CN113172543A

CN113172543A - Inclined shaft type plunger motor small-opening spherical concave precision grinding machine

Info

Publication number: CN113172543A
Application number: CN202110486326.XA
Authority: CN
Inventors: 杨乾
Original assignee: Jinxiang Henghai Hydraulic Machinery Co ltd
Current assignee: Jinxiang Henghai Hydraulic Machinery Co ltd
Priority date: 2021-05-01
Filing date: 2021-05-01
Publication date: 2021-07-27
Anticipated expiration: 2041-05-01
Also published as: CN113172543B

Abstract

The invention relates to the technical field of hydraulic elements, in particular to a small-opening spherical-concave precise grinding machine for an inclined shaft type plunger motor. The first turning motor cylinder contracts to drive the first turning motor to turn backwards around the spherical pair by an included angle of thirty-to-sixty degrees, the pressing cylinder applies force to push the pressing arm tightly, and the ball head presses the inner spherical surface of the first small-opening ball recess; the first motor drives the plunger to rotate at a high speed, and the ball head performs grinding motion in the small-opening ball recess I; the second motor drives the grinding die to rotate, and the first small-opening ball recess drives the ball head to rotate around the axis of the grinding die. The invention has the advantages of uniform grinding, greatly improved product quality, larger grinding area and better grinding effect because the concave part of the small-opening ball is larger than the hemisphere, and can clamp a plurality of plungers at one time and increase the processing speed by multiple times during the processing simultaneously, thereby greatly improving the working efficiency.

Description

Inclined shaft type plunger motor small-opening spherical concave precision grinding machine

Technical Field

The invention relates to the technical field of hydraulic elements, relates to a manufacturing technology of a hydraulic motor, and particularly relates to a small-opening spherical recess precision grinding machine of an inclined shaft type plunger motor.

Background

An inclined shaft type plunger motor newly appears in the market, and comprises an output shaft and a plurality of plungers; the output shaft is provided with a spherical concave rotary table, the spherical concave rotary table is provided with a ball head mounting surface, the ball head mounting surface is vertical to the axis of the output shaft, the ball head mounting surface is provided with a plurality of small-mouth spherical concavities, the small-mouth spherical concavities are inner spherical surfaces, and the small-mouth spherical concavities are uniformly arrayed circumferentially around the axis of the output shaft; as shown in fig. 3, the first end of the plunger 1 is a ball head 12, the second end of the plunger 1 is a ball head plunger rod 11, the diameter of the ball head 12 is equal to that of the small-opening spherical recess, and the outer spherical surface of the ball head 12 and the inner spherical surface of the small-opening spherical recess are matched to form a spherical pair; the spherical center of the small-opening spherical recess is positioned at the inner side of the small-opening edge of the spherical recess, and the inner spherical surface of the small-opening spherical recess is larger than that of the hemisphere; the edge of the small opening of the ball recess is a circular intersection line of an inner spherical surface of the small opening ball recess and a ball head mounting surface; a plurality of spherical concave through grooves are arranged on the edge of the small-mouth spherical concave, and an inner spherical surface is still reserved between every two adjacent spherical concave through grooves; the depth of the ball recess passing groove at least reaches the center of the small-opening ball recess and is parallel to the plane of the ball head mounting surface; the ball head 12 is provided with ball head passing grooves 121, and the number of the ball head passing grooves 121 is equal to that of the ball concave passing grooves; the outer spherical surface is still reserved between two adjacent ball head passing grooves 121. When the ball head plunger rod is installed, the axial lead of the ball head plunger rod 11 is perpendicular to a ball head installation surface, the ball head 12 faces a small-opening ball socket, ball socket through grooves are respectively aligned with outer spherical surfaces reserved between adjacent ball socket through grooves in a one-to-one corresponding mode, and ball socket through grooves 121 are respectively aligned with inner spherical surfaces reserved between adjacent ball socket through grooves in a one-to-one corresponding mode; the ball head 12 can be smoothly embedded into the small-mouth spherical recess by translating towards the small-mouth spherical recess to form a spherical pair; then the plunger 1 rotates around the spherical center of the spherical pair by an included angle of thirty-six degrees, the axial line of the ball plunger rod 11 is not perpendicular to the ball mounting surface, the outer spherical surface reserved between the ball groove cross groove 121 and the adjacent ball groove cross groove is not aligned, the inner spherical surface reserved between the ball groove cross groove 121 and the adjacent ball groove cross groove is not aligned, and the ball 12 is embedded in the small-mouth ball groove and cannot be taken out.

The matching of the ball head 12 and the small-opening spherical recess is precise matching, and the outer spherical surface of the ball head 12 needs to be ground. The existing small-mouth ball concave grinder comprises a grinding die, a lower motor and a rotary driving mechanism. The grinding die is connected with the rack through a revolute pair, the upper surface of the grinding die is a horizontal ball head mounting surface III, a ball socket III is arranged on the ball head mounting surface III, the ball socket III is an inner spherical surface, the inner spherical surface of the ball socket III is set to be a grinding surface, the center of the ball socket III is positioned in the ball head mounting surface III or at the upper part of the ball head mounting surface III, and namely the inner spherical surface of the ball socket III is not larger than a hemisphere. The center of the ball recess III is on the rotation central line of the grinding die, and the lower motor drives the grinding die to rotate. The rotary driving mechanism comprises a motor support, an upper motor and a motor claw, wherein a shell of the upper motor is fixedly connected with the motor support, the motor support is connected with the rack through a sliding pair, and the combination of the upper motor and the motor support falls downwards along the vertical direction. The output shaft of the upper motor forms an included angle of thirty-sixty degrees with the horizontal plane, the included angle is downward in an inclined mode, and the motor jaw is fixedly connected with the output shaft of the upper motor. When the ball head type grinding machine is used, the ball head plunger rod 11 is fixed on a motor jaw, the ball head 12 is placed in the ball recess III, the upper motor rotates at a high speed to perform grinding movement, and the lower motor rotates to change the working position of the ball recess.

Such mills have several drawbacks. Firstly, the point of application of the ball 12 on the ball socket is concentrated in a small area at the lowest point of the ball socket three, the point is ground more fully when the ball 12 rotates, and other areas are ground less fully, which affects the product quality of the ball. However, this solution does not allow the transfer of the stress points. Secondly, the spherical recess is smaller than a hemisphere, so that a second 123 hemispherical surface of the ball head far away from the ball head plunger rod is ground more sufficiently, and a first 122 hemispherical surface of the ball head near the ball head plunger rod is ground less sufficiently and unevenly, which affects the product quality of the ball head. However, no one has made a breakthrough optimization scheme, and if the ball concave is larger than the hemisphere, the diameter of the upper opening becomes smaller than that of the ball head 12, and the ball head cannot be placed in the ball concave, so that the work cannot be performed.

Disclosure of Invention

Aiming at the defects in the prior art, the invention provides the inclined shaft type precise grinder for the plunger motor small-opening spherical recess, the grinding device can grind uniformly, the product quality is improved greatly, the grinding area is enlarged when the small-opening spherical recess is larger than a hemisphere, the grinding effect is better, a plurality of plungers are clamped at one time, the processing speed is increased in multiples, and the working efficiency is improved greatly.

