CN109227292A - A kind of cross workpiece grinding machine and control method - Google Patents

A kind of cross workpiece grinding machine and control method Download PDF

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Publication number
CN109227292A
CN109227292A CN201811209681.7A CN201811209681A CN109227292A CN 109227292 A CN109227292 A CN 109227292A CN 201811209681 A CN201811209681 A CN 201811209681A CN 109227292 A CN109227292 A CN 109227292A
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China
Prior art keywords
cross workpiece
blanking
cross
workpiece
mechanical hand
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CN201811209681.7A
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CN109227292B (en
Inventor
李德舜
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Ningbo Jiangbei Xinsheng Cnc Machinery Co Ltd
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Ningbo Jiangbei Xinsheng Cnc Machinery Co Ltd
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Priority to CN201811209681.7A priority Critical patent/CN109227292B/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B19/00—Single-purpose machines or devices for particular grinding operations not covered by any other main group
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B41/00—Component parts such as frames, beds, carriages, headstocks
    • B24B41/005—Feeding or manipulating devices specially adapted to grinding machines

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)

Abstract

The present invention relates to a kind of cross workpiece grinding machines, including the truss being set to above abrasive machining device and the feeding manipulator and blanking mechanical hand that can laterally slidably be arranged on truss, wherein, feeding manipulator has grabs the first action state that cross workpiece to be processed is then placed on abrasive machining device from loading bracket device, and with the second action state for grabbing cross workpiece to be processed from turn device and being then placed on abrasive machining device；Blanking mechanical hand, which has from abrasive machining device crawl cross workpiece, is then placed into the third action state on turn device, and is then placed into the 4th action state on blanking bracket system with the cross workpiece grabbed after processing is completed from abrasive machining device.This four action states can interact progress, guarantee that abrasive machining device is at continuous duty, improve production efficiency.The invention further relates to a kind of control methods of cross workpiece grinding machine.

Description

A kind of cross workpiece grinding machine and control method
Technical field
The present invention relates to grinding machine equipment technical field more particularly to a kind of cross workpiece grinding machine and control methods.
Background technique
Cross workpiece, such as differential spider and universal-joint cross trunnion, both cross workpiece are by first axle and second The duplicate axis of two structures of axis is constituted, the axis of two axis in the same plane, and at crossing at right angle.This cross workpiece The periphery grindings of cross one another two axis need to be completed on corresponding cross workpiece grinding machine, wherein grinding is general It makes two bites at a cherry, part is grabbed indexing mechanism by grabbing device by the first disposable milled of the both ends symmetric part of first axle After upper automatic displacement, leveling, then grabs and process the second axis on grinding machine.
Such as application No. is the Chinese utility model patent of CN201520255889.8 (notification number CN204546288U) public affairs It has opened " a kind of feed mechanism of centerless grinding machine ", the feed mechanism of centerless grinding machine includes manipulator, the platform that commutates, set right block and fixation Hook, wherein manipulator is used to from a upper station clamp cross axle to be processed to commutation platform, then by the block that sets right to ten Word axis is moved flat, and stay hook triggers the cross axle after moving flat, and is resent at emery wheel and is carried out grinding, and the one of cross axle Cross axle is placed on commutation platform by stay hook again after the grinding of shaft end and is commutated, and repeats above-mentioned move flat, hook and take Step completes the grinding action of other shaft ends.
But the centerless grinding machine in above-mentioned patent also has certain deficiency, for example, the feeding device of this centerless grinding machine It is that operation of feeding and discharging is successively carried out by a manipulator and a stay hook, i.e. the feed mechanism of the centerless grinding machine can only After two complete grindings in shaft end of a cross axle, the grinding of next cross axle just can be carried out, and in fixation In the moving process of hook and in the commutation process of cross axle, the grinding station of grinding machine is completely in idle state, this The production efficiency of the grinding of the cross axle seriously affected, and the feed mechanism of the centerless grinding machine is using stay hook to ten Word axis is transmitted, and stay hook is not fixed firmly cross axle, is easy to fall off, and is especially passed after stay hook hook takes cross axle When sending to the top of grinding station, it is easy to cause biggish safety accident if falling off.It replaces and fixes according to manipulator Hook and the transfer operation that cross axle is realized by cylinder driving, although can guarantee that cross axle is in secured state, this The mode of kind of cylinder driving, position and the position of grinding station to commutation platform it is more demanding, both need in together One level height could facilitate manipulator to realize the accurate crawl to cross axle.
In addition, existing cross workpiece grinding machine, indexing mechanism in handling equipment is to the second axis of cross workpiece Levelling operation is to be realized by the linear movement for the block that sets right, but work as manipulator and take out cross workpiece from grinding machine, so After when being placed on commutation platform, the second swingable axis of cross workpiece is likely to be at vertical state or close to vertical shape State, the block that sets right so is just difficult to that cross workpiece is carried out to being adjusted to horizontality, and leveling dead angle occurs.In addition, also some indexings Mechanism is that the top in grinding site is arranged in, that is to say, that its indexable process is carried out above high-speed rotating grinding wheel , if botching routines or breaking down (situations such as such as part is fallen) during indexing, it will result in safety accident, and During indexing, the cooling water in grinding site is always open state, therefore is located at the entire indexing mechanism above grinding wheel It is to be in water mist environment for a long time, the components such as cylinder therein, motor, detection switch are subject to damage, and break down, make Obtain the reliability decrease of whole system.
Therefore existing cross workpiece grinding machine also requires further improvement.
Summary of the invention
First technical problem to be solved by this invention is the status for the prior art, provides a kind of high production efficiency Cross workpiece grinding machine.
Second technical problem to be solved by this invention is the status for the prior art, provides a kind of high production efficiency Cross workpiece grinding machine control method.
The present invention solves technical solution used by first technical problem are as follows: a kind of cross workpiece grinding machine, including lathe bed, Abrasive machining device, handling equipment and control system on the lathe bed, the handling equipment include upper material torr Rack device, for placing cross workpiece to be processed；Blanking bracket system, for placing the cross workpiece completed the process；Indexing Device, for driving the cross workpiece being placed on turn device rotation commutation；It further include being set to the abrasive machining device The truss of top and the feeding manipulator and blanking mechanical hand that can be laterally slidably arranged on the truss, the truss extend To the top of the loading bracket device, blanking bracket system and turn device, the feeding manipulator and blanking mechanical hand are also It can be moved up and down relative to the truss；Wherein, the feeding manipulator can add in loading bracket device and grinding Tooling moves between setting, and is then placed into the mill with cross workpiece to be processed is grabbed from the loading bracket device Cut the first action state on processing unit (plant)；The feeding manipulator can also move between turn device and abrasive machining device It is dynamic, and have and grab cross workpiece to be processed is then placed on the abrasive machining device the from the turn device Two action states；The blanking mechanical hand can move between abrasive machining device and turn device, and have from the mill Cut the third action state that processing unit (plant) crawl cross workpiece is then placed on turn device；The blanking mechanical hand can also It is moved between abrasive machining device and blanking bracket system, and has from the abrasive machining device and grab after processing is completed Cross workpiece is then placed into the 4th action state on blanking bracket system.
As an improvement, the handling equipment further includes the first driving assembly, the second driving assembly, wherein described first drives Dynamic component can drive the feeding manipulator and the blanking mechanical hand horizontal sliding on the truss, and the second driving assembly can The relatively described truss of the feeding manipulator and blanking mechanical hand is driven to move up and down；First driving assembly includes can be lateral The sliding rack being slidably arranged on the truss and the first driving motor for driving the sliding rack mobile, wherein on described Expect that manipulator and blanking mechanical hand are arranged on the sliding rack；Second driving assembly is to be arranged on the sliding rack Second level propulsion device, the second level propulsion device include can cooperate movement first order propulsive mechanism and the second level promote Mechanism, the first order propulsive mechanism is arranged on the sliding rack, and is drivingly connected the second level propulsive mechanism, and described the Second level propulsive mechanism is drivingly connected the feeding manipulator and blanking mechanical hand, and can drive the feeding manipulator or under Material manipulator moves up and down each independently.Such structure setting can make the feeding manipulator and blanking mechanical hand Together with the adjustable shelf horizontal sliding, the structure of entire handling equipment is simplified, but also the control process of whole device It is simpler.In addition, the process that moves up and down of the feeding manipulator and blanking mechanical hand is carried out using second level propulsive mechanism Driving, wherein the first order propulsive mechanism in second level propulsive mechanism and second level propulsive mechanism can cooperate movement, aobvious It lands and improves movement speed.
As an improvement, the first order propulsive mechanism includes the second driving motor and the energy by second driving motor driving The drive rod that enough relatively described sliding racks move up and down, the second level propulsive mechanism are fixed on drive rod；The second level Propulsive mechanism includes the first driving cylinder being disposed side by side on the drive rod and the second driving cylinder, wherein the feeding Manipulator can be moved up and down by the first driving cylinder driving, and the blanking mechanical hand is driven by the second driving cylinder And it can move up and down.This second level propulsive mechanism, the second driving motor and the first driving cylinder or the second driving cylinder energy Enough simultaneously operations, on the one hand, the movement speed for improving loading and unloading manipulator improves the efficiency of loading and unloading, on the other hand, drives It takes offence being swift in motion of cylinder, ensure that loading and unloading manipulator has faster movement speed, and the setting of the second driving motor is protected Different height and positions can neatly be rested on by presetting program by having demonstrate,proved loading and unloading manipulator, and the cooperation of the two not only mentions The high movement speed of loading and unloading manipulator, and without requiring Processing position, feeding site, blanking site and indexable site at In in same level height, thus reasonable cloth can be carried out to the height of each device according to the actual situation and space requirement It sets, reduces manufacture difficulty, greatly facilitate feeding, discharge manipulator in the alignment function of upper and lower position.
