CN109227292B

CN109227292B - Cross-shaped workpiece grinding machine and control method

Info

Publication number: CN109227292B
Application number: CN201811209681.7A
Authority: CN
Inventors: 李德舜
Original assignee: Ningbo Jiangbei Xinsheng Cnc Machinery Co ltd
Current assignee: Ningbo Jiangbei Xinsheng Cnc Machinery Co ltd
Priority date: 2018-10-17
Filing date: 2018-10-17
Publication date: 2020-10-16
Anticipated expiration: 2038-10-17
Also published as: CN109227292A

Abstract

The invention relates to a cross workpiece grinding machine, which comprises a truss arranged above a grinding device, and a feeding mechanical arm and a discharging mechanical arm which are arranged on the truss in a transverse sliding manner, wherein the feeding mechanical arm has a first action state of grabbing a cross workpiece to be machined from a feeding bracket device and then placing the cross workpiece on the grinding device, and has a second action state of grabbing the cross workpiece to be machined from a transposition device and then placing the cross workpiece on the grinding device; the feeding manipulator has a third action state of grabbing the cross-shaped workpiece from the grinding device and then placing the cross-shaped workpiece on the indexing device, and has a fourth action state of grabbing the processed cross-shaped workpiece from the grinding device and then placing the cross-shaped workpiece on the feeding bracket device. The four action states can be carried out alternately, so that the grinding device can be in a continuous working state, and the production efficiency is improved. The invention also relates to a control method of the cross workpiece grinding machine.

Description

Cross-shaped workpiece grinding machine and control method

Technical Field

The invention relates to the technical field of grinding machine equipment, in particular to a cross-shaped workpiece grinding machine and a control method.

Background

The cross workpieces, such as a differential cross shaft and a universal joint cross shaft, are both composed of two shafts with identical structures, namely a first shaft and a second shaft, and the axes of the two shafts are in the same plane and are crossed at right angles. The grinding of the outer circular surfaces of two shafts of the cross-shaped workpiece, which are crossed with each other, needs to be finished on a corresponding cross-shaped workpiece grinding machine, wherein the grinding is generally finished in two times, symmetrical parts at two ends of a first shaft are ground in one step, and after a part is grabbed on an indexing mechanism through a grabbing device to be automatically indexed and leveled, the part is grabbed on the grinding machine to process a second shaft.

The utility model discloses a chinese utility model patent that application number is CN201520255889.8 (publication number is CN204546288U) discloses "a feed mechanism of centerless grinding machine", the feed mechanism of centerless grinding machine includes manipulator, switching-over platform, set up positive piece and fixed hook, wherein, the manipulator is used for pressing from both sides the cross axle of treating processing from last station to get to the switching-over bench, then set up the cross axle through setting up the piece and level, the fixed hook colludes the cross axle after setting up flatly, convey to grinding wheel department and carry out grinding process, place the cross axle on the switching-over platform through the fixed hook after the one end grinding process of cross axle and carry out the switching-over, and repeat the above-mentioned grinding operation of setting up, colluding the step and accomplish other axle ends.

However, the centerless grinder of the above patent has certain disadvantages, for example, the feeding device of the centerless grinder sequentially performs feeding and discharging operations by a manipulator and a fixed hook, namely, the feeding mechanism of the centerless grinding machine can only carry out the grinding processing of the next cross shaft after the two shaft ends of one cross shaft are completely ground, in the moving process of the fixed hook and the reversing process of the cross shaft, the grinding processing station of the grinding machine is completely in an idle state, which seriously influences the production efficiency of the grinding processing of the cross shaft, and this centerless grinder's feed mechanism adopts the fixed hook to convey the cross axle, and the fixed hook is insecure to the fixed of cross axle, easily drops, especially when the fixed hook picks up the cross axle after conveying to the top of grinding processing station, if drop easily causes great incident. If adopt the manipulator to replace the fixed hook and realize the conveying operation of cross through the cylinder drive, though can guarantee that the cross is in firm state, the requirement of this kind of cylinder driven mode to the position of changing to the platform and the position of abrasive machining station is higher, needs both to be in same level, just can make things convenient for the manipulator to realize snatching the accuracy of cross.