In order to achieve the purpose, the invention provides the following two technical schemes:

the first scheme is as follows:

a precision grinder for a small-opening spherical recess of an inclined shaft type plunger motor comprises a rack I, a grinding die, a motor clamping jaw I, a motor bracket I and a motor II;

the grinding die is provided with a first ball head mounting surface which is horizontally upward, the grinding die is connected with the first rack through a revolute pair, and the rotating center line of the grinding die is arranged along the vertical direction; the first small-opening spherical recess with an upward opening is arranged on the first ball head mounting surface, the first small-opening spherical recess is an inner spherical surface, the diameter of the first small-opening spherical recess is the same as the diameter basic size of the ball head, the first small-opening spherical recess is in clearance fit with the ball head, and the first small-opening spherical recess and the ball head form a spherical pair; the shell of the motor II is fixedly connected with the rack I, and the output shaft of the motor II is fixedly connected with the grinding die;

the device also comprises a pressing arm, a rotating column, a horizontal rotating arm, a turning motor cylinder and a pressing cylinder;

the spherical concave center of the first small-mouth spherical concave is positioned below the first ball head mounting surface, the opening edge of the first small-mouth spherical concave is the first small-mouth spherical concave edge, and the first small-mouth spherical concave edge is a circular intersection line of the inner spherical surface of the first small-mouth spherical concave and the first ball head mounting surface; if a chamfer is arranged on the circular intersection line of the inner spherical surface of the small-mouth spherical recess I and the ball head mounting surface I, the small-mouth edge I of the spherical recess refers to the circular intersection line of the inner spherical surface of the small-mouth spherical recess I and the chamfer conical surface; obviously, the diameter of the small opening edge I of the ball recess is smaller than that of the ball head, and the ball head cannot be directly placed into the small opening ball recess I; the center of the first small-opening ball is not on the rotation central line of the grinding die; the inner spherical surface of the first small-opening ball is made into a grinding surface;

a plurality of first ball concave through grooves are formed in the edge of the small-mouth first ball concave, the number of the first ball concave through grooves is equal to that of the ball head through grooves, and an inner spherical surface is still reserved between every two adjacent first ball concave through grooves; the direction of the first ball concave through groove is vertical to the direction of the first ball head mounting surface; the depth of the first ball recess passing groove at least reaches the center of the first small-opening ball recess and is parallel to the plane of the first ball head mounting surface;

the horizontal rotating arm is arranged along the left-right direction, the first end of the horizontal rotating arm faces to the right, the first end of the horizontal rotating arm is connected with the first rack through a hinge, and a hinge shaft between the first end of the horizontal rotating arm and the first rack is in the vertical direction; the second end of the horizontal rotating arm faces to the left, the second end of the horizontal rotating arm is connected with the lower end of the rotating column through a hinge, and the hinge shaft between the horizontal rotating arm and the rotating column is arranged along the vertical direction; the pressing arm is arranged along the front-back direction, the rear end of the pressing arm is connected with the middle part of the rotary column in the vertical direction through a hinge, and a hinge shaft between the pressing arm and the rotary column is arranged along the left-right direction; the front end of the pressing arm is connected with the first motor support through a hinge, and a hinge shaft between the pressing arm and the first motor support is arranged along the left-right direction; the shell of the motor I is fixedly connected with the motor bracket I; the motor clamping jaw I is fixedly connected with an output shaft of the motor I; a ball plunger rod of the plunger is clamped by the motor clamping jaw I;

the tail end of a piston rod of the pressing cylinder is connected with the middle part or the front end of the pressing arm through a hinge; the tail end of a cylinder of the turning motor cylinder is connected with the middle part or the rear end of the pressing arm through a hinge, and the tail end of a piston rod of the turning motor cylinder is connected with the first motor support through a hinge;

when the ball head passing groove aligning device is used, the overturning motor cylinder extends out, so that the axial lead of a ball head plunger rod is perpendicular to a ball head mounting surface I, the combination of the motor clamping jaw I, the motor I and the motor support I is manually lifted and translated, the pressing cylinder passively stretches and retracts, the pressing arm passively overturns upwards and passively around a hinge between the pressing arm and a rotating column, the rotating column passively rotates around a hinge between a flat rotating arm and the rotating column, the flat rotating arm passively rotates around a hinge between the flat rotating arm and a rack I, so that a ball head is positioned right above a small-opening ball groove I, the ball head passing grooves I are respectively aligned with outer spherical surfaces reserved between adjacent ball head passing grooves one by one, and the ball head passing grooves are respectively aligned with inner spherical surfaces reserved between the adjacent ball head passing grooves one by one; the ball head can be smoothly embedded into the small-mouth spherical recess as soon as moving towards the small-mouth spherical recess, so as to form a spherical pair;

the turning motor cylinder contracts to drive the combination of the first motor clamping jaw, the first motor and the first motor support to turn backwards around the spherical pair by an included angle of thirty-sixty degrees, the axial lead of the ball head plunger rod is not perpendicular to the first ball head mounting surface, the reserved outer spherical surface between the first ball head passing groove and the adjacent first ball head passing groove is not aligned any more, the reserved inner spherical surface between the first ball head passing groove and the adjacent first ball head passing groove is not aligned any more, and the ball head is embedded in the first small-mouth ball passing groove and cannot be taken out;

the pressing cylinder applies force to push the pressing arm tightly, so that the ball head presses the concave inner spherical surface of the small-mouth ball I;

the first motor drives the plunger to rotate at a high speed, and the ball head performs grinding motion in the small-opening ball recess I; the grinding die is driven to rotate by the motor II, the ball head is driven to rotate around the axial lead of the grinding die by the small-opening ball socket I, due to the action of centrifugal force, the contact position of the ball head and the small-opening ball socket I is not limited in a small area range of the lowest point of the small-opening ball socket I but moves around on the inner spherical surface of the small-opening ball socket I, the ground parts are uniformly distributed on the ball head, and the grinding is uniform, so that the product quality can be greatly improved.

The invention also includes a balancing spring; one end of the balance spring is connected to the position above the hinge between the pressing arm and the rotary column; the other end of the balance spring is connected to the pressing arm and the position before the hinge between the pressing arm and the rotary column; the tension of the balance spring can bear partial gravity of the combination of the motor clamping jaw I, the motor I and the motor support I, and labor is saved when the combination of the motor clamping jaw I, the motor I and the motor support I is lifted manually.

Or, instead of using a balance spring, a heavy hammer is arranged at the rear end of the pressing arm, the heavy hammer is behind a hinge between the pressing arm and the rotating column, the heavy hammer can balance partial gravity of the combination of the motor clamping jaw I, the motor I and the motor support I, and labor is saved when the combination of the motor clamping jaw I, the motor I and the motor support I is manually lifted.

For the "basic size" and "clearance fit" mentioned in the present invention, please refer to the national standard GB/T1801-1999.