As an improvement, the turn device includes bracket component, reversing mechanism and levelling mechanism, wherein the bracket component It being used to support at the both ends of the first axle of the cross workpiece to indexing, the reversing mechanism is drivingly connected the bracket component, and The cross workpiece being placed on the bracket component is driven to rotate together with bracket component, the levelling mechanism can drive placement The bracket component cross workpiece around the cross workpiece first axle axis rotation to horizontality.
As an improvement, the levelling mechanism includes the flat component of homophony and close switch, wherein the flat component of homophony can With the outside wall surface CONTACT WITH FRICTION of the first axle for the cross workpiece being placed in the first support, and rubs and drive the cross work Part is rotated around the axle center of its first axle, and the described close switch can identify whether the second axis of the cross workpiece rotates To horizontality.
As an improvement, the flat component of homophony include rub wheel assembly and for driving that the friction wheel assembly rotates the Three driving motors；The outside wall surface of the first axle of the cross workpiece and the friction wheel assembly CONTACT WITH FRICTION, wherein the friction The rotation of wheel assembly can drive cross workpiece around the axis rotation of first axle.
The present invention solves technical solution used by second technical problem are as follows: a kind of controlling party of cross workpiece grinding machine Method has the Processing position for processing the cross workpiece on the abrasive machining device, has on the loading bracket device There is the feeding site for grab for the feeding manipulator cross workpiece, has described in supplying on the blanking bracket system Blanking mechanical hand place the blanking site of the cross workpiece, having on the turn device and being grabbed for feeding manipulator Cross workpiece or blanking mechanical hand is taken place the indexable site of cross workpiece, the feeding manipulator and blanking mechanical hand energy It is enough also to have along the truss horizontal sliding to the top of each corresponding site, and in the process of moving up and down positioned at the first of upper end The beginning position and final position positioned at lower end, feeding manipulator and blanking mechanical hand can be from corresponding at the final position Site crawl cross workpiece or cross workpiece is placed into corresponding site；And the following steps are included:
First feeding step: the feeding manipulator laterally moves to the top in feeding site along the truss, then from Initial position is moved downward to final position, and cross workpiece to be processed is grabbed from feeding site, mobile then up to reset To initial position, then the top of Processing position is laterally moved to along the truss, is then moved down to terminal from initial position Position, is placed into Processing position for the cross workpiece, and then the feeding manipulator, which moves up, is reset to initial position, then The Processing position is moved transversely out along truss.
Second feeding step: the feeding manipulator laterally moves to the top in indexable site along the truss, then from Initial position is moved downward to final position, and cross workpiece to be processed is grabbed from indexable site, mobile then up to reset To initial position, then the top of Processing position is laterally moved to along the truss, is then moved down to terminal from initial position Position, is placed into Processing position for the cross workpiece, and then the feeding manipulator, which moves up, is reset to initial position, then The Processing position is moved transversely out along truss.
Grinding step: after cross workpiece is placed into the Processing position, grinding program starting, to being placed into The cross workpiece of the Processing position carries out grinding, after the completion of grinding, grinding stop, so as to blanking mechanical Hand grabs the cross workpiece.
Indexing steps: when blanking mechanical hand is by after the cross workpiece of indexing is placed into indexable site, starting indexable program, Indexable commutation is carried out to the cross workpiece for being placed into the indexing site, so that feeding manipulator grabs the cross workpiece, when this ten After word workpiece is crawled the disengaging indexable site, the turn device is reset to original state, to place after blanking mechanical Next cross workpiece.
First blanking step: after the completion of grinding step, blanking mechanical hand above the Processing position from Initial position is moved downward to final position, grabs the cross workpiece from Processing position, moves up after being reset to initial position, The top that indexable site is laterally moved to along the truss, is then moved down into final position from initial position, by the cross Workpiece is placed on indexable site, and movement is reset to initial position then up, is then moved transversely out described turn along truss Position site.
Second blanking step: after the completion of grinding step, the blanking mechanical hand is moved downward to from initial position Final position grabs the cross workpiece from Processing position, moves up after being reset to initial position, along the truss transverse shifting To the top in blanking site, it then is moved down into final position from initial position, which is placed into blanking site On, movement is reset to initial position then up, is moved transversely out the blanking site along truss.
Wherein, the first blanking step or the second blanking step are carried out to current cross workpiece in the blanking mechanical hand In the process, the feeding manipulator carries out the first feeding step or the second feeding step of another workpiece simultaneously, so that described The Processing position of grinder processing device is in continuous duty.
As an improvement, feeding is mechanical during the second blanking step that blanking mechanical hand carries out a cross workpiece Hand can carry out the first feeding step of first cross workpiece simultaneously, wherein when the upper cross workpiece of blanking mechanical hand clamping is separate When vertical direction where the Processing position, feeding manipulator laterally moves to the top of Processing position again, moves down to terminal First cross workpiece is placed into Processing position by position, and then grinding program starts, to the first axle of the cross workpiece Both ends carry out grinding, in Grinding Process, the blanking mechanical hand continues the second of upper cross workpiece Blanking step, it is quasi- along truss horizontal sliding to the top of the Processing position after blanking mechanical hand completes the second blanking step Standby the first blanking step for carrying out first cross workpiece；
After feeding manipulator completes the first feeding step of first cross workpiece, institute is laterally moved to along the truss The top for stating feeding site is ready for the first feeding step of second cross workpiece, when the first of first cross workpiece After the completion of the both ends grinding of axis, blanking mechanical hand carries out the first blanking step to the cross workpiece, is carrying out the first blanking During step, feeding manipulator carries out the first feeding step of second cross workpiece simultaneously, wherein working as blanking mechanical hand When clamping first cross workpiece and move up and be reset to initial position, and leaving the Processing position, feeding manipulator is mobile To the top of Processing position, final position is displaced downwardly to by second cross workpiece and is placed into Processing position, then grinding journey Sequence starting carries out grinding, in Grinding Process, the blanking mechanical hand to the both ends of the first axle of the cross workpiece Continue the first blanking step of first cross workpiece, wherein when first cross workpiece is placed into institute by blanking mechanical hand After stating indexable site, indexable program starting, during carrying out indexing, blanking mechanical hand is moved upward to initial position, then The indexable site is left along truss horizontal sliding, is ready for the first blanking step of second cross workpiece；
After feeding manipulator completes the first feeding step of second cross workpiece, laterally moves to and turn along the truss The top in position site, is ready for the second feeding step of first cross workpiece, when first cross workpiece indexing has commutated Cheng Hou, the feeding manipulator carry out the second feeding step of first cross workpiece；
In the first blanking step process that blanking mechanical hand carries out second cross workpiece, feeding manipulator carries out simultaneously Second feeding step of first cross workpiece, wherein after the completion of the first axle grinding of second cross workpiece, institute It states blanking mechanical hand and is displaced downwardly to final position, clamp where moving upwardly away from the Processing position after second cross workpiece Vertical direction, then feeding manipulator is moved to the top of Processing position, is displaced downwardly to final position, and first cross workpiece is put Processing position is set, then grinding program starts, and carries out grinding to the both ends of the second axis of the cross workpiece, is grinding It cuts in process, the blanking mechanical hand continues the first blanking step of second cross workpiece, wherein working as blanking machine After second cross workpiece is placed into the indexable site by tool hand, indexable program starting, during carrying out indexing, blanking machine Tool hand is moved upward to initial position, then leaves the indexable site along truss horizontal sliding, is ready for first cross Second blanking step of workpiece；
It is quasi- along the truss transverse shifting after feeding manipulator completes the second feeding step of first cross workpiece Standby the second feeding step for carrying out second cross workpiece, after first cross workpiece indexing commutates, feeding manipulator is carried out Second feeding step of second cross workpiece；
After the completion of the both ends grinding of the second axis of first cross workpiece, blanking mechanical hand is to first cross work Part carries out the second blanking step, and during carrying out the second blanking step, feeding manipulator carries out second cross work simultaneously Second feeding step of part, wherein it is reset to initial position when blanking mechanical hand first cross workpiece of clamping moves up, and When leaving the Processing position, feeding manipulator is moved to the top of Processing position, is displaced downwardly to final position for second cross Workpiece is placed into Processing position, and then grinding program starts, and grinds to the both ends of the second axis of second cross workpiece Processing is cut, in Grinding Process, the blanking mechanical hand continues and completes second blanking of first cross workpiece Then step laterally moves to the top of the Processing position again, be ready for the second blanking step of second cross workpiece；
After the completion of the both ends grinding of the second axis of second cross workpiece, feeding manipulator is ready for third First feeding step of cross workpiece, while the blanking mechanical hand is ready for second blanking of second cross workpiece simultaneously Step forms a process-cycle, recycles progress with this.
As an improvement, the handling equipment include can on the truss horizontal sliding sliding rack, the sliding Second level propulsion device is connected on frame, wherein the second level propulsion device includes that first order propulsive mechanism and the second level promote Mechanism, the first order propulsive mechanism is arranged on the sliding rack, and is drivingly connected the second level propulsive mechanism, and described the Second level propulsive mechanism is drivingly connected the feeding manipulator and blanking mechanical hand, and the first order propulsive mechanism can drive described Second level propulsive mechanism and the feeding manipulator being connected on the propulsive mechanism of the second level and the blanking mechanical hand relatively described cunning together Moving frame moves up and down, and under second level propulsive mechanism driving, the feeding manipulator, blanking mechanical hand can be independently It moves up and down；Wherein, the feeding manipulator and blanking mechanical hand can be together with sliding rack transverse shiftings, when feeding machinery When hand or blanking mechanical hand laterally move to the top of corresponding site, under the driving of first order propulsive mechanism, the feeding Manipulator and blanking mechanical hand move down together, wherein in folding process, both feeding manipulator and blanking mechanical hand In a secondary propulsion downwards simultaneously under the driving of second level propulsive mechanism, position of reaching home carries out cross workpiece and grabs Take or placement movement, another be in do not carry out secondary propulsion to position state；When the crawl for completing cross workpiece or put After setting movement, second level propulsive mechanism driving feeding manipulator or blanking mechanical hand move up reset, in reseting procedure, First order propulsive mechanism drives feeding manipulator and blanking mechanical hand to be moved upward to initial position together simultaneously.