In addition, in the existing cross-shaped workpiece grinding machine, the leveling operation of the indexing mechanism in the feeding and discharging device on the second shaft of the cross-shaped workpiece is realized through the linear motion of the correcting block, but when the cross-shaped workpiece is taken out of the grinding machine by the manipulator and then placed on the reversing table, the second shaft of the cross-shaped workpiece, which can swing freely, may be in a vertical state or a nearly vertical state, so that the correcting block is difficult to adjust the cross-shaped workpiece to a horizontal state, and leveling dead angles occur. In addition, some indexing mechanisms are arranged above a grinding machining site, namely, the indexing process is carried out above a grinding wheel rotating at a high speed, safety accidents can be caused if actions are wrong or faults (such as part falling and the like) occur in the indexing process, and cooling water of the grinding machining site is always in an open state in the indexing process, so that the whole indexing mechanism above the grinding wheel is in a water mist environment for a long time, parts such as an air cylinder, a motor, a detection switch and the like are easy to damage and have faults, and the reliability of the whole system is reduced.

Therefore, the existing cross-shaped workpiece grinding machine needs to be further improved.

Disclosure of Invention

The invention aims to solve the first technical problem and provides a cross workpiece grinding machine with high production efficiency aiming at the current situation of the prior art.

The second technical problem to be solved by the invention is to provide a control method of a cross workpiece grinding machine with high production efficiency aiming at the current situation of the prior art.

The technical scheme adopted by the invention for solving the first technical problem is as follows: a cross workpiece grinding machine comprises a machine body, a grinding device arranged on the machine body, a feeding and discharging device and a control system, wherein the feeding and discharging device comprises a feeding bracket device used for placing a cross workpiece to be machined; the blanking bracket device is used for placing the processed cross-shaped workpiece; the transposition device is used for driving the cross workpiece placed on the transposition device to rotate and reverse; the automatic feeding device is characterized by further comprising a truss arranged above the grinding device, and a feeding manipulator and a discharging manipulator which are arranged on the truss in a transverse sliding mode, wherein the truss extends to the positions above the feeding bracket device, the discharging bracket device and the transposition device, and the feeding manipulator and the discharging manipulator can move up and down relative to the truss; the feeding manipulator can move between a feeding bracket device and a grinding device and has a first action state that a cross-shaped workpiece to be machined is grabbed from the feeding bracket device and then placed on the grinding device; the feeding manipulator can also move between the indexing device and the grinding device and has a second action state of grabbing a cross workpiece to be machined from the indexing device and then placing the cross workpiece on the grinding device; the blanking manipulator can move between the grinding device and the indexing device and has a third action state of grabbing the cross-shaped workpiece from the grinding device and then placing the cross-shaped workpiece on the indexing device; the discharging manipulator can also move between the grinding device and the discharging bracket device, and has a fourth action state that the processed cross-shaped workpiece is grabbed from the grinding device and then placed on the discharging bracket device.

As an improvement, the loading and unloading device further comprises a first driving assembly and a second driving assembly, wherein the first driving assembly can drive the loading manipulator and the unloading manipulator to slide laterally on the truss, and the second driving assembly can drive the loading manipulator and the unloading manipulator to move up and down relative to the truss; the first driving assembly comprises a sliding frame which is arranged on the truss in a transverse sliding mode and a first driving motor which drives the sliding frame to move, wherein the feeding mechanical arm and the discharging mechanical arm are arranged on the sliding frame; the second drive assembly is for setting up second grade advancing device on the carriage, second grade advancing device is including first order advancing mechanism and the second level advancing mechanism that can the mutually support action, first order advancing mechanism sets up on the carriage to the drive is connected second level advancing mechanism, second level advancing mechanism drive is connected material loading manipulator and unloading manipulator, and can drive material loading manipulator or unloading manipulator reciprocate independently separately. Due to the structural arrangement, the feeding mechanical arm and the discharging mechanical arm can move transversely along with the movable frame, the structure of the whole feeding and discharging device is simplified, and the control process of the whole device is simpler. In addition, the up-and-down moving process of the feeding manipulator and the discharging manipulator is driven by a secondary propelling mechanism, wherein a first-stage propelling mechanism and a second-stage propelling mechanism in the secondary propelling mechanism can be matched with each other to act, so that the moving speed is obviously improved.