Scheme II:

a kind of oblique axis type plunger motor small-mouth spherical concave precision grinder, including stander two and grinding the mould;

the grinding die is provided with a first ball head mounting surface which is horizontally upward, the grinding die is connected with the second rack through a revolute pair, and the rotating center line of the grinding die is arranged along the vertical direction; the first small-opening spherical recess with an upward opening is arranged on the first ball head mounting surface, the first small-opening spherical recess is an inner spherical surface, the diameter of the first small-opening spherical recess is the same as the diameter basic size of the ball head, the first small-opening spherical recess is in clearance fit with the ball head, and the first small-opening spherical recess and the ball head form a spherical pair;

the grinding die further comprises a grinding die driving assembly and a tilting assembly;

the number of the first small-opening ball recesses is not less than two; the spherical concave center of the first small-mouth spherical concave is positioned below the first ball head mounting surface, the opening edge of the first small-mouth spherical concave is the first small-mouth spherical concave edge, and the first small-mouth spherical concave edge is a circular intersection line of the inner spherical surface of the first small-mouth spherical concave and the first ball head mounting surface; if a chamfer is arranged on the circular intersection line of the inner spherical surface of the small-mouth spherical recess I and the ball head mounting surface I, the small-mouth edge I of the spherical recess refers to the circular intersection line of the inner spherical surface of the small-mouth spherical recess I and the chamfer conical surface; obviously, the diameter of the small opening edge I of the ball recess is smaller than that of the ball head, and the ball head cannot be directly placed into the small opening ball recess I; the center of the first small-opening ball is not on the rotation central line of the grinding die; the inner spherical surface of the first small-opening ball is made into a grinding surface;

a plurality of first ball concave through grooves are formed in the edge of the small-mouth first ball concave, the number of the first ball concave through grooves is equal to that of the ball head through grooves, and an inner spherical surface is still reserved between every two adjacent first ball concave through grooves; the depth of the first ball recess passing through the groove is at least to the plane which is the center of the first small-opening ball recess and is parallel to the first ball head mounting surface;

the grinding die also comprises a grinding die driven gear which is fixedly connected with the grinding die body; the grinding die driving assembly comprises a grinding die servo motor and a grinding die driving gear; the shell of the grinding die servo motor is fixedly connected with the second rack; an output shaft of the grinding die servo motor is fixedly connected with a grinding die driving gear; the grinding die driving gear is meshed with the grinding die driven gear;

the tilting assembly comprises a slow rotation assembly, a tilting bracket, a fast rotation motor, a slow rotation servo motor and a slow rotation driving gear; the inclined bracket is connected with the second rack through the combination of a bolt and a nut; the shell of the slow-turning servo motor is fixedly connected with the inclined bracket, and the output shaft of the slow-turning servo motor is fixedly connected with the slow-turning driving gear; the shell of the fast rotating motor is fixedly connected with the inclined bracket;

the slow rotation assembly comprises a slow rotation disc, a slow rotation driven gear, a fast rotation driving gear shaft and a plurality of clamping assemblies; the number of the clamping assemblies is equal to that of the first small-mouth ball recesses; the slow rotation disc is connected with the inclined bracket through a revolute pair, the slow rotation driven gear is fixedly connected with the slow rotation disc, the fast rotation driving gear shaft is fixedly connected with the fast rotation driving gear, the fast rotation driving gear is connected with the slow rotation disc or the inclined bracket through the revolute pair, and the axial leads of the fast rotation driving gear and the slow rotation driven gear are overlapped; the slow rotation driven gear is meshed with the slow rotation driving gear; an output shaft of the fast rotation motor is fixedly connected with the fast rotation driving gear; the axis of the slow rotating disc is intersected with the axis of the grinding die to form an included angle of thirty to sixty degrees;

the clamping assembly comprises a fast-rotating driven gear, a fast-rotating gear shaft and a fast-rotating clamping jaw; the fast rotating driven gear is fixedly connected with a fast rotating gear shaft, the first end of the fast rotating gear shaft is connected with the slow rotating disc through a rotating pair, and the fast rotating driven gear is meshed with the fast rotating driving gear;

the quick-rotating clamping jaw comprises a hexagonal rod, two clamping fingers, a tensioning plate, a tensioning nut and a quick-rotating clamping jaw bracket; the hexagonal rod is made of elastic spring steel or copper; the first end of the hexagonal rod is fixedly connected with the quick-rotating clamping jaw support, the second end of the quick-rotating gear shaft is provided with a hexagonal hole, the second end of the hexagonal rod is inserted into the hexagonal hole of the quick-rotating gear shaft, and the hexagonal rod is in sliding fit with the hexagonal hole;

the tensioning plate is connected with the quick-rotating clamping jaw support through a moving pair, the first end of the tensioning plate is provided with external threads, and the second end of the tensioning plate is provided with a tensioning sliding chute; the quick-rotating clamping jaw support is provided with a nut bearing plate, the nut bearing plate is provided with a hole, and the external thread of the tensioning plate penetrates through the hole in the nut bearing plate; the clamping finger is provided with a V-shaped groove, a clamping finger mounting hole and a clamping finger poking pin; the clamping finger mounting hole and a pin shaft on the quick-rotating clamping jaw bracket form a hinge, and the clamping finger shifting pin is in sliding fit with the tensioning sliding chute; the external threads of the tensioning nut and the tensioning plate are screwed, the tensioning nut compresses the nut bearing plate, the tensioning plate synchronously stirs two clamping finger stirring pins on two clamping fingers, two V-shaped grooves on the two clamping fingers synchronously move in opposite directions to clamp the ball-head plunger rod in the middle;

the axial lead of the ball head plunger rod is perpendicular to a ball head mounting surface I, the ball head faces to a small-opening ball socket I, the ball socket I is respectively aligned with the outer spherical surfaces reserved between the adjacent ball head through grooves in a one-to-one corresponding mode, and the ball head through grooves are respectively aligned with the inner spherical surfaces reserved between the adjacent ball socket I in a one-to-one corresponding mode; the ball head can be smoothly embedded into the small-mouth spherical recess as soon as the ball head translates towards the small-mouth spherical recess, and a spherical pair is formed by the ball head and the small-mouth spherical recess; then the plunger rotates around the sphere center of the spherical pair by an included angle of thirty-six degrees, the ball head plunger rod faces the quick-rotating clamping jaw, the axial line of the ball head plunger rod is not perpendicular to the ball head mounting surface I, the outer spherical surface reserved between the ball head passing groove I and the adjacent ball head passing groove I is not aligned any more, the inner spherical surface reserved between the ball head passing groove I and the adjacent ball head passing groove I is not aligned any more, and the ball head is embedded in the small-mouth ball groove I and cannot be taken out;

moving the quick-rotating clamping jaw to pull the hexagonal rod out of the quick-rotating gear shaft, moving the tensioning plate to move the two V-shaped grooves oppositely to clamp the ball-head plunger rod, and screwing the tensioning nut;

the slow-turning servo motor and the grinding die servo motor are started simultaneously, the slow-turning disc and the grinding die are driven to rotate at equal angular speeds respectively, and the combination of the plunger and the clamping assembly rotates along with the slow-turning disc; meanwhile, the grinding die drives the ball head to rotate around the axial lead of the grinding die and drives the moving quick-rotating clamping jaw to move, and the hexagonal rod makes reciprocating plugging movement in the hexagonal hole of the quick-rotating gear shaft;