As an improvement, the loading bracket device includes feeding conveyer belt, the first power device and first sensor, it is described Blanking bracket system includes blanking conveyer belt, the second power device and second sensor；Wherein, cross workpiece to be processed can be with It is emitted on the feeding conveyer belt, when the cross workpiece positioned at feeding site being placed on the feeding conveyer belt is by feeder After tool hand folder is walked, first sensor can identify the state, and feed back to control system, and control system controls first power Remaining cross workpiece that device drives the feeding conveyer belt and is placed on it is mobile, so that next automatic cover of cross workpiece arrives Feeding site is grabbed next time for feeding manipulator；Cross workpiece after processing is completed is placed by blanking mechanical hand On blanking site on the blanking conveyer belt, second sensor can identify the state, and feed back to control system, control system The second power device of system control drives the blanking conveyer belt and the cross workpiece being placed on it mobile, so that the blanking transmits The blanking site taken is in vacant state, so that blanking mechanical hand is placed next time.
Compared with the prior art, the advantages of the present invention are as follows the cross workpiece grinding machine in the present invention include feeding manipulator and Blanking mechanical hand, feeding manipulator and the blanking mechanical hand division of labor are clear, and can reciprocal, greatly improve production effect Rate, wherein blanking mechanical hand by the cross workpiece completed the process from the Processing position of grinding platform taking-up after, feeder Tool hand adds with another cross workpiece of crawl can be placed into progress grinding, the grinding of such grinding machine at Processing position Work station may be at continuous duty, i.e., one of cross workpiece is during blanking or indexing, another cross work Part will not leave unused still in grinding state, grinding platform, improve production efficiency so significantly.
Detailed description of the invention
Fig. 1 is the schematic perspective view of cross workpiece grinding machine in the embodiment of the present invention；
Fig. 2 is the front view of cross workpiece grinding machine in the embodiment of the present invention, and wherein blanking mechanical hand is located at Processing position Top and be in folding process, feeding manipulator be in position state；
Fig. 3 is the schematic perspective view of cross workpiece grinding machine in the embodiment of the present invention, and wherein blanking mechanical hand, which is located at, adds The top of work station point and in process is moved up, feeding manipulator is in position state；
Fig. 4 is the schematic perspective view of cross workpiece grinding machine in the embodiment of the present invention, and wherein feeding manipulator, which is located at, adds The top of work station point prepares to move down, and blanking mechanical hand is in position state；
Fig. 5 is the schematic perspective view of cross workpiece grinding machine in the embodiment of the present invention, and wherein feeding manipulator, which is located at, adds The top of work station point and be in folding process, blanking mechanical hand be in position state；
Fig. 6 is the schematic perspective view of cross workpiece grinding machine in the embodiment of the present invention, and wherein blanking mechanical hand, which is located at, turns The top in position site prepares to move down, and feeding manipulator is in position state；
Fig. 7 is the schematic perspective view of cross workpiece grinding machine in the embodiment of the present invention, and wherein blanking mechanical hand, which is located at, turns Position site top and be in folding process, feeding manipulator be in position state；
Fig. 8 is the schematic perspective view of cross workpiece grinding machine in the embodiment of the present invention, and wherein feeding manipulator, which is located at, turns The top in position site and in process is moved up, blanking mechanical hand is in position state；
Fig. 9 is the partial structure diagram of cross workpiece grinding machine in the embodiment of the present invention；
Figure 10 is the partial structure diagram of cross workpiece grinding machine in the embodiment of the present invention；
Figure 11 is that the stereochemical structure that the first driving assembly of cross workpiece grinding machine in the embodiment of the present invention cooperates with truss is shown It is intended to；
Figure 12 is the schematic perspective view of the second driving assembly of cross workpiece grinding machine in the embodiment of the present invention；
Figure 13 is the schematic perspective view of the loading bracket device of cross workpiece grinding machine in the embodiment of the present invention；
Figure 14 is the schematic perspective view of the blanking bracket system of cross workpiece grinding machine in the embodiment of the present invention；
Figure 15 is the schematic perspective view of turn device in the embodiment of the present invention, and wherein the turn device is in and does not place The original state of cross workpiece；
Figure 16 is the schematic perspective view of turn device in the embodiment of the present invention, and wherein cross workpiece is forward in changing Leveling state, auxiliary levelling mechanism are in original state；
Figure 17 is the schematic perspective view of turn device in the embodiment of the present invention, and wherein cross workpiece is forward in changing Leveling state, and levelling mechanism top is assisted to hold at the both ends of the second axis of cross workpiece；
Figure 18 is the schematic perspective view of turn device in the embodiment of the present invention, and wherein cross workpiece is in commutation and completes Leveling state afterwards.
Specific embodiment
The present invention will be described in further detail below with reference to the embodiments of the drawings.
Cross workpiece grinding machine includes lathe bed 41, abrasive machining device 40, handling equipment and control system (not shown), Abrasive machining device 40 is set on lathe bed 41, and handling equipment is set to the side of lathe bed 41, abrasive machining device 40, loading and unloading dress It sets and carries out signal communication with control system, handling equipment includes loading bracket device 10, blanking bracket system 20 and turns Position device 30, wherein loading bracket device 10 is for placing and conveying cross workpiece 100 to be processed, blanking bracket system 20 For placing and conveying the cross workpiece 100 completed the process, turn device 30 is placed on the turn device 30 for driving The rotation commutation of cross workpiece 100, in the present embodiment, handling equipment further include the truss set on 40 top of abrasive machining device 50 and the feeding manipulator 51 and blanking mechanical hand 52 that can laterally slidably be arranged on truss 50, specifically, truss 50 passes through One column 42 is fixed on lathe bed 41, and the truss 50 extends to loading bracket device 10, blanking bracket system 20 and indexing The top of device 30 specifically, on abrasive machining device 40 has the Processing position for processing cross workpiece 100, upper material torr There is the feeding site for carrying out crawl cross workpiece 100 for feeding manipulator 51 on rack device 10, have on blanking bracket system 20 There is the blanking site for place for blanking mechanical hand 52 cross workpiece 100, has on turn device 30 for feeding manipulator 51 Carry out crawl cross workpiece 100 or blanking mechanical hand 52 carry out place cross workpiece 100 indexable site, feeding manipulator 51 and Blanking mechanical hand 52 can be along 50 horizontal sliding of truss to the top of each corresponding site, in addition, feeding manipulator 51 and blanking machine Tool hand 52 can also be moved up and down relative to truss 50, and also be had positioned at the initial of upper end in the process of moving up and down Position and final position positioned at lower end, feeding manipulator 51 and blanking mechanical hand 52 can be from corresponding at final position Cross workpiece 100 is placed on corresponding site by site crawl cross workpiece 100.Specifically, feeding manipulator 51 and Blanking mechanical hand 52 is to carry out horizontal sliding along truss 50 under the driving of the first driving assembly, and drive in the second driving assembly It moves lower opposite truss 50 to move up and down, more specifically, feeding manipulator 51 can add in loading bracket device 10 and grinding Tooling is set and is moved between 40, and is then placed into mill with cross workpiece 100 to be processed is grabbed from loading bracket device 10 Cut the first action state on processing unit (plant) 40；Feeding manipulator 51 can also turn device 30 and abrasive machining device 40 it Between move, and have and grab cross workpiece 100 to be processed from turn device 30 and be then placed on abrasive machining device 40 The second action state；Blanking mechanical hand 52 can move between abrasive machining device 40 and turn device 30, and have from Abrasive machining device 40 grabs cross workpiece 100 and is then placed into the third action state on turn device 30；Blanking mechanical hand 52 can also move between abrasive machining device 40 and blanking bracket system 20, and have from the crawl of abrasive machining device 40 and add Cross workpiece 100 after the completion of work is then placed into the 4th action state on blanking bracket system 20.This four action states Progress can be interacted, guarantees that abrasive machining device 40 is at continuous duty, improves production efficiency.Furthermore, it is possible to think To abrasive machining device 40 may include grinding wheel component 44, guide wheel assembly 45, dresser 43, bracket 47 and lead Wheel feeding slide unit (not shown) etc., cross workpiece grinding machine further includes cooling system, guide rail lubricating system, guard system etc..