As an improvement, the first-stage propelling mechanism comprises a second driving motor and a transmission rod which is driven by the second driving motor and can move up and down relative to the sliding frame, and the second-stage propelling mechanism is fixed on the transmission rod; the second stage advancing mechanism comprises a first driving cylinder and a second driving cylinder which are arranged on the transmission rod side by side, wherein the feeding manipulator is driven by the first driving cylinder and can move up and down, and the discharging manipulator is driven by the second driving cylinder and can move up and down. In the two-stage propulsion mechanism, the second driving motor and the first driving cylinder or the second driving cylinder can act simultaneously, on one hand, the moving speed of the feeding and discharging manipulator is improved, the feeding and discharging efficiency is improved, on the other hand, the driving cylinder acts rapidly, the feeding and discharging manipulator is ensured to have higher moving speed, the arrangement of the second driving motor ensures that the feeding and discharging manipulator can flexibly stay at different height positions through a preset program, the cooperation of the feeding and discharging manipulator and the second driving motor not only improves the moving speed of the feeding and discharging manipulator, and the processing site, the feeding site, the blanking site and the transposition site are not required to be positioned on the same horizontal height, so that the processing station can be used for processing the workpiece according to the actual situation and the space requirement, the heights of the devices are reasonably arranged, so that the manufacturing difficulty is reduced, and the alignment operation of the feeding and discharging mechanical arms at the upper and lower positions is greatly facilitated.

As an improvement, the transposition device comprises a support component, a reversing mechanism and a leveling mechanism, wherein the support component is used for supporting two ends of a first shaft of a cross workpiece to be transposed, the reversing mechanism is in driving connection with the support component and drives the cross workpiece placed on the support component to rotate along with the support component, and the leveling mechanism can drive the cross workpiece placed on the support component to rotate to a horizontal state around the axis of the first shaft of the cross workpiece.

As an improvement, leveling mechanism includes main leveling subassembly and proximity switch, wherein, main leveling subassembly can with place the outer wall frictional contact of the primary shaft of cross work piece on the bracket component to the friction drive the cross work piece rotates around the axle center of its primary shaft, proximity switch can discern whether the secondary shaft of cross work piece rotates to the horizontality.

As an improvement, the main leveling assembly comprises a friction wheel assembly and a third driving motor for driving the friction wheel assembly to rotate; the outer wall surface of the first shaft of the cross-shaped workpiece is in friction contact with the friction wheel assembly, wherein the rotation of the friction wheel assembly can drive the cross-shaped workpiece to rotate around the axis of the first shaft.

The technical scheme adopted by the invention for solving the second technical problem is as follows: a control method of a cross-shaped workpiece grinding machine is provided, the grinding processing device is provided with a processing site for processing the cross-shaped workpiece, the feeding bracket device is provided with a feeding site for the feeding manipulator to grab the cross-shaped workpiece, the blanking bracket device is provided with a blanking site for the blanking manipulator to place the cross workpiece, the transposition device is provided with a transposition site for a feeding manipulator to grab a cross-shaped workpiece or a discharging manipulator to place the cross-shaped workpiece, the feeding manipulator and the discharging manipulator can slide to the upper part of each corresponding position point along the transverse direction of the truss, and also has an initial position at the upper end and a final position at the lower end during the up-and-down movement, the feeding manipulator and the discharging manipulator can grab the cross-shaped workpiece from the corresponding sites or place the cross-shaped workpiece to the corresponding sites at the end point positions; and comprises the following steps:

a first feeding step: the feeding mechanical arm moves to the upper side of the feeding site along the truss in the transverse direction, then moves downwards from the initial position to the final position, grabs a cross workpiece to be machined from the feeding site, then moves upwards to reset to the initial position, then moves transversely to the upper side of the machining site along the truss, then moves downwards from the initial position to the final position, places the cross workpiece to the machining site, then moves upwards to reset to the initial position, and then moves transversely to leave the machining site along the truss.

A second feeding step: the feeding mechanical arm moves transversely to the upper side of the transposition site along the truss, then moves downwards from the initial position to the final position, grabs a cross workpiece to be machined from the transposition site, then moves upwards to reset to the initial position, then moves transversely to the upper side of the machining site along the truss, then moves downwards from the initial position to the final position, places the cross workpiece to the machining site, then moves upwards to reset to the initial position, and then moves transversely to leave the machining site along the truss.

Grinding: and after the cross-shaped workpiece is placed on the machining site, starting a grinding program, grinding the cross-shaped workpiece placed on the machining site, and after the grinding is finished, closing the grinding program so that the blanking manipulator can grasp the cross-shaped workpiece.

And (3) transposition step: when the cross workpiece to be indexed is placed on the indexing position by the blanking manipulator, an indexing program is started, the cross workpiece placed on the indexing position is subjected to indexing reversing, so that the feeding manipulator can grab the cross workpiece, and after the cross workpiece is grabbed and separated from the indexing position, the indexing device is reset to an initial state, so that the blanking manipulator can place the next cross workpiece.