the fast-rotating motor drives the combination of the plunger and the clamping assembly to rotate fast around the axial lead of the fast-rotating driven gear through the combination of the fast-rotating driving gear and the fast-rotating driven gear, and drives the ball head to rotate fast in the small-opening ball recess I to perform grinding motion;

when the hexagonal rod moves to the middle point of the stroke in the hexagonal hole in a plugging and pulling manner, the hexagonal rod is not bent; when the ball head leaves the position, one end of the hexagonal rod, which is close to the quick-rotating clamping jaw support, elastically bends towards the direction of the axis far away from the quick-rotating gear shaft, so that the joint of the hemispherical surface I and the hemispherical surface II of the ball head is extruded and ground; when the hexagonal rod is in reciprocating plugging movement in the hexagonal hole, opposite axial resistance is respectively applied to the plugging direction and the pulling direction, so that the central parts of the hemispherical surface I and the hemispherical surface II of the ball head are favorably extruded and ground; each position in the middle of the operation can be extruded and ground corresponding to a certain position of the ball head; therefore, the invention can lead the outer spherical surface of the ball head to be extruded and ground in all directions, the ground parts are very uniform, and the product quality is greatly improved.

The hexagonal rod is in sliding fit with the hexagonal hole, opposite axial resistance is applied to the inserting direction and the pulling direction respectively, but the resistance is not easy to control.

A centering ball concave is further arranged at the center of the first ball head mounting surface, the center of the centering ball concave is on the rotation axis of the grinding die, and the distance between the center of the centering ball concave and the first ball head mounting surface is equal to the distance between the center of the first small-mouth ball concave and the first ball head mounting surface; the tail end of the quick rotation driving gear shaft is also provided with a centering ball head, and the centering ball head and the centering ball recess are combined into a spherical pair; in the installation and operation process, the axial lead direction of the slow rotating disc often deviates from the expected position, so that the axial lead of the slow rotating disc is not intersected with the axial lead of the grinding die, the grinding degree of each part of the ball head is different, the quality of a product is not improved, the axial lead direction of the slow rotating disc can be ensured to be consistent with the expected direction after the centering ball head and the spherical pair with the concave centering ball are arranged, the grinding degree of each part of the ball head is the same, the grinding is uniform, and the quality of the product is better.

The inclined support is connected with the second rack through the combination of the bolts and the nuts and is not fixed at the same position, the clamping assembly arc-shaped fixing groove is formed in the inclined support, the inclined support is connected with the second rack through the combination of the bolts and the nuts and the clamping assembly arc-shaped fixing groove, the position of the inclined support is adjusted along the arc-shaped fixing groove, different included angles are not formed between the axial lead of the slow rotating disc and the axial lead of the grinding die when different fixing positions are selected, and the axial lead of the slow rotating disc and the axial lead of the grinding die are kept within the range of thirty degrees to sixty degrees. The included angles between the ball plunger rod and the axial lead of the ball concave turntable of different models of oblique axis plunger motors are also different and are changed within the range of thirty degrees to sixty degrees, and when the ball head is ground, the included angle between the ball plunger rod and the axial lead of the grinding mold is the same as the included angle between the ball plunger rod and the axial lead of the ball concave turntable, so that the obtained ball head has better quality and longer service life. Therefore, it is also important to select different fixing positions to fix the slow rotating disk so as to adapt to the included angle between the ball head plunger rod and the axis line of the ball concave rotating disk.

The invention has the beneficial effects that: firstly, the outer spherical surface of the ball head is extruded and ground in all directions or walks everywhere, the ground parts are very uniform, and the product quality is greatly improved. Secondly, the concave part I of the small-opening ball is larger than the hemisphere, the grinding area is enlarged, the grinding effect is better, and the concave part I of the small-opening ball can be ground to the hemisphere surface I better. And thirdly, a plurality of plungers are clamped once in the second scheme, and simultaneously, compared with the background technology and the first scheme, the processing speed is increased by multiple times, and the working efficiency is greatly improved.

Drawings

Fig. 1 is a schematic perspective view of a ball head plunger rod 11 according to embodiment 1 of the present invention, in which an axis of the ball head plunger rod is perpendicular to a first ball head mounting surface 28;

fig. 2 is a schematic perspective view of the structure of embodiment 1 of the present invention, in which the axial line of the ball plunger rod 11 and the ball mounting surface-28 form an angle of thirty to sixty degrees;

fig. 3 is a diagram showing a relative position of the plunger 1 before being fitted into the small spherical recess 21 according to embodiment 1 of the present invention;

FIG. 4 is a cross-sectional view taken along line A-A of FIG. 3;

FIG. 5 is a partial cross-sectional view of the three-dimensional structure of the grinding mold 2 in example 1 of the present invention,

figure 6 is a schematic perspective view of the pressing arm 4,

FIG. 7 is a schematic perspective view of embodiment 2 of the present invention;

fig. 8 is a partial cross-sectional view of the three-dimensional structure of the grinding die 2 in example 2 of the present invention;

fig. 9 is a perspective view of the tilting assembly 1003;

fig. 10 is a schematic perspective view of the slow rotation assembly 1031;

FIG. 11 is a perspective view of clamp assembly 1316;

FIG. 12 is a perspective view of a fast rotating jaw 13163;

FIG. 13 is a perspective view of the tension panel 131633;

FIG. 14 is a perspective view of finger 131632;

in the figure:

0-frame one; 1-a plunger; 11-ball plunger rod; 12-a ball head; 121-passing the ball head through the groove; 122-hemisphere face one; 123-hemisphere surface two; 2-grinding the mould; 21-small-opening spherical concave I; 22-ball recess one; 23-chamfering one; 24-centering spherical concave; 25-grinding die driven gear; 26-a spherical concave spherical center; 27-minor opening edge one of the ball recess; 28-ball head mounting surface one; 31-a motor clamping jaw I; 32-motor one; 33-motor bracket one; 4-a pressing arm; 41-motor pin shaft; 42-weight dropper; 5-rotating the column; 6-a horizontal rotating arm; 7-turning over a motor cylinder; 8, a compaction cylinder; 9-a balance spring; 10, a second motor;

1001-grinding die drive assembly; 1011-grinding die servo motor; 1012-grinding die drive gear; 1002-rack two; 1021-clamping assembly arc fixation groove; 1003-tilt assembly; 1031-slow turning component; 1311-slow turn disc; 1312-slow rotation driven gear; 1313-fast rotation drive gear; 1314-fast rotation drive gear shaft; 1315-centering ball head; 1316-a clamping assembly; 13161-fast turning driven gear; 13162-fast-rotating gear shaft; 13163-quick-turn jaws; 131631-hexagonal rod; 13164-a damping assembly; 131632-clamp fingers; 1316321-V groove; 1316322-clip finger mounting holes; 1316323-finger gripping fingers; 131633-tension plate; 1316331-tensioning chute; 1316332-tensioning square tenon; 1316333-tension screw; 131634-tightening nut; 131635-quick turn jaw carrier; 13164-a damping assembly; 1032-tilt stand; 1033-fast turn motor; 1034-slow turning servo motor; 1035-Slow rotation drive gear.