Referring to Fig. 9~Figure 12, in the present embodiment, the first driving assembly includes the first driving motor 712 and slidably sets The sliding rack 61 on truss 50 is set, feeding manipulator 51 and blanking mechanical hand 52 are arranged on sliding rack 61 and can be with slidings The horizontal sliding along truss 50 specifically referring to Figure 11, is horizontally arranged with the first sliding rail, sliding rack to frame 61 together on truss 50 61 are arranged on first sliding rail, and in the present embodiment, the first sliding rail is the first slide bar 53 being horizontally installed on truss 50, phase Ying Di is provided with first sliding groove 611 compatible with the first slide bar 53 on sliding rack 61, then specifically, the first driving motor 712 It is fixed on sliding rack 61 and can be moved laterally together with sliding rack 61, the first driving rack is laterally fixed on truss 50 54, the output end of the first driving motor 712 is drivingly connected the first driving rack 54, wherein the first driving motor 712 can be to watch Motor is taken, so that feeding manipulator 51 or blanking mechanical hand 52 can accurately rest on the top of corresponding site.Second Driving assembly is the second level propulsion device being arranged on sliding rack 61, and second level propulsion device includes that can cooperate the of movement Level-one propulsive mechanism and second level propulsive mechanism, wherein first order propulsive mechanism is arranged on sliding rack 61, and is drivingly connected Second level propulsive mechanism, second level propulsive mechanism is drivingly connected feeding manipulator 51 and blanking mechanical hand 52, and can drive Material manipulator 51 or blanking mechanical hand 52 move up and down each independently, and specifically, first order propulsive mechanism can drive the Second level propulsive mechanism and the opposite sliding together of the feeding manipulator 51 being connected on the propulsive mechanism of the second level and blanking mechanical hand 52 Frame 61 moves up and down.In the present embodiment, first order propulsive mechanism is including the second driving motor 711 and by second driving motor 711 driving and can be with respect to the drive rod 712 that sliding rack 61 moves up and down, second level propulsive mechanism is fixed on drive rod 712, Wherein, the second driving motor 711 is servo motor, which is fixed on sliding rack 61, and correspondingly, drive rod 712 is logical Cross the second sliding rail slide up and down be arranged on sliding rack 61, specifically, the second sliding rail be drive rod 712 in its longitudinal direction The second slide bar 716 being arranged correspondingly is additionally provided with second sliding slot 612 compatible with the second slide bar 716 on sliding rack 61, this Outside, the second driving rack 717 is provided on drive rod 712 in its longitudinal direction, the output end of servo motor is drivingly connected should Second driving rack 717.Second level propulsive mechanism includes the first driving cylinder 721 and the being disposed side by side on drive rod 712 Two driving cylinders 722, wherein feeding manipulator 51 can be moved up and down, blanking mechanical hand 52 by the first driving cylinder 721 driving It can be moved up and down by the second driving cylinder 722 driving, specifically, it is horizontally disposed that the lower end of drive rod 712 is fixed with one Fixed plate 713, the first driving cylinder 721 and the second driving cylinder 722 are fixed on side by side in the fixed plate 713, wherein work as transmission When bar 712 moves up and down, the two driving cylinders and feeding manipulator 51, blanking mechanical hand 52 being fixed in fixed plate 713 can And then it moves up and down, wherein the first driving cylinder 721 and the second driving cylinder 722 all have the piston rod for capableing of reciprocal telescopic 723, feeding manipulator 51 and blanking mechanical hand 52 are connected on piston rod 723 and can move back and forth with piston rod 723, in order to increase Add the stability of feeding manipulator 51 and blanking mechanical hand 52 in reciprocating movement, prevents it from sending out in the process of moving up and down It is raw to shake, guarantee the accuracy of operation of feeding and discharging, is also respectively connected two on feeding manipulator 51 and blanking mechanical hand 52 and leads To bar 715, two guide rods 715, which are symmetrically arranged at the two sides of piston rod 723 and can pass through, to be arranged in fixed plate 713 Pilot hole, wherein guide rod 715 is consistent with the length direction of piston rod 723, is to be vertically arranged.In order to further realize two The smooth motion of a manipulator reduces the frictional force between guide rod 715 and pilot hole, is additionally provided with linear bearing in pilot hole 714, guide rod 715 is threaded through in the linear bearing 714.Furthermore, it is envisioned that feeding manipulator 51 and blanking mechanical hand 52 also each have clamping part and for driving clamping part to be in the clamping cylinder for the state that clamps or releases, wherein clamping part The gripper being oppositely arranged including two, two grippers can be clamped in cross workpiece 100 first axle 101 or the second axis 102 two End.In the present embodiment, feeding manipulator 51 and moving up and down for blanking mechanical hand 52 are in first order propulsive mechanism and second It is driven under the collective effect of grade propulsive mechanism, i.e. feeding manipulator 51 or blanking mechanical hand 52 is in first order pusher Under the driving of structure upwards or folding process in, second level propulsive mechanism can move at the same time, drive feeding manipulator 51 or Blanking mechanical hand 52 moves up or down, and is by servo motor and the first driving cylinder 721 and the in the present embodiment specifically Two driving cylinders 722 drive jointly, wherein the first driving cylinder 721 can drive feeding manipulator 51 to carry out respectively solely It on the spot moves up and down, the second driving cylinder 722 can be operated alone blanking mechanical hand 52 and be moved up and down.This second level promotes Mechanism acts while by servo motor with driving cylinder, on the one hand, the movement speed of loading and unloading manipulator 52 is improved, The efficiency of loading and unloading is improved, on the other hand, drives being swift in motion for cylinder, it is faster to ensure that loading and unloading manipulator 52 has Movement speed, and the setting of servo motor ensure that loading and unloading manipulator 52 can neatly be rested on not by presetting program Same height and position, the cooperation of the two not only increase the movement speed of loading and unloading manipulator 52, and without requiring machining position Point, feeding site, blanking site and indexable site are in same level height, thus can according to the actual situation and space is wanted It asks, reasonable Arrangement is carried out to the height of each device, manufacture difficulty is reduced, greatly facilitates feeding, discharge manipulator 52 and exist The alignment function of upper and lower position.
In the present embodiment, the loading bracket device 10 of cross workpiece grinding machine, blanking bracket system 20 and turn device 30 are located at the same side of grinder bed 41, and specifically, the side of grinder bed 41 is provided with a support supporting plate 46, loading bracket dress It sets 10, blanking bracket system 20 and turn device 30 is arranged on the support supporting plate 46, and Processing position, upper material position Point, blanking site and indexable site be in on the consistent same axis of length direction of truss 50, wherein by upper material torr Rack device 10, blanking bracket system 20 and turn device 30 are set to the same side of grinding platform, it is possible to reduce upper and lower Expect 52 horizontal sliding of manipulator time, i.e., blanking mechanical hand 52 complete blanking therein operation when, feeding manipulator 51 with Next cross workpiece 100 can be grabbed at loading bracket device 10 in the same side, then complete the cross workpiece 100 Feeding operation, further improves production efficiency.
Loading bracket device 10 includes feeding conveyer belt 11, the first power device 13 and first sensor 12, wherein feeding Conveyer belt 11 is drivingly connected feeding conveyer belt 11 for placing cross workpiece 100 to be processed, the first power device 13, and first passes Sensor 12 is provided close to the side in feeding site by first support bar 14, and can identify cross workpiece 100 at feeding site Whether vacant state is in, specifically, cross workpiece 100 to be processed can be emitted on feeding conveyer belt 11, when being placed on After the cross workpiece 100 positioned at feeding site on the feeding conveyer belt 11 is walked by the folder of feeding manipulator 51, first sensor 12 It can identify the state, and feed back to control system, control system controls the first power device 13 and drives the feeding conveyer belt 11 And remaining cross workpiece 100 for being placed on it is mobile, so that the automatic cover of next cross workpiece 100 is to feeding site, in confession Material manipulator 51 is grabbed next time.Wherein, the first power device 13 can be motor driven or Mechanical Driven.
Blanking bracket system 20 includes blanking conveyer belt 21, the second power device (not shown) and second sensor 22, Middle blanking conveyer belt 21 is drivingly connected blanking conveyer belt 21 for placing the cross workpiece 100 completed the process, the second power device, Second sensor 22 is equipped with by second support bar 23 close to the side in blanking site, and can identify cross work at blanking site Whether part 100 is in vacant state, and specifically, cross workpiece 100 after processing is completed can be placed by blanking mechanical hand 52 On blanking site on to blanking conveyer belt 21, after the completion of placement, second sensor 22 can identify the state, and feed back to control System processed, control system control the second power device and drive the blanking conveyer belt 21 and the cross workpiece 100 being placed on it mobile, So that the discharge station on the blanking conveyer belt 21 is in vacant state, so that blanking mechanical hand 52 is placed next time.Its In, the second power device can be motor driven or Mechanical Driven.
After the completion of 101 grinding of first axle of cross workpiece 100, need the cross workpiece 100 being placed into indexing Indexable commutation is carried out on device 30, and the second axis 102 in free state of the cross workpiece 100 is ajusted to horizontal State keeps it parallel with the axis of the grinding wheel of abrasive machining device 40, in order to which feeding manipulator 51 carries out the cross workpiece 100 Crawl is then placed at Processing position and carries out grinding to its second axis 102.In the present embodiment, turn device 30 is set In the side of lathe bed 41, specifically, turn device 30 includes bracket component 31, reversing mechanism 32 and levelling mechanism, wherein bracket Component 31 is two first supports 311 being oppositely arranged, and two first supports 311 are used to support in the cross workpiece to indexing The both ends of 100 first axle 101, reversing mechanism 32 include rotary cylinder 321 and the rotation axis driven by the rotary cylinder 321 322, rotary cylinder 321 is drivingly connected bracket component 31 by rotation axis 322, to drive the cross being placed on bracket component 31 Workpiece 100 is rotated together with bracket component 31, and specifically, rotary cylinder 321 is fixed on pedestal 37, two first supports 311 It is fixed in rotation axis 322 and can be rotated with rotation axis 322, specifically, two first supports 311 pass through fixed frame 38 and the One connecting plate 312 is fixedly connected in rotation axis 322, wherein fixed frame 38 is fixed in rotation axis 322 and can be with rotation axis 322 rotations, the first connecting plate 312 are fixedly connected on fixed frame 38, and levelling mechanism includes the flat component 33 of homophony and close switch 34, wherein the flat component 33 of homophony can be with the outside wall surface of the first axle 101 for the cross workpiece 100 being placed in first support 311 CONTACT WITH FRICTION, and rub and cross workpiece 100 is driven to be rotated around the axle center of its first axle 101, this can know close to switch 34 Whether the second axis 102 of other cross workpiece 100 turns to horizontality, then specifically, and the flat component 33 of homophony includes friction pulley group Part 332 and for drive friction wheel assembly 332 rotate third driving motor 331, wherein the first axle 101 of cross workpiece 100 Outside wall surface and friction 332 CONTACT WITH FRICTION of wheel assembly, friction wheel assembly 332 rotation cross workpiece 100 can be driven around first The axis rotation of axis 101.Wherein, friction wheel assembly 332 includes that driving wheel 334 and two are driven company with the driving wheel 334 respectively The output shaft of the friction pulley 333 connect, third driving motor 331 is drivingly connected driving wheel 334, and two friction pulleys 333 can cooperate In the two sides of the outside wall surface of the first axle 101 of cross workpiece 100, so driven in a manner of frictional drive cross workpiece 100 around The axis rotation of its first axle 101.In the present embodiment, the surface that driving wheel 334 is used to contact with friction pulley 333, which can be selected, to be had The elastic and higher material of coefficient of friction is made, and such as nitrile rubber or fluorine glue, is required with meeting the frictional drive between them, and Friction pulley 333 can be selected the higher material of coefficient of friction and be made, such as polyurethane, to meet the first axle to cross workpiece 100 The frictional drive demand of 101 outside wall surface.In addition, by two friction pulleys 333 of setting to the first axle 101 of cross workpiece 100 Outside wall surface two sides formed top hold state, increase frictional force suffered by cross workpiece 100 so that cross workpiece 100 around The rotation process of first axle 101 is more steady, avoids cross workpiece 100 and generates to slip and ask because the frictional force that is subject to is insufficient Topic.The flat component 33 of certain homophony can also be using other friction members in addition to the wheel assembly 332 that rubs, such as friction belt, only Will the friction member can with the outside wall surface CONTACT WITH FRICTION of the first axle 101 of cross workpiece 100 and drive cross workpiece 100 around The axis rotation of one axis 101 realizes that cross workpiece 100 levels.