A first blanking step: after the grinding processing step is completed, the blanking manipulator positioned above the processing site moves downwards from the initial position to the final position, grabs the cross workpiece from the processing site, moves upwards to reset to the initial position, moves transversely along the truss to the position above the indexing site, then moves downwards from the initial position to the final position, places the cross workpiece on the indexing site, then moves upwards to reset to the initial position, and then moves transversely along the truss to leave the indexing site.

A second blanking step: after the grinding processing step is completed, the blanking manipulator moves downwards from the initial position to the final position, grabs the cross-shaped workpiece from the processing site, moves upwards to be reset to the initial position, moves transversely along the truss to be above the blanking site, then moves downwards from the initial position to the final position, places the cross-shaped workpiece on the blanking site, then moves upwards to be reset to the initial position, and moves transversely along the truss to be away from the blanking site.

In the process that the blanking manipulator carries out the first blanking step or the second blanking step on the current cross-shaped workpiece, the feeding manipulator simultaneously carries out the first feeding step or the second feeding step on another workpiece, so that the machining site of the grinding machining device is in a continuous working state.

As an improvement, when the blanking manipulator carries out a second blanking step of a first cross-shaped workpiece, the feeding manipulator can simultaneously carry out a first feeding step of the first cross-shaped workpiece, wherein when the blanking manipulator clamps the first cross-shaped workpiece and is far away from the vertical direction of the machining site, the feeding manipulator moves transversely to the position above the machining site again, moves downwards to the end position to place the first cross-shaped workpiece to the machining site, then a grinding machining program is started to grind and machine two ends of a first shaft of the cross-shaped workpiece, during the grinding machining process, the blanking manipulator continues to carry out the second blanking step of the first cross-shaped workpiece, and after the blanking manipulator finishes the second blanking step, the blanking manipulator slides transversely to the position above the machining site along a truss to prepare for carrying out the first blanking step of the first cross-shaped workpiece;

after the first feeding step of a first cross-shaped workpiece is finished by a feeding manipulator, the cross-shaped workpiece is transversely moved to the position above a feeding position point along the truss to prepare for a first feeding step of a second cross-shaped workpiece, after the grinding machining of the two ends of a first shaft of the first cross-shaped workpiece is finished by the feeding manipulator, the first feeding step of the second cross-shaped workpiece is simultaneously carried out by the feeding manipulator, when the first cross-shaped workpiece is clamped by the feeding manipulator, the feeding manipulator moves upwards to an initial position and is separated from the machining position, the feeding manipulator moves to the position above the machining position and moves downwards to a final position to place the second cross-shaped workpiece to the machining position, then a grinding machining program is started to grind the two ends of the first shaft of the cross-shaped workpiece, and in the grinding machining process, the blanking manipulator continues to perform a first blanking step of a first cross-shaped workpiece, wherein after the blanking manipulator places the first cross-shaped workpiece to the transposition site, the transposition program is started, and in the transposition process, the blanking manipulator moves upwards to the initial position and then slides transversely along the truss away from the transposition site to prepare for a first blanking step of a second cross-shaped workpiece;

after the first feeding step of a second cross-shaped workpiece is finished, the feeding manipulator transversely moves to the position above the transposition position along the truss to prepare for the second feeding step of the first cross-shaped workpiece, and after the transposition and reversing of the first cross-shaped workpiece are finished, the feeding manipulator performs the second feeding step of the first cross-shaped workpiece;

during the first unloading step of the second cross-shaped workpiece, the feeding manipulator simultaneously performs a second feeding step of the first cross-shaped workpiece, wherein after the grinding processing of the first shaft of the second cross-shaped workpiece is completed, the feeding manipulator moves downwards to the end position, clamps the second cross-shaped workpiece and moves upwards away from the vertical direction of the processing point, then the feeding manipulator moves above the processing point and moves downwards to the end position, places the first cross-shaped workpiece to the processing point, then the grinding processing program is started to grind and process two ends of the second shaft of the cross-shaped workpiece, during the grinding processing, the feeding manipulator continues to perform the first unloading step of the second cross-shaped workpiece, wherein after the feeding manipulator places the second cross-shaped workpiece to the indexing point, the indexing program is started, in the transposition process, the blanking manipulator moves upwards to an initial position, then slides transversely along the truss to leave the transposition site, and a second blanking step of a first cross-shaped workpiece is prepared;

after the second feeding step of the first cross-shaped workpiece is finished, the feeding mechanical arm transversely moves along the truss to prepare for the second feeding step of the second cross-shaped workpiece, and after the first cross-shaped workpiece is subjected to transposition and reversing, the feeding mechanical arm performs the second feeding step of the second cross-shaped workpiece;