Detailed Description

The technical solution of the present invention will be described clearly and completely with reference to embodiments 1 and 2 and fig. 1 to 14, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Example 1, as described in figures 1-6. A precision grinder for a small-opening spherical recess of an inclined shaft type plunger motor comprises a first rack 0, a grinding die 2, a first motor clamping jaw 31, a first motor 32, a first motor support 33 and a second motor 10;

the grinding die 2 is provided with a first ball head mounting surface 28 which faces upwards horizontally, the grinding die 2 is connected with the first rack 0 through a revolute pair, and the rotating center line of the grinding die 2 is arranged along the vertical direction; a small-opening spherical recess I21 with an upward opening is arranged on the ball head mounting surface I28, the small-opening spherical recess I21 is an inner spherical surface, the diameter of the small-opening spherical recess I21 is the same as the diameter basic size of the ball head 12, the small-opening spherical recess I21 is in clearance fit with the ball head 12, and the small-opening spherical recess I21 and the ball head 12 form a spherical pair; the shell of the motor II 10 is fixedly connected with the rack I0, and the output shaft of the motor II 10 is fixedly connected with the grinding die 2;

the device also comprises a pressing arm 4, a rotating column 5, a horizontal rotating arm 6, a turning motor cylinder 7 and a pressing cylinder 8;

the spherical concave center 26 of the small-mouth spherical concave I21 is positioned below the first bulb mounting surface 28, the opening edge of the small-mouth spherical concave I21 is a first spherical concave small-mouth edge 27, and the first spherical concave small-mouth edge 27 is a circular intersection line of the inner spherical surface of the small-mouth spherical concave I21 and the first bulb mounting surface 28; if a chamfer 23 is arranged on the circular intersection line of the inner spherical surface of the small-opening spherical recess I21 and the ball head mounting surface I28, the small-opening edge I27 of the spherical recess is the circular intersection line of the inner spherical surface of the small-opening spherical recess I21 and the conical surface of the chamfer 23; obviously, the diameter of the small opening edge one 27 of the ball recess is smaller than the ball diameter of the ball head 12, and the ball head 12 cannot be directly placed into the small opening ball recess one 21; the center of the small-opening spherical concave-I21 is not on the rotation central line of the grinding die 2; the inner spherical surface of the small-opening spherical concave I21 is made into a grinding surface;

a plurality of first ball concave through grooves 22 are formed in the edge of the small ball concave part 21, the number of the first ball concave through grooves 22 is equal to that of the ball head through grooves 121, and an inner spherical surface is still reserved between every two adjacent first ball concave through grooves 22; the direction of the ball concave first groove 22 is vertical to the direction of the ball head mounting surface 28; the depth of the ball recess first groove 22 at least reaches the center of the small-opening ball recess first 21 and is parallel to the plane of the ball head mounting surface first 28;

the horizontal rotating arm 6 is arranged along the left-right direction, the first end of the horizontal rotating arm 6 faces to the right, the first end of the horizontal rotating arm 6 is connected with the first rack 0 through a hinge, and a hinge shaft between the first end of the horizontal rotating arm 6 and the first rack 0 is in the vertical direction; the second end of the horizontal rotating arm 6 faces to the left, the second end of the horizontal rotating arm 6 is connected with the lower end of the rotating column 5 through a hinge, and a hinge shaft between the horizontal rotating arm 6 and the rotating column 5 is arranged along the vertical direction; the pressing arm 4 is arranged along the front-back direction, the rear end of the pressing arm 4 is connected with the middle part of the rotary column 5 in the up-down direction through a hinge, and a hinge shaft between the pressing arm 4 and the rotary column 5 is arranged along the left-right direction; the front end of the pressing arm 4 is connected with the motor bracket I33 through a hinge, and a hinge shaft between the pressing arm 4 and the motor bracket I33 is arranged along the left-right direction; the shell of the motor I32 is fixedly connected with the motor bracket I33; the first motor clamping jaw 31 is fixedly connected with an output shaft of the first motor 32; the first motor clamping jaw 31 clamps the ball head plunger rod 11 of the plunger 1;

the tail end of a cylinder of the pressing cylinder 8 is connected with the upper end of the rotary column 5 through a hinge, and the tail end of a piston rod of the pressing cylinder 8 is connected with the middle part or the front end of the pressing arm 4 through a hinge; the tail end of a cylinder of the turning motor cylinder 7 is connected with the middle part or the rear end of the pressing arm 4 through a hinge, and the tail end of a piston rod of the turning motor cylinder 7 is connected with a motor support I33 through a hinge;

when the ball head passing groove I22 is aligned with the outer spherical surfaces reserved between the adjacent ball head passing grooves 121 one by one, and the ball head passing grooves 121 are aligned with the inner spherical surfaces reserved between the adjacent ball head passing grooves I22 one by one; the ball head 12 can be smoothly embedded into the small-mouth spherical recess I21 by moving towards the small-mouth spherical recess I21, so as to form a spherical pair;

the motor overturning cylinder 7 contracts, the combination of the first driving motor clamping jaw 31, the first motor 32 and the first motor support 33 overturns backwards around the spherical pair for an included angle of thirty-sixty degrees, the axial lead of the ball plunger rod 11 is not perpendicular to the first ball mounting surface 28, the outer spherical surface reserved between the first ball groove cross 22 and the adjacent ball groove cross 121 is not aligned any more, the inner spherical surface reserved between the first ball groove cross 121 and the adjacent first ball groove cross 22 is not aligned any more, and the ball 12 is embedded in the first small-mouth ball groove cross 21 and cannot be taken out;

the pressing cylinder 8 applies force to push the pressing arm 4 tightly, and the ball head 12 presses the inner spherical surface of the small-opening ball concave I21;

the first motor 32 drives the plunger 1 to rotate at a high speed, and the ball head 12 performs grinding motion in the small-opening ball recess 21; the second motor 10 drives the grinding die 2 to rotate, the first small-opening spherical recess 21 drives the ball head 12 to rotate around the axial lead of the grinding die 2, due to the action of centrifugal force, the contact position of the ball head 12 and the first small-opening spherical recess 21 is not limited in a small area range at the lowest point of the first small-opening spherical recess 21, but moves around on the inner spherical surface of the first small-opening spherical recess 21, the ground parts are uniformly distributed on the ball head 12, the grinding is uniform, and therefore the product quality can be greatly improved.

The present embodiment further comprises a balancing spring 9; one end of the balance spring 9 is connected to the position above the hinge between the 'pressing arm 4 and the rotary column 5' on the rotary column 5; the other end of the balance spring 9 is connected to the pressing arm 4 and the position before the hinge between the pressing arm 4 and the rotary column 5; the tension of the balance spring 9 can bear partial gravity of the combination of the motor clamping jaw I31, the motor I32 and the motor bracket I33, and labor is saved when the combination of the motor clamping jaw I31, the motor I32 and the motor bracket I33 is manually lifted.