The flat component 33 of homophony can be two, be separately positioned on the upper end of two first supports 311, in the present embodiment, The flat component 33 of homophony is one, is fixed therein in a first support 311 and can rotate with the first support 311, wherein Two friction pulleys 333 of the flat component 33 of homophony are rotatably fixed therein a first support by spring bearing 335 311 upper end, correspondingly, also by the fixation of spring bearing 335, there are two can freely turn for the upper end of another first support 311 Dynamic auxiliary wheel 36, wherein auxiliary wheel 36 can be identical with 333 size of friction pulley, and in same level plane, so that ten The both ends of the first axle 101 of word workpiece 100 are able to lie in a horizontal plane on two friction pulleys 333 and two auxiliary wheels 36. In the present embodiment, the setting of two auxiliary wheels 36, so that cross workpiece 100 need in an end of its first axle 101 It is driven, correspondingly, the other end of the first axle 101 of cross workpiece 100 can also rotate with it on auxiliary wheel 36, So that the rotation of the cross workpiece 100 is more flexible, the number of parts of the flat component 33 of homophony is decreased.
Cross workpiece 100, may be because of the anti-of close switch 34 when carrying out leveling movement by the flat component 33 of homophony It presents time delay and there is a problem of that the leveling of cross workpiece 100 is not in place or leveling is excessive, so in the present embodiment, turning Position device 30 further includes auxiliary levelling mechanism 35, and the auxiliary levelling mechanism 35 is including third power device 352 and by the third Two second supports 351 that power device 352 drives and can move up and down, two second supports 351 are in third power device It can stretch out and push up upwards under 352 driving and hold at the both ends of the second axis 102 of cross workpiece 100, protect the cross workpiece 100 It holds in horizontality, specifically, two second supports 351 can equally be driven by rotary cylinder 321 and be rotated, to guarantee that auxiliary is adjusted Two second supports 351 of flattening mechanism 35 can be always positioned at the underface of the second axis 102 of cross workpiece 100, and two second The upper end of bracket 351 all has the recess 3511 for being used to support the both ends of the second axis 102 of cross workpiece 100, wherein the The recess 3511 of the upper end of two brackets 351 can be V-type, camber or other shapes, as long as can satisfy to cross workpiece 100 The second axis 102 both ends limit, in addition, third power device 352 can for cylinder can be specifically slide unit Cylinder.The auxiliary levelling mechanism 35 is set, can be enabled and be leveled cross workpiece 100 not in place and finely tune and be maintained at horizontal State, to facilitate feeding manipulator 51 to grab the both ends of the second axis 102 of the cross workpiece 100.
In the present embodiment, the control process of turn device 30 includes commutation step, leveling step and reset process, In, commutation step is that control system control reversing mechanism 32 drives first support 311 to rotate, and is placed on first support 311 On cross workpiece 100 to be ground can be rotated together with first support 311, complete switching operation；Leveling step is to control The driving friction wheel assembly 332 of third driving motor 331 that system controls the flat component 33 of homophony rotates, and then drives and the friction pulley The cross workpiece 100 of 332 CONTACT WITH FRICTION of component is rotated around the axle center of the first axle 101 of the cross workpiece 100, works as cross Second axis 102 of workpiece 100 turns to horizontality or when close to horizontality, can identify the state close to switch 34, And the signal is fed back into control system, control system controls third driving motor 331 and closes, and completes the tune of cross workpiece 100 Flat operation；Reset process is, after cross workpiece 100 is crawled and is detached from first support 311, control system controls reversing mechanism 32 drive first supports 311 turn to initial position, complete to reset operation.The indexable process of cross workpiece 100 can be according to First carry out leveling step, after carry out commutation step, finally carry out reset process program operated, that is, according to presetting journey Sequence, control system first pass through the flat component 33 of control homophony and complete to carry out the Levelling operation of cross workpiece 100, then pass through control again Reversing mechanism 32 completes the switching operation of cross workpiece 100, after cross workpiece 100 is crawled and is detached from first support 311, most Complete the reset operation of first support 311 by control reversing mechanism 32 again afterwards, to place next cross workpiece 100, In, since the turn device 30 is first to carry out Levelling operation, so can identify that the close of the leveling state of cross workpiece 100 is opened Close the second axis 102 of the cross workpiece 100 that 34 can be fixed on the base by a upright bar 341 and be capable of close initial placement One end.It is leveled more specifically, the cross workpiece 100 being placed in first support 311 first passes through the flat completion of component 33 of homophony After operation, control system can control auxiliary levelling mechanism 35 and be acted, so that the top of second support 351 is held in cross workpiece The both ends of 100 the second axis 102, so that horizontality can be finely tuned and be maintained at by leveling cross workpiece 100 not in place, Wherein, the recess 3511 of the upper end of second support 351 can be held in the end of 100 second axis 102 of cross workpiece, in this way may be used Cause to have leveled due to its second axis 102 does not support when carrying out the switching operation of next step to avoid cross workpiece 100 Good cross workpiece 100, which rotates, becomes non-leveling state, influences next step feeding manipulator 51 and grabs to it.When ten After word workpiece 100 is crawled and is detached from first support 311, the cylinder that control system can control auxiliary levelling mechanism 35 is shunk, Original state is returned to, the placement or leveling that influence next cross workpiece 100 are avoided.Certainly, when the flat component 33 of homophony and cross When the frictional force of the first axle 101 of workpiece 100 is larger, that is, carry out not will lead to the cross workpiece leveled when switching operation When 100 deviation horizontality, which can be saved, and to reduce number of parts and operating procedure, improve production Efficiency.Certainly, as another embodiment, the turn device 30 of cross workpiece 100 can also according to first carry out commutation step, Afterwards carry out leveling step, finally carry out reset process program operated.
In the present embodiment, the side of grinder bed 41 is arranged in turn device 30, separate abrasive machining device 40, turn Position process is more safe and reliable, and the turn device 30 is by the way of frictional drive to being placed in first support 311 Cross workpiece 100 leveled, applicability is more extensive, does not level dead angle, that is, cross workpiece 100 is placed on When on one bracket 311, regardless of whether the second axis 102 of the cross workpiece 100 is in a vertical state or close to vertical state, is somebody's turn to do The flat component 33 of homophony of 100 turn device 30 of cross workpiece can level it, and in control system, reversing mechanism 32 And close under the cooperation of switch 34, Levelling operation, switching operation and the reset of cross workpiece 100 are automatically performed by presetting program Operation, high degree of automation are applied to the material process up and down of the grinding production line of cross workpiece 100 in which can be convenient In, the reliability of indexing is significantly improved, the degree of automation and production efficiency are greatly improved.
The control method of cross workpiece grinding machine includes the first feeding step, the second feeding step, grinding step, indexing Step, the first blanking step and the second blanking step, specific as follows:
First feeding step: feeding manipulator 51 laterally moves to the top in feeding site along truss 50, then from initial Position is moved downward to final position, and cross workpiece 100 to be processed is grabbed from feeding site, and movement is reset to then up Initial position, then the top of Processing position is laterally moved to along truss 50, it then is moved downward to final position from initial position, The cross workpiece 100 is placed into Processing position, then feeding manipulator 51, which moves up, is reset to initial position, then along purlin Frame 50 is moved transversely out Processing position.
Second feeding step: feeding manipulator 51 laterally moves to the top in indexable site along truss 50, then from initial Position is moved downward to final position, and cross workpiece 100 to be processed is grabbed from indexable site, and movement is reset to then up Initial position, then the top of Processing position is laterally moved to along truss 50, it then is moved downward to final position from initial position, The cross workpiece 100 is placed into Processing position, then feeding manipulator 51, which moves up, is reset to initial position, then along purlin Frame 50 is moved transversely out Processing position.
Grinding step: after cross workpiece 100 is placed into Processing position, grinding program starting, to being placed into The cross workpiece 100 of the Processing position carries out grinding, after the completion of grinding, grinding stop, so as to blanking Manipulator 52 grabs the cross workpiece 100.
Indexing steps: when blanking mechanical hand 52 is by after the cross workpiece 100 of indexing is placed into indexable site, starting is indexable Program carries out indexable commutation to the cross workpiece 100 for being placed into the indexing site, so that feeding manipulator 51 grabs the cross work Part 100, after the cross workpiece 100 is crawled disengaging indexing site, turn device 30 is reset to original state, so as to blanking machine Next cross workpiece 100 is placed after tool.
First blanking step: after the completion of grinding step, blanking mechanical hand 52 above Processing position is from first Beginning position is moved downward to final position, grabs the cross workpiece 100 from Processing position, moves up and be reset to initial position Afterwards, the top that indexable site is laterally moved to along truss 50, is then moved down into final position from initial position, by the cross Workpiece 100 is placed on indexable site, and movement is reset to initial position then up, is then moved transversely out and is turned along truss 50 Position site.