after the two ends of the second shaft of the first cross-shaped workpiece are ground, the blanking manipulator carries out a second blanking step on the first cross-shaped workpiece, in the process of carrying out the second blanking step, the feeding manipulator simultaneously carries out the second feeding step of a second cross-shaped workpiece, wherein when the blanking manipulator clamps the first cross-shaped workpiece, the first cross-shaped workpiece moves upwards to reset to the initial position and leaves the machining site, the feeding mechanical arm moves to the upper part of the processing site, moves downwards to the end point position to place a second cross-shaped workpiece to the processing site, then the grinding processing program is started, grinding both ends of a second shaft of a second cross-shaped workpiece, wherein in the grinding process, the blanking mechanical arm continues to perform and complete a second blanking step of the first cross-shaped workpiece, then transversely moving the workpiece to the position above the machining point to prepare for a second blanking step of a second cross-shaped workpiece;

and after the two ends of the second shaft of the second cross-shaped workpiece are ground, the feeding manipulator prepares to perform a first feeding step on the third cross-shaped workpiece, and the discharging manipulator simultaneously prepares to perform a second discharging step on the second cross-shaped workpiece, so that a processing period is formed, and the processing is performed in a circulating manner.

As an improvement, the loading and unloading device comprises a sliding frame capable of sliding transversely on the truss, and a secondary propulsion device is connected to the sliding frame, wherein the secondary propulsion device comprises a first-stage propulsion mechanism and a second-stage propulsion mechanism, the first-stage propulsion mechanism is arranged on the sliding frame and is in driving connection with the second-stage propulsion mechanism, the second-stage propulsion mechanism is in driving connection with the loading manipulator and the unloading manipulator, the first-stage propulsion mechanism can drive the second-stage propulsion mechanism and the loading manipulator and the unloading manipulator connected to the second-stage propulsion mechanism to move up and down relative to the sliding frame together, and the loading manipulator and the unloading manipulator can respectively and independently move up and down under the driving of the second-stage propulsion mechanism; the feeding manipulator and the discharging manipulator can transversely move along with the sliding frame, when the feeding manipulator or the discharging manipulator transversely moves to the position above a corresponding position point, the feeding manipulator and the discharging manipulator downwards move together under the driving of the first-stage propelling mechanism, in the downwards moving process, one of the feeding manipulator and the discharging manipulator downwards and secondarily propels at the same time under the driving of the second-stage propelling mechanism, the cross-shaped workpiece is grabbed or placed at the end position, and the other one is in a waiting state without secondary propelling; after the grabbing or placing action of the cross-shaped workpiece is completed, the second-stage pushing mechanism drives the feeding manipulator or the discharging manipulator to move upwards for resetting, and in the resetting process, the first-stage pushing mechanism simultaneously drives the feeding manipulator and the discharging manipulator to move upwards to the initial position.

As an improvement, the feeding bracket device comprises a feeding conveying belt, a first power device and a first sensor, and the blanking bracket device comprises a blanking conveying belt, a second power device and a second sensor; the cross-shaped workpieces to be processed are arranged on the feeding conveyor belt, when the cross-shaped workpieces positioned at a feeding position on the feeding conveyor belt are clamped away by the feeding manipulator, the state can be recognized by the first sensor and fed back to the control system, and the control system controls the first power device to drive the feeding conveyor belt and the other cross-shaped workpieces positioned on the feeding conveyor belt to move, so that the next cross-shaped workpiece is automatically replaced to the feeding position for the feeding manipulator to grab next time; the processed cross workpiece is placed on a blanking site on the blanking conveying belt through the blanking manipulator, the second sensor can recognize the state and feed the state back to the control system, and the control system controls the second power device to drive the blanking conveying belt and the cross workpiece placed on the blanking conveying belt to move, so that the blanking site on the blanking conveying belt is in a vacant position state, and the blanking manipulator can place the workpiece for the next time.

Compared with the prior art, the cross-shaped workpiece grinding machine has the advantages that the cross-shaped workpiece grinding machine comprises the feeding mechanical arm and the discharging mechanical arm, the feeding mechanical arm and the discharging mechanical arm are clear in work division and can be matched with each other, and production efficiency is greatly improved.