Or, instead of using the balance spring 9, the weight 42 may be disposed at the rear end of the pressing arm 4, and the weight 42 is located behind the hinge between the pressing arm 4 and the rotary post 5, so that the weight 42 can balance the partial gravity of the combination of the motor clamping jaw one 31, the motor one 32 and the motor bracket one 33, and the manual lifting of the combination of the motor clamping jaw one 31, the motor one 32 and the motor bracket one 33 is labor-saving.

For the "basic size" and "clearance fit" mentioned in this embodiment, please refer to the national standard GB/T1801-1999.

The beneficial effects of this embodiment: firstly, the ball head 12 moves around on the inner spherical surface of the small-opening ball recess I21, and the ground parts are uniformly distributed on the ball head 12 and are ground uniformly, so that the product quality can be greatly improved. Secondly, the small-opening spherical concave part 21 is larger than the hemisphere, the grinding area is enlarged, the grinding effect is better, and particularly the hemispherical surface part 122 can be better ground.

Example 2, as described in fig. 7-14. A kind of oblique axis type plunger motor small-mouth spherical concave precision grinder, including stander two 1002 and grinding mould 2;

the grinding die 2 is provided with a first ball head mounting surface 28 which faces upwards horizontally, the grinding die 2 is connected with the second rack 1002 through a revolute pair, and the rotating center line of the grinding die 2 is arranged along the vertical direction; a first small-opening spherical recess 21 with an upward opening is arranged on the first ball head mounting surface 28, the first small-opening spherical recess 21 is an inner spherical surface, the diameter of the first small-opening spherical recess 21 is the same as the diameter of the ball head 12 in basic size, the first small-opening spherical recess 21 is in clearance fit with the ball head 12, and the first small-opening spherical recess 21 and the ball head 12 form a spherical pair;

further comprising a grinding die drive assembly 1001 and a tilting assembly 1003;

the number of the small-opening ball sockets I21 is four; the spherical concave center 26 of the small-mouth spherical concave I21 is positioned below the first bulb mounting surface 28, the opening edge of the small-mouth spherical concave I21 is a first spherical concave small-mouth edge 27, and the first spherical concave small-mouth edge 27 is a circular intersection line of the inner spherical surface of the small-mouth spherical concave I21 and the first bulb mounting surface 28; if a chamfer 23 is arranged on the circular intersection line of the inner spherical surface of the small-opening spherical recess I21 and the ball head mounting surface I28, the small-opening edge I27 of the spherical recess is the circular intersection line of the inner spherical surface of the small-opening spherical recess I21 and the conical surface of the chamfer 23; obviously, the diameter of the small opening edge one 27 of the ball recess is smaller than the ball diameter of the ball head 12, and the ball head 12 cannot be directly placed into the small opening ball recess one 21; the center of the small-opening spherical concave-I21 is not on the rotation central line of the grinding die 2; the inner spherical surface of the small-opening spherical concave I21 is made into a grinding surface;

a plurality of first ball concave through grooves 22 are formed in the edge of the small ball concave part 21, the number of the first ball concave through grooves 22 is equal to that of the ball head through grooves 121, and an inner spherical surface is still reserved between every two adjacent first ball concave through grooves 22; the depth of the ball recess first groove 22 is at least as far as the plane which is parallel to the ball head mounting surface first 28 and is the center of the small-opening ball recess first 21;

the grinding die 2 also comprises a grinding die driven gear 25, and the grinding die driven gear 25 is fixedly connected with the grinding die 2 body; the grinding die drive assembly 1001 includes a grinding die servomotor 1011 and a grinding die drive gear 1012; the shell of the grinding die servo motor 1011 is fixedly connected with the second rack 1002; an output shaft of the grinding die servo motor 1011 is fixedly connected with a grinding die driving gear 1012; the grinding die driving gear 1012 is meshed with the grinding die driven gear 25;

the tilt assembly 1003 includes a slow turn assembly 1031, a tilt bracket 1032, a fast turn motor 1033, a slow turn servo motor 1034, and a slow turn drive gear 1035; the inclined bracket 1032 is coupled with the second frame 1002 through a combination of bolts and nuts; a housing of the slow-turning servo motor 1034 is fixedly coupled with the inclined bracket 1032, and an output shaft of the slow-turning servo motor 1034 is fixedly coupled with the slow-turning drive gear 1035; the housing of the fast rotation motor 1033 is fixedly coupled to the tilting bracket 1032;

the slow rotation assembly 1031 includes a slow rotation disk 1311, a slow rotation driven gear 1312, a fast rotation drive gear 1313, a fast rotation drive gear shaft 1314, and a plurality of clamp assemblies 1316; the number of clamping assemblies 1316 is equal to the number of minor ball recesses 21; the slow rotation disc 1311 and the inclined bracket 1032 are connected through a slewing bearing, the slow rotation driven gear 1312 and the slow rotation disc 1311 are fixedly connected, the fast rotation driving gear shaft 1314 and the fast rotation driving gear 1313 are fixedly connected, the fast rotation driving gear 1313 is connected with the slow rotation disc 1311 or the inclined bracket 1032 through a rotating pair, and the axial lines of the fast rotation driving gear 1313 and the slow rotation driven gear 1312 are overlapped; the slow-rotation driven gear 1312 and the slow-rotation drive gear 1035 are meshed; an output shaft of the fast rotation motor 1033 is fixedly coupled with the fast rotation driving gear 1313; the axis of the slow rotating disc 1311 intersects with the axis of the grinding die 2 and forms an included angle of thirty to sixty degrees;

clamp assembly 1316 includes a fast-turning driven gear 13161, a fast-turning gear shaft 13162, and fast-turning jaws 13163; the fast-rotation driven gear 13161 is fixedly connected with the fast-rotation gear shaft 13162, the first end of the fast-rotation gear shaft 13162 is connected with the slow-rotation disc 1311 through a rotation pair, and the fast-rotation driven gear 13161 is meshed with the fast-rotation driving gear 1313;

fast-turning jaw 13163 includes hexagonal bar 131631, two gripping fingers 131632, tensioning plate 131633, tensioning nut 131634, and fast-turning jaw bracket 131635; the hexagonal bar 131631 is made of resilient spring steel or copper; a first end of hexagonal rod 131631 is fixedly coupled to fast rotating jaw carrier 131635, a second end of fast rotating gear shaft 13162 is provided with a hexagonal hole, a second end of hexagonal rod 131631 is inserted into the hexagonal hole of fast rotating gear shaft 13162, and hexagonal rod 131631 is in sliding fit with the hexagonal hole;

the tensioning plate 131633 is connected with the quick-rotating clamping jaw bracket 131635 through a sliding pair, a first end of the tensioning plate 131633 is provided with external threads, and a second end of the tensioning plate 131633 is provided with a tensioning sliding groove 1316331; a nut bearing plate is arranged on the fast-rotating clamping jaw support 131635, a hole is formed in the nut bearing plate, and an external thread of the tensioning plate 131633 penetrates through the hole in the nut bearing plate; the clamp finger 131632 is provided with a V-shaped groove 1316321, a clamp finger mounting hole 1316322 and a clamp finger shifting pin 1316323; the finger clamping mounting hole 1316322 and a pin shaft on the quick-rotating clamping jaw bracket 131635 form a hinge, and a finger clamping shifting pin 1316323 is in sliding fit with the tensioning sliding groove 1316331; the tensioning nut 131634 is screwed with the external thread of the tensioning plate 131633, the tensioning nut 131634 compresses the nut bearing plate, the tensioning plate 131633 synchronously stirs the two finger-clamping stirring pins 1316323 on the two clamping fingers 131632, and the two V-shaped grooves 1316321 on the two clamping fingers 131632 synchronously move in opposite directions to clamp the ball head plunger rod 11 in the middle;