Second blanking step: after the completion of grinding step, blanking mechanical hand 52 is moved downward to end from initial position Point position, grabs the cross workpiece 100 from Processing position, moves up after being reset to initial position, along 50 transverse shifting of truss To the top in blanking site, it then is moved down into final position from initial position, which is placed into lower material position On point, movement is reset to initial position then up, is moved transversely out blanking site along truss 50.
Wherein, first blanking step or the second blanking step are carried out to current cross workpiece 100 in blanking mechanical hand 52 During, feeding manipulator 51 carries out the first feeding step or the second feeding step of another workpiece simultaneously, so that grinding machine The Processing position of processing unit (plant) is in continuous duty.Specifically, when blanking mechanical hand 52 carries out upper cross workpiece 100 During second blanking step, feeding manipulator 51 can carry out the first feeding step of first cross workpiece 100 simultaneously, In when blanking mechanical hand 52 clamps upper cross workpiece 100 far from vertical direction where Processing position, feeding manipulator 51 The top for laterally moving to Processing position again is displaced downwardly to final position for first cross workpiece 100 and is placed into Processing position, so Grinding program starts afterwards, grinding is carried out to the both ends of the first axle 101 of the cross workpiece 100, in grinding Cheng Zhong, blanking mechanical hand 52 continue the second blanking step of upper cross workpiece 100, when blanking mechanical hand 52 completes second After blanking step, along 50 horizontal sliding of truss to the top of Processing position, it is ready under the first of first cross workpiece 100 Expect step, wherein blanking mechanical hand 52 is when carrying out the second blanking step, when the cross workpiece 100 that grinding is completed is placed After on blanking site on to blanking conveyer belt 21, second sensor 22 can identify the state, and feed back to control system, control System processed controls the second power device and drives the blanking conveyer belt 21 and the cross workpiece 100 being placed on it mobile, so that under this Discharge station on material conveyer belt 21 is in vacant state, so that blanking mechanical hand 52 is placed next time, wherein blanking passes Sending the operating of band 21 can be controlled by setting the corresponding time；Feeding manipulator 51 when carrying out the first feeding step, After the cross workpiece 100 for being located at feeding site is walked by the folder of feeding manipulator 51, first sensor 12 can identify the state, and Feed back to control system, control system control the first power device 13 drive the feeding conveyer belt 11 and be placed on it remaining ten Word workpiece 100 is mobile, so that the automatic cover of next cross workpiece 100 carries out next to feeding site for feeding manipulator 51 Secondary crawl, wherein the operating of feeding conveyer belt 11 by setting the corresponding time to be controlled.
After feeding manipulator 51 completes the first feeding step of first cross workpiece 100, along 50 transverse shifting of truss The top of supreme material position point is ready for the first feeding step of second cross workpiece 100, when first cross workpiece 100 First axle 101 both ends grinding after the completion of, blanking mechanical hand 52 to the cross workpiece 100 carry out the first blanking step, During carrying out the first blanking step, feeding manipulator 51 carries out the first feeding step of second cross workpiece 100 simultaneously Suddenly, wherein being reset to initial position when the first cross workpiece 100 of clamping of blanking mechanical hand 52 moves up, and machining position is left When point, feeding manipulator 51 is moved to the top of Processing position, is displaced downwardly to final position and is placed into second cross workpiece 100 Processing position, then grinding program starts, and carries out grinding to the both ends of the first axle 101 of the cross workpiece 100, In Grinding Process, blanking mechanical hand 52 continues the first blanking step of first cross workpiece 100, wherein working as blanking After first cross workpiece 100 is placed into indexable site by manipulator 52, indexable program starting, during carrying out indexing, under Material manipulator 52 is moved upward to initial position, then leaves indexable site along 50 horizontal sliding of truss, is ready for second First blanking step of cross workpiece 100.
After feeding manipulator 51 completes the first feeding step of second cross workpiece 100, along 50 transverse shifting of truss To the top in indexable site, it is ready for the second feeding step of first cross workpiece 100, when first cross workpiece 100 After the completion of indexing commutation, feeding manipulator 51 carries out the second feeding step of first cross workpiece 100.
In the first blanking step process that blanking mechanical hand 52 carries out second cross workpiece 100, feeding manipulator 51 The second feeding step of first cross workpiece 100 is carried out simultaneously, wherein when the first axle 101 of second cross workpiece 100 After the completion of grinding, blanking mechanical hand 52 is displaced downwardly to final position, moves upwardly away from after clamping second cross workpiece 100 Vertical direction where Processing position, then feeding manipulator 51 is moved to the top of Processing position, is displaced downwardly to final position, will First cross workpiece 100 is placed into Processing position, and then grinding program starts, to the second axis of the cross workpiece 100 102 both ends carry out grinding, and in Grinding Process, blanking mechanical hand 52 continues second cross workpiece 100 The first blanking step, wherein after second cross workpiece 100 is placed into indexable site by blanking mechanical hand 52, indexable program Starting, during carrying out indexing, blanking mechanical hand 52 is moved upward to initial position, then leaves along 50 horizontal sliding of truss Indexable site is ready for the second blanking step of first cross workpiece 100.
After feeding manipulator 51 completes the second feeding step of first cross workpiece 100, along 50 transverse shifting of truss, It is ready for the second feeding step of second cross workpiece 100, after first 100 indexing commutation of cross workpiece, feeder Tool hand 51 carries out the second feeding step of second cross workpiece 100.
After the completion of the both ends grinding of the second axis 102 of first cross workpiece 100, blanking mechanical hand 52 is to first A cross workpiece 100 carries out the second blanking step, and during carrying out the second blanking step, feeding manipulator 51 carries out simultaneously Second feeding step of second cross workpiece 100, wherein when blanking mechanical hand 52 clamps first cross workpiece 100 to moving up When moving and be reset to initial position, and leaving Processing position, feeding manipulator 51 is moved to the top of Processing position, moves down to terminal Second cross workpiece 100 is placed into Processing position by position, and then grinding program starts, to second cross workpiece The both ends of 100 the second axis 102 carry out grinding, and in Grinding Process, blanking mechanical hand 52 continues and completes Second blanking step of first cross workpiece 100, then laterally moves to the top of Processing position again, is ready for second Second blanking step of cross workpiece 100.
After the completion of the both ends grinding of the second axis 102 of second cross workpiece 100, feeding manipulator 51 prepare into First feeding step of row third cross workpiece 100, while blanking mechanical hand 52 is ready for second cross workpiece simultaneously 100 the second blanking step, forms a process-cycle, recycles progress with this.
In the present embodiment, the handling equipment of the grinding machine of cross workpiece 100 include can on truss 50 horizontal sliding Sliding rack 61, be connected with second level propulsion device on sliding rack 61, wherein second level propulsion device include first order propulsive mechanism with And second level propulsive mechanism, first order propulsive mechanism is arranged on sliding rack 61, and is drivingly connected second level propulsive mechanism, and second Grade propulsive mechanism, which is drivingly connected feeding manipulator 51 and blanking mechanical hand 52, first order propulsive mechanism, to drive the second level to promote Mechanism and the feeding manipulator 51 being connected on the propulsive mechanism of the second level and blanking mechanical hand 52 are together with respect to about 61 sliding rack Mobile, under the driving of second level propulsive mechanism, feeding manipulator 51, blanking mechanical hand 52 can be moved up and down independently.Institute With in the Grinding Process of cross workpiece 100, feeding manipulator 51 and blanking mechanical hand 52 can be together with sliding racks 61 transverse shiftings, when feeding manipulator 51 or blanking mechanical hand 52 laterally move to the top of corresponding site, in the first order Under the driving of propulsive mechanism, feeding manipulator 51 and blanking mechanical hand 52 move down together, wherein in folding process, on Expect the secondary propulsion downwards simultaneously under the driving of second level propulsive mechanism of one in manipulator 51 and 52 the two of blanking mechanical hand, Reach home position carry out cross workpiece 100 crawl or placement movement, another be in do not carry out secondary propulsion to position State；When complete cross workpiece 100 crawl perhaps placement act after the second level propulsive mechanism driving feeding manipulator 51 or Blanking mechanical hand 52 moves up reset, in reseting procedure, first order propulsive mechanism drive simultaneously feeding manipulator 51 and Blanking mechanical hand 52 is moved upward to initial position together.
In the present embodiment, when the process of cross workpiece grinding machine needs to stop, control system also has " a bond The control process of beam ", when " a bond beam " button triggering, feeding manipulator 51 can stop the first feeding step and the second feeding Step, blanking mechanical hand 52 directly laterally move to the top of Processing position, prepare to carry out second to current cross workpiece 100 Blanking step, that is, after the grinding step of current cross workpiece 100, blanking mechanical hand 52 moves down position to terminal It sets, grabs the cross workpiece 100, be moved to initial position then up, then laterally move to blanking site along truss 50 again Top, be then displaced downwardly to final position, which be placed at blanking site, be moved to then up initial The second blanking step of the cross workpiece 100 is completed in position, meanwhile, the process of the cross workpiece grinding machine stops.