Drawings

FIG. 1 is a schematic perspective view of a cross-shaped workpiece grinder according to an embodiment of the invention;

FIG. 2 is a front view of the cross-shaped workpiece grinder according to the embodiment of the invention, wherein the blanking manipulator is located above the machining point and in the process of moving down, and the feeding manipulator is in a standby state;

fig. 3 is a schematic perspective view of a cross-shaped workpiece grinder according to an embodiment of the present invention, in which a discharging manipulator is located above a machining point and in an upward moving process, and a feeding manipulator is in a waiting state;

FIG. 4 is a schematic perspective view of a cross-shaped workpiece grinder according to an embodiment of the present invention, in which a loading manipulator is located above a machining point and is ready to move down, and a discharging manipulator is in a standby state;

FIG. 5 is a schematic perspective view of a cross-shaped workpiece grinder according to an embodiment of the present invention, in which a feeding manipulator is located above a machining point and in a downward moving process, and a discharging manipulator is in a waiting state;

fig. 6 is a schematic perspective view of a cross-shaped workpiece grinder according to an embodiment of the present invention, in which a discharging manipulator is located above an indexing point to be moved down, and a feeding manipulator is in a standby state;

fig. 7 is a schematic perspective view of a cross-shaped workpiece grinder according to an embodiment of the present invention, in which a feeding manipulator is located above an indexing point and in a downward moving process, and the feeding manipulator is in a waiting state;

fig. 8 is a schematic perspective view of a cross-shaped workpiece grinder according to an embodiment of the present invention, in which a feeding robot is located above an indexing point and in an upward moving process, and a discharging robot is in a waiting state;

FIG. 9 is a schematic view of a portion of the cross-shaped workpiece grinder in accordance with an embodiment of the present invention;

FIG. 10 is a schematic view of a portion of the cross-shaped workpiece grinder in accordance with an embodiment of the present invention;

FIG. 11 is a schematic perspective view of a first driving assembly of the cross-shaped workpiece grinding machine in cooperation with a truss according to an embodiment of the invention;

FIG. 12 is a perspective view of a second drive assembly of the cross-workpiece grinder of the present invention;

FIG. 13 is a schematic perspective view of a loading bracket device of the cross-shaped workpiece grinding machine according to an embodiment of the invention;

FIG. 14 is a schematic perspective view of a blanking bracket device of the cross-shaped workpiece grinding machine according to an embodiment of the invention;

FIG. 15 is a perspective view of an indexing device in an initial state without cross-shaped work pieces positioned thereon according to an embodiment of the present invention;

FIG. 16 is a schematic perspective view of an indexing device according to an embodiment of the present invention, in which a cross workpiece is in a leveling state before reversing, and an auxiliary leveling mechanism is in an initial state;

FIG. 17 is a schematic perspective view of an indexing device according to an embodiment of the present invention, wherein a cross-shaped workpiece is in a leveling state before reversing, and auxiliary leveling mechanisms are supported at two ends of a second shaft of the cross-shaped workpiece;

fig. 18 is a schematic perspective view of an indexing device according to an embodiment of the present invention, in which a cross workpiece is in a leveling state after reversing is completed.

Detailed Description

The invention is described in further detail below with reference to the accompanying examples.

