the chuck sets up the wrist at the horizontal joint arm.

3. A compound sanding robot arm as defined in claim 1, wherein the sanding device comprises: the grinding machine comprises a first support, an X-axis rotating mechanism, a Y-axis rotating mechanism and a grinding unit, wherein the X-axis rotating mechanism is fixed on one side of a lifting device through the first support, the Y-axis rotating mechanism is connected with the rotating end of the X-axis rotating mechanism, and the grinding unit is connected with the rotating end of the Y-axis rotating mechanism.

4. A compound sanding robot arm as defined in claim 3, wherein the grinding unit comprises: the grinding device comprises a grinder and a base, wherein the grinder is arranged on the base, and the base is connected with the rotating end of the Y-axis rotating mechanism.

5. A compound sanding robot arm as defined in claim 4, wherein the plurality of sanders are disposed in a reverse orientation on the base.

6. The compound sanding robot arm of claim 4, wherein the grinding unit further comprises: and the force control device is arranged between the base and the Y-axis rotating mechanism and used for acquiring contact force information of the sander and the workpiece processing surface so as to feed back the contact force information to the control system.

7. A compound sanding robot arm as defined in claim 4, wherein the sander comprises: at least one of a finger-like grinding head sander and a disc-like grinding head sander.

8. A compound sanding robot arm as defined in claim 1, wherein the horizontal joint robot arm comprises: the lifting device comprises a first movable arm, a second movable arm, a first Z-axis rotating mechanism and a second Z-axis rotating mechanism, wherein the first Z-axis rotating mechanism is fixed at the moving end of the lifting device, the first end of the first movable arm is connected with the rotating end of the first Z-axis rotating mechanism, the second end of the first movable arm is connected with the rotating end of the second Z-axis rotating mechanism, the first end of the second movable arm is fixed on the second Z-axis rotating mechanism, and the second end of the second movable arm is connected with a material holding mechanism.

9. A compound sanding robot arm as defined in claim 1, wherein the lifting means comprises: the horizontal joint mechanical arm comprises a module bracket, a driving machine, a ball screw transmission pair, a linear guide rail and a sliding block support, wherein the driving machine and the ball screw transmission pair are fixed on the module bracket, the driving machine is in driving connection with the ball screw transmission pair, the moving end of the ball screw transmission pair is connected with the sliding block support, the sliding block support is in sliding connection with the linear guide rail, the ball screw transmission pair is driven by the driving machine, the moving end of the ball screw transmission pair drives the sliding block support to do Z-axis linear reciprocating motion along the linear guide rail, and the tail end of the horizontal joint mechanical arm is fixed on the sliding block support.

10. A grinding work station, which comprises a feeding conveying line, a discharging conveying line and a grinding mechanical arm, wherein the feeding conveying line conveys workpieces to be processed for the grinding mechanical arm, and the discharging conveying line receives the workpieces processed by the grinding mechanical arm, and is characterized in that the grinding mechanical arm is made of the composite grinding mechanical arm according to any one of claims 1 to 9.

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