Cross workpiece grinding machine in the present invention has many advantages, such as, specific as follows, firstly, the loading and unloading of cross workpiece grinding machine Device includes that the division of labor of feeding manipulator 51 and blanking mechanical hand 52, wherein feeding manipulator 51 and blanking mechanical hand 52 is clear, and Can reciprocal, greatly improve production efficiency, wherein in the cross workpiece 100 that blanking mechanical hand 52 will complete the process After the taking-up of the Processing position of grinding platform, feeding manipulator 51 is with can put another cross workpiece 100 of crawl Setting progress grinding, the grinding station of such grinding machine at Processing position may be at continuous duty, i.e., wherein During blanking or indexing, another cross workpiece 100 adds one cross workpiece 100 still in grinding state, grinding Work platform will not leave unused, and improve production efficiency so significantly.Secondly, the feeding, discharge manipulator 52 of the cross grinding machine is upper Lower moving process is completed by second level propulsive mechanism, this second level propulsive mechanism, passes through servo motor and driving gas It being acted while cylinder, on the one hand, the movement speed for improving loading and unloading manipulator 52 has correspondingly improved the efficiency of loading and unloading, On the other hand, being swift in motion for cylinder is driven, ensure that loading and unloading manipulator 52 has faster movement speed, and servo motor Setting ensure that loading and unloading manipulator 52 can neatly rest on different height and positions by presetting program, the two Cooperation not only increases the movement speed of loading and unloading manipulator 52, and without requiring Processing position, feeding site, blanking site And indexable site is in same level height, it thus can according to the actual situation and space requirement, to the height of each device Degree carries out reasonable Arrangement, reduces manufacture difficulty, facilitates feeding, discharge manipulator 52 in the alignment function of upper and lower position.For another example, Turn device 30 is to be leveled by way of frictional drive to the second axis 102 of cross workpiece 100, and this leveling mode does not have There is leveling dead angle, adaptability is more extensive, and the turn device 30 is the side that grinder bed 41 is arranged in, rather than is arranged In the top of abrasive machining device 40, avoid during indexing that (such as part falls feelings because botching routines or breaking down Condition), safety accident is caused, safety is improved；Cylinder, motor, detection switch of turn device 30 etc. zero is also avoided simultaneously Component breaks down due to sustaining damage because being chronically in water mist environment, improves the reliability of whole system significantly.Finally, The cross workpiece grinding machine can successively act under control of the control system according to presetting program, high degree of automation, In, cross workpiece 100 is discharged on feeding conveyer belt 11 by operator, starts processing program, so that it may realize cross workpiece 100 Automatic process, wherein the cross workpiece 100 processed is placed on blanking conveyer belt 21 automatically by blanking mechanical hand 52 Discharging, in normal process, operator only needs cross workpiece 100 to be processed being put into feeding conveyer belt 11 On, the cross workpiece 100 processed is taken off from blanking conveyer belt 21, thus may be implemented one man operation more Equipment reduces cost of labor to improve the degree of automation.

Claims (10)

1. a kind of cross workpiece grinding machine, including lathe bed (41), the abrasive machining device (40) being set on the lathe bed (41), up and down Expect device and control system, the abrasive machining device (40) and handling equipment and control system carry out signal communication, It is characterized in that the handling equipment includes:
Loading bracket device (10), for placing cross workpiece (100) to be processed；
Blanking bracket system (20), for placing the cross workpiece (100) completed the process；
Turn device (30), for driving the cross workpiece (100) being placed on the turn device (30) rotation commutation；Further include Truss (50) above the abrasive machining device (40) and can laterally slidably it be arranged in upper on the truss (50) Material manipulator (51) and blanking mechanical hand (52), the truss (50) extend to the loading bracket device (10), blanking bracket The top of device (20) and turn device (30), the feeding manipulator (51) and blanking mechanical hand (52) can also be relative to institutes Truss (50) is stated to move up and down；Wherein, the feeding manipulator (51) can add in loading bracket device (10) and grinding Tooling is set and is moved between (40), and has and grab cross workpiece (100) to be processed from the loading bracket device (10) so The first action state being placed on the abrasive machining device (40) afterwards；The feeding manipulator (51) can also fill in indexing It sets and is moved between (30) and abrasive machining device (40), and have and grab cross work to be processed from the turn device (30) Part (100) is then placed into the second action state on the abrasive machining device (40)；The blanking mechanical hand (52) can It is moved between abrasive machining device (40) and turn device (30), and has from the abrasive machining device (40) and grab cross Workpiece (100) is then placed into the third action state on turn device (30)；The blanking mechanical hand (52) can also grind It cuts and is moved between processing unit (plant) (40) and blanking bracket system (20), and have to grab from the abrasive machining device (40) and process Cross workpiece (100) after the completion is then placed into the 4th action state on blanking bracket system (20).
2. cross workpiece grinding machine according to claim 1, it is characterised in that: the handling equipment further includes the first driving Component and the second driving assembly, wherein first driving assembly can drive the feeding manipulator (51) and blanking mechanical hand (52) horizontal sliding on the truss (50), the second driving assembly can drive the feeding manipulator (51) and blanking mechanical The relatively described truss (50) of hand (52) moves up and down；
First driving assembly includes the sliding rack (61) that can be laterally slidably arranged on the truss (50) and driving Mobile the first driving motor (62) of the sliding rack (61), wherein the feeding manipulator (51) and blanking mechanical hand (52) are set It sets on the sliding rack (61)；Second driving assembly is the second level propulsion device being arranged on the sliding rack (61), The second level propulsion device includes can the cooperate first order propulsive mechanism and second level propulsive mechanism of movement, and described first Grade propulsive mechanism is arranged on the sliding rack (61), and is drivingly connected the second level propulsive mechanism, and the second level promotes Mechanism is drivingly connected the feeding manipulator (51) and blanking mechanical hand (52), and can drive the feeding manipulator (51) or Person's blanking mechanical hand (52) moves up and down each independently.
3. cross workpiece grinding machine according to claim 2, it is characterised in that: the first order propulsive mechanism includes the second drive It dynamic motor (711) and being capable of the transmission that moves up and down of the relatively described sliding rack (61) by second driving motor (711) driving Bar (712), the second level propulsive mechanism are fixed on drive rod (712)；The second level propulsive mechanism includes being arranged side by side The first driving cylinder (721) and the second driving cylinder (722) on the drive rod (712), wherein the feeding manipulator (51) it can be moved up and down by the first driving cylinder (721) driving, the blanking mechanical hand (52) is driven by described second Cylinder (722) drives and can move up and down.
4. described in any item cross workpiece grinding machines according to claim 1~3, it is characterised in that: turn device (30) packet Bracket component (31), reversing mechanism (32) and levelling mechanism are included, wherein the bracket component (31) is used to support to indexing The both ends of the first axle (101) of cross workpiece (100), the reversing mechanism (32) are drivingly connected the bracket component (31), and The cross workpiece (100) that drive is placed on the bracket component (31) is rotated together with bracket component (31), the leveling machine Structure can drive the first axle (101) for being placed on the cross workpiece (100) of the bracket component (31) around the cross workpiece (100) Axis rotation to horizontality.
5. cross workpiece grinding machine according to claim 4, it is characterised in that: the levelling mechanism includes the flat component of homophony (33) and close to switch (34), wherein the flat component of homophony (33) can be with the cross work that is placed in the first support The outside wall surface CONTACT WITH FRICTION of the first axle (101) of part (100), and rub and drive the cross workpiece (100) around its first axle (101) axle center is rotated, and the described close switch (34) can identify whether the second axis of the cross workpiece (100) turns It moves to horizontality.
6. cross workpiece grinding machine according to claim 5, it is characterised in that: the flat component of homophony (33) includes friction pulley Component (332) and for drive it is described friction wheel assembly (332) rotate third driving motor (331)；The cross workpiece (100) outside wall surface of first axle (101) and friction wheel assembly (332) CONTACT WITH FRICTION, wherein the friction wheel assembly (332) rotation can drive cross workpiece (100) around the axis rotation of first axle (101).
7. a kind of control method applied to cross workpiece grinding machine as described in any one of claims 1 to 6, it is characterised in that: There is the Processing position for processing the cross workpiece (100), the loading bracket dress on the abrasive machining device (40) Setting has the feeding site for grab for the feeding manipulator (51) the cross workpiece (100), the blanking on (10) There is the blanking site for place for the blanking mechanical hand (52) the cross workpiece (100), institute on bracket system (20) It states on turn device (30) to have and carries out crawl cross workpiece (100) or blanking mechanical hand (52) progress for feeding manipulator (51) The indexable site of cross workpiece (100) is placed, the feeding manipulator (51) and blanking mechanical hand (52) can be along the truss (50) horizontal sliding is to the top of each corresponding site, and also have in the process of moving up and down the initial position positioned at upper end with And the final position positioned at lower end, feeding manipulator (51) and blanking mechanical hand (52) can be from corresponding at the final position Site crawl cross workpiece (100) or cross workpiece (100) is placed into corresponding site；And the following steps are included:
First feeding step: the feeding manipulator (51) laterally moves to the top in feeding site along the truss (50), so It is moved downward to final position from initial position afterwards, and grabs cross workpiece (100) to be processed from feeding site, then up Movement is reset to initial position, then the top of Processing position is laterally moved to along the truss (50), then from initial position to Lower movement position to terminal, is placed into Processing position for the cross workpiece (100), and then the feeding manipulator (51) is to moving up It is dynamic to be reset to initial position, then the Processing position is moved transversely out along truss (50)；
Second feeding step: the feeding manipulator (51) laterally moves to the top in indexable site along the truss (50), so It is moved downward to final position from initial position afterwards, and grabs cross workpiece (100) to be processed from indexable site, then up Movement is reset to initial position, then the top of Processing position is laterally moved to along the truss (50), then from initial position to Lower movement position to terminal, is placed into Processing position for the cross workpiece (100), and then the feeding manipulator (51) is to moving up It is dynamic to be reset to initial position, then the Processing position is moved transversely out along truss (50)；
Grinding step: after cross workpiece (100) is placed into the Processing position, grinding program starting, to placement Cross workpiece (100) to the Processing position carries out grinding, after the completion of grinding, grinding stop, so as to Blanking mechanical hand (52) grabs the cross workpiece (100)；
Indexing steps: when blanking mechanical hand (52) is by after the cross workpiece (100) of indexing is placed into indexable site, starting is indexable Program carries out indexable commutation to the cross workpiece (100) for being placed into the indexing site, so as to feeding manipulator (51) grab this ten Word workpiece (100), after the cross workpiece (100), which is crawled, is detached from the indexable site, the turn device (30) is reset to Original state, to place next cross workpiece (100) after blanking mechanical；
First blanking step: after the completion of grinding step, blanking mechanical hand (52) above the Processing position from Initial position is moved downward to final position, grabs the cross workpiece (100) from Processing position, moves up and be reset to initial bit It postpones, the top in indexable site is laterally moved to along the truss (50), is then moved down into final position from initial position, The cross workpiece (100) is placed on indexable site, movement is reset to initial position then up, then along truss (50) cross To moving away the indexable site；
Second blanking step: after the completion of grinding step, the blanking mechanical hand (52) is moved downward to from initial position Final position grabs the cross workpiece (100) from Processing position, moves up after being reset to initial position, along the truss (50) top for laterally moving to blanking site, is then moved down into final position from initial position, by the cross workpiece (100) be placed on blanking site, then up movement be reset to initial position, along truss (50) be moved transversely out it is described under Material position point；
Wherein, the first blanking step or the second blanking are carried out to current cross workpiece (100) in the blanking mechanical hand (52) During step, the feeding manipulator (51) carries out the first feeding step or the second feeding step of another workpiece simultaneously Suddenly, so that the Processing position of the grinder processing device is in continuous duty.