The cross workpiece grinding machine comprises a machine body 41, a grinding device 40, a loading and unloading device and a control system (not shown), wherein the grinding device 40 is arranged on the machine body 41, the loading and unloading device is arranged on one side of the machine body 41, the grinding device 40 and the loading and unloading device are in signal communication with the control system, the loading and unloading device comprises a loading bracket device 10, an unloading bracket device 20 and a transposition device 30, wherein the loading bracket device 10 is used for placing and conveying a cross workpiece 100 to be machined, the unloading bracket device 20 is used for placing and conveying the machined cross workpiece 100, the transposition device 30 is used for driving the cross workpiece 100 placed on the transposition device 30 to rotate and reverse, in the embodiment, the loading and unloading device further comprises a truss 50 arranged above the grinding device 40, and a loading manipulator 51 and an unloading manipulator 52 which are transversely slidably arranged on the truss 50, specifically, the truss 50 is fixed on the bed 41 by a column 42, and the truss 50 extends above the feeding tray device 10, the discharging tray device 20, and the indexing device 30, specifically, the grinding device 40 has a machining site for machining the cross workpiece 100, the feeding tray device 10 has a feeding site for the feeding robot 51 to grasp the cross workpiece 100, the discharging tray device 20 has a discharging site for the discharging robot 52 to place the cross workpiece 100, the indexing device 30 has an indexing site for the feeding robot 51 to grasp the cross workpiece 100 or the discharging robot 52 to place the cross workpiece 100, the feeding robot 51 and the discharging robot 52 can slide laterally along the truss 50 to above the respective sites, and in addition, the feeding robot 51 and the discharging robot 52 can also move up and down relative to the truss 50, and also has an initial position at the upper end and a final position at the lower end in the up-and-down movement, at which the feeding robot 51 and the discharging robot 52 can grasp the cross-shaped workpiece 100 from the corresponding sites or place the cross-shaped workpiece 100 on the corresponding sites. Specifically, the feeding robot 51 and the discharging robot 52 are driven by the first driving assembly to slide laterally along the truss 50 and driven by the second driving assembly to move up and down relative to the truss 50, and more specifically, the feeding robot 51 is movable between the feeding carriage device 10 and the grinding device 40, and has a first action state of picking up the cross workpiece 100 to be machined from the feeding carriage device 10 and then placing the cross workpiece on the grinding device 40; the feeding robot 51 is also movable between the indexing device 30 and the grinding device 40, and has a second action state of picking up the cross workpiece 100 to be machined from the indexing device 30 and then placing it on the grinding device 40; the feed robot 52 is movable between the grinding device 40 and the index device 30, and has a third operating state of grasping the cross-shaped workpiece 100 from the grinding device 40 and then placing it on the index device 30; the feed robot 52 is also movable between the grinding device 40 and the feed carriage device 20, and has a fourth operating state in which it picks up the cross-shaped workpiece 100 after completion of machining from the grinding device 40 and places it on the feed carriage device 20. The four action states can be carried out alternately, so that the grinding device 40 can be in a continuous working state, and the production efficiency is improved. Further, it is conceivable that the grinding machining device 40 may include a grinding wheel assembly 44, a guide wheel assembly 45, a wheel dresser 43, a carrier 47, a guide wheel feed slide table (not shown), and the like, and the cross work grinding machine further includes a cooling system, a guide rail lubrication system, a guard system, and the like.