the axial lead of the ball plunger rod 11 is perpendicular to a first ball head mounting surface 28, the ball head 12 faces a first small-opening ball recess 21, the first ball recess through grooves 22 are respectively aligned with the outer spherical surfaces reserved between the adjacent first ball recess through grooves 121 in a one-to-one correspondence manner, and the ball recess through grooves 121 are respectively aligned with the inner spherical surfaces reserved between the adjacent first ball recess through grooves 22 in a one-to-one correspondence manner; the ball head 12 can be smoothly embedded into the small-mouth spherical recess I21 by translating towards the small-mouth spherical recess I21 to form a spherical pair; then the plunger 1 rotates around the spherical center of the spherical pair by an included angle of thirty degrees to sixty degrees, the ball plunger rod 11 faces the quick-rotating clamping jaw 13163, the axial lead of the ball plunger rod 11 is not perpendicular to the ball mounting surface I28 any more, the outer spherical surface reserved between the ball passing groove I22 and the adjacent ball passing groove 121 is not aligned any more, the inner spherical surface reserved between the ball passing groove 121 and the adjacent ball passing groove I22 is not aligned any more, and the ball 12 is embedded in the small-mouth ball passing groove I21 and cannot be taken out;

moving the fast-turning jaw 13163 to pull the hexagonal rod 131631 out of the fast-turning gear shaft 13162, moving the tightening plate 131633 to move the two V-grooves towards each other to clamp the ball plunger rod 11, and tightening the tightening nut 131634;

the slow rotation servo motor 1034 and the grinding die servo motor 1011 are started simultaneously to drive the slow rotation disc 1311 and the grinding die 2 to rotate at equal angular speeds, and the combination of the plunger 1 and the clamping assembly 1316 rotates along with the slow rotation disc 1311; meanwhile, the grinding die 2 drives the ball head 12 to rotate around the axial lead of the grinding die 2 and drives the fast-rotating clamping jaw 13163 to move, and the hexagonal rod 131631 performs reciprocating plugging movement in a hexagonal hole of the fast-rotating gear shaft 13162;

the fast rotation motor 1033 drives the combination of the plunger 1 and the clamping assembly 1316 to rotate fast around the axial lead of the fast rotation driven gear 13161 through the combination of the fast rotation driving gear 1313 and the fast rotation driven gear 13161, and drives the ball head 12 to rotate fast in the small-opening ball recess I21 to perform grinding movement;

when the hexagonal rod 131631 is inserted into or pulled out of the hexagonal hole to the middle point of the stroke, the hexagonal rod 131631 is not bent; when the hexagonal rod 131631 leaves the position, one end of the hexagonal rod 131631 close to the quick-rotating jaw support 131635 is elastically bent towards the direction away from the axis of the quick-rotating gear shaft 13162, so that the joint of the first hemisphere 122 and the second hemisphere 123 of the ball head 12 is squeezed and ground; when the hexagonal rod 131631 is inserted and pulled back and forth in the hexagonal hole, the two directions of insertion and pulling are respectively subjected to opposite axial resistance, which is beneficial to the extrusion and grinding of the central parts of the first hemispherical surface 122 and the second hemispherical surface 123 of the ball head 12; all positions in the middle of the operation can be extruded and ground corresponding to a certain position of the ball head 12; therefore, the present embodiment can make the outer spherical surface of the ball head 12 receive all-around extrusion and grinding, the grinding position is very uniform, and the product quality is greatly improved.

Above hexagonal pole 131631 and hexagonal hole sliding fit, it receives opposite axial resistance respectively to insert and pull out two directions, but the resistance size is not controlled well, in order to facilitate control, this embodiment has still set up damping component 13164, damping component 13164 includes a pressure spring and a knob, pressure spring's first end compresses tightly the side of hexagonal pole 131631, pressure spring's second end is compressed tightly to the first end of knob, the second end of knob exposes outside so that the manual work is rotatory, the knob passes through threaded connection with fast-rotating gear shaft 13162, the rotatory knob, the size that can adjust pressure spring to hexagonal pole 131631 pressure, thereby change the size of the resistance that hexagonal pole 131631 received.

A centering ball recess 24 is further arranged at the center of the first ball head mounting surface 28, the center of the centering ball recess 24 is on the rotation axis of the grinding die 2, and the distance between the center of the centering ball recess 24 and the first ball head mounting surface 28 is equal to the distance between the center of the small-mouth ball recess 21 and the first ball head mounting surface 28; the tail end of the fast-rotation driving gear shaft 1314 is also provided with a centering ball 1315, and the centering ball 1315 and the centering ball recess 24 form a spherical pair; in the mounting and running processes, the direction of the axis of the slow rotating disc 1311 is often deviated from the expected position, so that the axis of the slow rotating disc 1311 is not intersected with the axis of the grinding die 2, which causes different grinding degrees of each part of the ball head 12, and is not beneficial to improving the quality of products.

The inclined bracket 1032 is connected with the second frame 1002 through the combination of the bolt and the nut, and is not fixed at the same position, but the clamping assembly arc fixing groove 1021 is arranged on the inclined bracket 1032, the inclined bracket 1032 is connected with the second frame 1002 through the combination of the bolt and the nut and the clamping assembly arc fixing groove 1021, the position of the inclined bracket 1032 is adjusted along the arc fixing groove 1021, and the axial lead of the slow turning disc 1311 does not have different included angles with the axial lead of the grinding die 2 when different fixing positions are selected, but all the axial leads are kept within the range of thirty degrees to sixty degrees. In the oblique-shaft plunger motors with different models, the included angles between the ball-head plunger rod 11 and the axial lead of the spherical concave turntable are different and are changed within the range of thirty to sixty degrees, when the ball head 12 is ground, the included angle between the ball-head plunger rod 11 and the axial lead of the grinding mold 2 is the same as the included angle between the ball-head plunger rod 11 and the axial lead of the spherical concave turntable, so that the obtained ball head 12 has better quality and longer service life. Therefore, it is also important to select different fixing positions for fixing the slow rotating disc 1311 so as to be suitable for the included angle between the ball plunger rod 11 and the axis line of the ball concave rotating disc.

The beneficial effects of this embodiment: firstly, the outer spherical surface of the ball head 12 is extruded and ground in all directions, the ground parts are very uniform, and the product quality is greatly improved. Secondly, the small-opening spherical concave part 21 is larger than the hemisphere, the grinding area is enlarged, the grinding effect is better, and particularly the hemispherical surface part 122 can be better ground. Thirdly, four plungers 1 are clamped at one time, compared with the background art and the embodiment 1, the processing speed is at least increased by four times, and the working efficiency is greatly improved.