8. the control method of cross workpiece grinding machine according to claim 7, it is characterised in that: when blanking mechanical hand (52) into During second blanking step of the upper cross workpiece (100) of row, feeding manipulator (51) can carry out first cross simultaneously First feeding step of workpiece (100), wherein when blanking mechanical hand (52) clamp upper cross workpiece (100) far from the processing When vertical direction where site, feeding manipulator (51) laterally moves to the top of Processing position again, is displaced downwardly to final position First cross workpiece (100) is placed into Processing position, then grinding program starts, to the cross workpiece (100) The both ends of first axle (101) carry out grinding, and in Grinding Process, the blanking mechanical hand (52) continues upper one Second blanking step of cross workpiece (100), after blanking mechanical hand (52) complete the second blanking step, laterally along truss (50) The top for sliding onto the Processing position is ready for the first blanking step of first cross workpiece (100)；
After feeding manipulator (51) complete the first feeding step of first cross workpiece (100), along the truss (50) cross To the top for being moved to the feeding site, it is ready for the first feeding step of second cross workpiece (100), when first After the completion of the both ends grinding of the first axle (101) of cross workpiece (100), blanking mechanical hand (52) is to the cross workpiece (100) the first blanking step is carried out, during carrying out the first blanking step, feeding manipulator (51) carries out second simultaneously First feeding step of cross workpiece (100), wherein when blanking mechanical hand (52) clamp first cross workpiece (100) to moving up When moving and be reset to initial position, and leaving the Processing position, feeding manipulator (51) is moved to the top of Processing position, moves down Second cross workpiece (100) is placed into Processing position by position to terminal, and then grinding program starts, to the cross work The both ends of the first axle (101) of part (100) carry out grinding, in Grinding Process, the blanking mechanical hand (52) after Continuous the first blanking step for carrying out first cross workpiece (100), wherein when blanking mechanical hand (52) is by first cross workpiece (100) after being placed into the indexable site, indexable program starting, during carrying out indexing, blanking mechanical hand (52) is to moving up It moves to initial position, then leaves the indexable site along truss (50) horizontal sliding, be ready for second cross workpiece (100) the first blanking step；
After feeding manipulator (51) complete the first feeding step of second cross workpiece (100), along the truss (50) cross To the top for being moved to indexable site, it is ready for the second feeding step of first cross workpiece (100), when first cross After the completion of workpiece (100) indexing commutation, the feeding manipulator (51) carries out the second feeding step of first cross workpiece (100) Suddenly；
In the first blanking step process that blanking mechanical hand (52) carry out second cross workpiece (100), feeding manipulator (51) the second feeding step of first cross workpiece (100) is carried out simultaneously, wherein when the of second cross workpiece (100) After the completion of one axis (101) grinding, the blanking mechanical hand (52) is displaced downwardly to final position, clamps second cross workpiece (100) vertical direction where the Processing position is moved upwardly away from after, then feeding manipulator (51) is moved to machining position The top of point, is displaced downwardly to final position, first cross workpiece (100) is placed into Processing position, then grinding program Starting carries out grinding, in Grinding Process, the blanking machine to the both ends of the second axis of the cross workpiece (100) Tool hand (52) continues the first blanking step of second cross workpiece (100), wherein when blanking mechanical hand (52) is by second After a cross workpiece (100) is placed into the indexable site, indexable program starting, during carrying out indexing, blanking mechanical hand (52) it is moved upward to initial position, then the indexable site is left along truss (50) horizontal sliding, is ready for first Second blanking step of cross workpiece (100)；
After feeding manipulator (51) complete the second feeding step of first cross workpiece (100), along the truss (50) cross To movement, it is ready for the second feeding step of second cross workpiece (100), when first cross workpiece (100) indexing is changed Backward, feeding manipulator (51) carries out the second feeding step of second cross workpiece (100)；
After the completion of the both ends grinding of the second axis of first cross workpiece (100), blanking mechanical hand (52) is to first Cross workpiece (100) carry out the second blanking step, during carrying out the second blanking step, feeding manipulator (51) and meanwhile into The second feeding step of second cross workpiece (100) of row, wherein when blanking mechanical hand (52) clamp first cross workpiece (100) when moving up and be reset to initial position, and leaving the Processing position, feeding manipulator (51) is moved to Processing position Top, be displaced downwardly to final position for second cross workpiece (100) and be placed into Processing position, then grinding program opens It is dynamic, grinding, in Grinding Process, the blanking are carried out to the both ends of the second axis of second cross workpiece (100) Manipulator (52) continues and completes the second blanking step of first cross workpiece (100), then laterally moves to institute again The top for stating Processing position is ready for the second blanking step of second cross workpiece (100)；
After the completion of the both ends grinding of the second axis of second cross workpiece (100), feeding manipulator (51) is ready for First feeding step of third cross workpiece (100), while the blanking mechanical hand (52) is ready for second ten simultaneously Second blanking step of word workpiece (100), forms a process-cycle, recycles progress with this.
9. the control method of cross workpiece grinding machine according to claim 8, it is characterised in that: the handling equipment includes Can on the truss (50) horizontal sliding sliding rack (61), be connected with second level propulsion device on the sliding rack (61), Wherein, the second level propulsion device includes first order propulsive mechanism and second level propulsive mechanism, the first order propulsive mechanism It is arranged on the sliding rack (61), and is drivingly connected the second level propulsive mechanism, the second level propulsive mechanism driving connects The feeding manipulator (51) and blanking mechanical hand (52) are connect, the first order propulsive mechanism can drive the second level to promote Mechanism and the relatively described sliding together of the feeding manipulator being connected on the propulsive mechanism of the second level (51) and blanking mechanical hand (52) Frame (61) moves up and down, under second level propulsive mechanism driving, the feeding manipulator (51), blanking mechanical hand (52) energy It is enough independently to move up and down；
Wherein, the feeding manipulator (51) and blanking mechanical hand (52) can together with sliding rack (61) transverse shifting, when When feeding manipulator (51) or blanking mechanical hand (52) laterally move to the top of corresponding site, in first order propulsive mechanism Under driving, the feeding manipulator (51) and blanking mechanical hand (52) move down together, wherein in folding process, feeding One in manipulator (51) and blanking mechanical hand (52) the two is secondary downwards simultaneously under the driving of second level propulsive mechanism to push away Into position of reaching home carries out the crawl or placement movement of cross workpiece (100), another is in and does not carry out secondary propulsion To position state；After the crawl or placement of completing cross workpiece (100) act, second level propulsive mechanism drives feeding manipulator (51) or blanking mechanical hand (52) moves up reset, and in reseting procedure, first order propulsive mechanism drives feeder simultaneously Tool hand (51) and blanking mechanical hand (52) are moved upward to initial position together.
10. the control method of cross workpiece grinding machine according to claim 9, it is characterised in that: the loading bracket device It (10) include feeding conveyer belt (11), the first power device (13) and first sensor (12)；The blanking bracket system (20) Including blanking conveyer belt (21), the second power device and second sensor (22)；
Cross workpiece (100) to be processed can be emitted on the feeding conveyer belt (11), when being placed on the feeding conveyer belt (11) after the cross workpiece (100) positioned at feeding site on is walked by feeding manipulator (51) folder, first sensor (12) can It identifies the state, and feeds back to control system, control system controls first power device (13) and drives the feeding conveyer belt (11) and remaining cross workpiece (100) for being placed on it is mobile, so that the automatic cover of next cross workpiece (100) is to upper material position Point is grabbed next time for feeding manipulator (51)；
Under cross workpiece (100) after processing is completed is placed on the blanking conveyer belt (21) by blanking mechanical hand (52) On material position point, second sensor (22) can identify the state, and feed back to control system, and control system controls the second power dress It sets and drives the blanking conveyer belt (21) and the cross workpiece (100) being placed on it mobile, so that the blanking conveyer belt (21) On blanking site be in vacant state, so that blanking mechanical hand (52) is placed next time.
CN201811209681.7A 2018-10-17 2018-10-17 Cross-shaped workpiece grinding machine and control method Active CN109227292B (en)

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CN109955147A (en) * 2019-03-21 2019-07-02 黄友耐 A kind of universal joint retainer burnishing device
CN109968116A (en) * 2019-04-26 2019-07-05 江苏飞象数控设备有限公司 The vertical automatic Loading package integral of centreless grinding machine external cuts bracket
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CN114211354A (en) * 2021-11-04 2022-03-22 杭州春源自动化科技有限公司 Feeding and discharging bracket device for cross-shaped workpiece, grinding machine and control method

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CN114211354A (en) * 2021-11-04 2022-03-22 杭州春源自动化科技有限公司 Feeding and discharging bracket device for cross-shaped workpiece, grinding machine and control method

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