It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.

Claims

1. A precision grinder for a small-opening spherical recess of an inclined shaft type plunger motor comprises a rack I, a grinding die, a motor clamping jaw I, a motor bracket I and a motor II;

the device is characterized by also comprising a pressing arm, a rotating column, a horizontal rotating arm, a turning motor cylinder and a pressing cylinder;

the spherical concave center of the first small-mouth spherical concave is positioned below the first ball head mounting surface, the opening edge of the first small-mouth spherical concave is the first small-mouth spherical concave edge, and the first small-mouth spherical concave edge is a circular intersection line of the inner spherical surface of the first small-mouth spherical concave and the first ball head mounting surface; if a chamfer is arranged on the circular intersection line of the inner spherical surface of the small-mouth spherical recess I and the ball head mounting surface I, the small-mouth edge I of the spherical recess refers to the circular intersection line of the inner spherical surface of the small-mouth spherical recess I and the chamfer conical surface; the diameter of the first edge of the small opening of the ball recess is smaller than the ball diameter of the ball head; the center of the first small-opening ball is not on the rotation central line of the grinding die; the inner spherical surface of the first small-opening ball is made into a grinding surface;

the turning motor cylinder extends out to enable the axial lead of the ball head plunger rod to be perpendicular to the ball head mounting surface I, the combination of the motor clamping jaw I, the motor I and the motor support I is lifted and translated, the pressing cylinder passively stretches and retracts, the pressing arm passively turns upwards and passively around a hinge between the pressing arm and the rotating column, the rotating column passively rotates around a hinge between the flat rotating arm and the rotating column, the flat rotating arm passively rotates around a hinge between the flat rotating arm and the rack I, the ball head is located right above the small-opening ball groove I, the ball groove I is respectively aligned with an outer spherical surface reserved between adjacent ball groove I in a one-to-one correspondence mode, and the ball groove I is respectively aligned with an inner spherical surface reserved between the adjacent ball groove I in a one-to-one correspondence mode; the ball head moves towards the small-opening ball concave I and is embedded into the small-opening ball concave I;

the turning motor cylinder contracts to drive the combination of the first motor clamping jaw, the first motor and the first motor support to turn backwards around the spherical pair by an included angle of thirty-sixty degrees, and the axial lead of the ball head plunger rod is not perpendicular to the first ball head mounting surface;

the first motor drives the plunger to rotate at a high speed, and the ball head performs grinding motion in the small-opening ball recess I; the second motor drives the grinding die to rotate, and the first small-opening ball recess drives the ball head to rotate around the axis of the grinding die.

2. The mule-cavity precision grinder of a skew shaft plunger motor according to claim 1, further comprising a balance spring; one end of the balance spring is connected to the position above the hinge between the pressing arm and the rotary column; the other end of the balance spring is connected to the pressing arm at a position before the hinge between the pressing arm and the rotating column.

3. The grinder of claim 1, wherein the rear end of the pressing arm is provided with a weight, which is located behind the hinge between the pressing arm and the rotating post.

4. A kind of oblique axis type plunger motor small-mouth spherical concave precision grinder, including stander two and grinding the mould;

the grinding machine is characterized by also comprising a grinding die driving component and a tilting component;

the number of the first small-opening ball recesses is not less than two; the spherical concave center of the first small-mouth spherical concave is positioned below the first ball head mounting surface, the opening edge of the first small-mouth spherical concave is the first small-mouth spherical concave edge, and the first small-mouth spherical concave edge is a circular intersection line of the inner spherical surface of the first small-mouth spherical concave and the first ball head mounting surface; if a chamfer is arranged on the circular intersection line of the inner spherical surface of the small-mouth spherical recess I and the ball head mounting surface I, the small-mouth edge I of the spherical recess refers to the circular intersection line of the inner spherical surface of the small-mouth spherical recess I and the chamfer conical surface; the diameter of the first edge of the small opening of the ball recess is smaller than the ball diameter of the ball head; the center of the first small-opening ball is not on the rotation central line of the grinding die; the inner spherical surface of the first small-opening ball is made into a grinding surface;

the axial lead of the ball head plunger rod is perpendicular to a ball head mounting surface I, the ball head faces to a small-opening ball socket I, the ball socket I is respectively aligned with the outer spherical surfaces reserved between the adjacent ball head through grooves in a one-to-one corresponding mode, and the ball head through grooves are respectively aligned with the inner spherical surfaces reserved between the adjacent ball socket I in a one-to-one corresponding mode; the ball head is horizontally moved towards the small-mouth spherical recess I and is embedded into the small-mouth spherical recess I to form a spherical pair; then the plunger rotates around the sphere center of the spherical pair by an included angle of thirty-sixty degrees, and the ball plunger rod faces the quick-rotating clamping jaw;

the slow-turning servo motor and the grinding die servo motor are started simultaneously, the slow-turning disc and the grinding die are driven to rotate at equal angular speeds respectively, and the combination of the plunger and the clamping assembly rotates along with the slow-turning disc; meanwhile, the grinding die drives the ball head to rotate around the axial lead of the grinding die and drives the quick-rotating clamping jaw to move, and the hexagonal rod makes reciprocating plugging movement in the hexagonal hole of the quick-rotating gear shaft;

the fast-rotating motor drives the combination of the plunger and the clamping assembly to rotate around the axial lead of the fast-rotating driven gear through the combination of the fast-rotating driving gear and the fast-rotating driven gear, and drives the ball head to rotate in the small-opening ball recess I to perform grinding motion;

when the hexagonal rod moves to the middle point of the stroke in the hexagonal hole in a plugging and pulling manner, the hexagonal rod is not bent; when the quick-rotating gear shaft is away from the position, one end of the hexagonal rod, which is close to the quick-rotating clamping jaw support, is elastically bent towards the direction of the shaft axis far away from the quick-rotating gear shaft.

5. The mule-neck precision grinder of claim 4, wherein a damping assembly is provided, the damping assembly comprising a compression spring and a knob, wherein a first end of the compression spring presses against the side of the hexagonal rod, a first end of the knob presses against a second end of the compression spring, and the knob is threadedly coupled to the fast-turning gear shaft.

6. The small-mouth ball concave precision grinding machine of the oblique shaft type plunger motor as claimed in claim 4 or 5, wherein a centering ball concave is further arranged at the center of the first ball head mounting surface, the center of the centering ball concave is on the rotation axis of the grinding die, and the distance between the center of the centering ball concave and the first ball head mounting surface is equal to the distance between the center of the first small-mouth ball concave and the first ball head mounting surface; the tail end of the fast-rotating driving gear shaft is also provided with a centering ball head, and the centering ball head and the centering ball recess are combined into a spherical pair.

7. The mulit-osculum concave precision grinder of oblique axis plunger motor as claimed in claim 4 or 5, wherein the inclined bracket is provided with a clamping assembly arc fixing groove, the inclined bracket is connected with the second frame through a combination of bolt and nut and the clamping assembly arc fixing groove, and the inclined bracket is adjusted in position along the arc fixing groove.