Referring to fig. 9 to 12, in the present embodiment, the first driving assembly includes a first driving motor 712 and a sliding frame 61 slidably disposed on the truss 50, the feeding manipulator 51 and the discharging manipulator 52 are disposed on the sliding frame 61 and can slide along the truss 50 along with the sliding frame 61 in a transverse direction, specifically, referring to fig. 11, a first sliding rail is disposed on the truss 50 in a transverse direction, the sliding frame 61 is disposed on the first sliding rail, in the present embodiment, the first sliding rail is a first sliding rod 53 disposed on the truss 50 in a transverse direction, correspondingly, a first sliding slot 611 adapted to the first sliding rod 53 is disposed on the sliding frame 61, and further specifically, the first driving motor 712 is fixed on the sliding frame 61 and can move along with the sliding frame 61 in a transverse direction, a first driving rack 54 is fixed on the truss 50 in a transverse direction, an output end of the first driving motor 712 is in driving connection with the first driving rack 54, wherein the first driving motor 712 can be a servo motor, so that the loading robot 51 or the unloading robot 52 can stay exactly above the corresponding site. The second driving assembly is a second-stage propelling device arranged on the sliding frame 61, the second-stage propelling device comprises a first-stage propelling mechanism and a second-stage propelling mechanism which can be mutually matched to act, wherein the first-stage propelling mechanism is arranged on the sliding frame 61 and is in driving connection with the second-stage propelling mechanism, the second-stage propelling mechanism drives the connecting manipulator 51 and the blanking manipulator 52 and can drive the connecting manipulator 51 or the blanking manipulator 52 to respectively and independently move up and down, and specifically, the first-stage propelling mechanism can drive the second-stage propelling mechanism and the connecting manipulator 51 and the blanking manipulator 52 on the second-stage propelling mechanism to move up and down relative to the sliding frame 61 together. In this embodiment, the first stage propulsion mechanism includes a second driving motor 711 and a transmission rod 712 driven by the second driving motor 711 and capable of moving up and down relative to the sliding frame 61, and the second stage propulsion mechanism is fixed on the transmission rod 712, wherein the second driving motor 711 is a servo motor fixed on the sliding frame 61, and accordingly, the transmission rod 712 is slidably disposed on the sliding frame 61 up and down through a second sliding rail, specifically, the second sliding rail is a second sliding rod 716 disposed on the transmission rod 712 in the length direction thereof, and accordingly, the sliding frame 61 is further provided with a second sliding slot 612 adapted to the second sliding rod 716, and further, the transmission rod 712 is provided with a second transmission rack 717 in the length direction thereof, and an output end of the servo motor is drivingly connected to the second transmission rack 717. The second stage propulsion mechanism comprises a first driving cylinder 721 and a second driving cylinder 722 which are arranged side by side on the transmission rod 712, wherein the feeding manipulator 51 is driven by the first driving cylinder 721 to move up and down, the discharging manipulator 52 is driven by the second driving cylinder 722 to move up and down, specifically, a fixing plate 713 which is arranged horizontally is fixed at the lower end of the transmission rod 712, the first driving cylinder 721 and the second driving cylinder 722 are fixed on the fixing plate 713 in parallel, when the transmission rod 712 moves up and down, the two driving cylinders fixed on the fixing plate 713, the feeding manipulator 51 and the discharging manipulator 52 can move up and down, wherein, the first driving cylinder 721 and the second driving cylinder 722 are both provided with a piston rod 723 which can be extended and retracted in a reciprocating manner, the feeding manipulator 51 and the discharging manipulator 52 are connected to the piston rod 723 to be capable of moving back and forth with the piston rod 723, in order to increase the stability of the feeding manipulator 51 and the discharging manipulator 52 in the process of, prevent that it from taking place to rock in the in-process that reciprocates, guarantee the accuracy of unloading operation, still be connected with two guide bars 715 on material loading manipulator 51 and the unloading manipulator 52 respectively, two guide bars 715 are arranged at the both sides of piston rod 723 symmetrically and can pass the guiding hole that sets up on fixed plate 713, and wherein, the length direction of guide bar 715 and piston rod 723 is unanimous, is vertical arrangement. In order to further realize the smooth movement of the two manipulators and reduce the friction between the guide rod 715 and the guide hole, a linear bearing 714 is further arranged in the guide hole, and the guide rod 715 is arranged in the linear bearing 714 in a penetrating way. Further, it is conceivable that each of the feeding robot 51 and the discharging robot 52 further has a clamping portion including two opposing grippers that can clamp both ends of the first shaft 101 or the second shaft 102 of the cross-shaped workpiece 100, and a clamping cylinder for driving the clamping portion in a clamped or unclamped state. In this embodiment, the vertical movement of the feeding robot 51 and the discharging robot 52 is driven by the cooperation of the first stage propulsion mechanism and the second stage propulsion mechanism, that is, the second stage propulsion mechanism can simultaneously operate to drive the feeding robot 51 or the discharging robot 52 to move up or down while the feeding robot 51 or the discharging robot 52 is driven by the first stage propulsion mechanism to move up or down, specifically, the second stage propulsion mechanism is driven by a servo motor and the cooperation of the first driving cylinder 721 and the second driving cylinder 722, wherein the first driving cylinder 721 can drive the feeding robot 51 to independently move up and down, and the second driving cylinder 722 can individually drive the discharging robot 52 to move up and down. This kind of second grade advancing mechanism, through the simultaneous action of servo motor and drive actuating cylinder, on the one hand, the moving speed of last unloading manipulator 52 has been improved, the efficiency of going up the unloading has been improved, on the other hand, the action of drive actuating cylinder is rapid, it has faster moving speed to have guaranteed to go up unloading manipulator 52, and servo motor's setting has guaranteed that last unloading manipulator 52 can stop in different height positions through presetting the procedure in a flexible way, the cooperation of both has not only improved the moving speed of last unloading manipulator 52, and needn't require the processing position point, the material loading position point, unloading position point and transposition position are in same level, just so can be according to actual conditions and space requirement, carry out rational arrangement to the height of each device, the manufacturing difficulty has been reduced, the alignment operation of last unloading manipulator 52 in upper and lower position has greatly been made things convenient for.

In the present embodiment, the feeding tray device 10, the discharging tray device 20, and the indexing device 30 of the cross-shaped workpiece grinding machine are located on the same side of the grinding machine body 41, specifically, a supporting pallet 46 is disposed on one side of the grinding machine body 41, the feeding tray device 10, the discharging tray device 20, and the indexing device 30 are all disposed on the supporting pallet 46, and the processing site, the feeding site, the discharging site, and the indexing site are located on the same axis consistent with the length direction of the truss 50, wherein, by disposing the feeding tray device 10, the discharging tray device 20, and the indexing device 30 on the same side of the grinding platform, the time for the feeding manipulator 52 and the discharging manipulator 52 to slide laterally can be reduced, that is, when the discharging manipulator 52 completes the discharging operation therein, the feeding manipulator 51 can immediately grab the next cross-shaped workpiece 100 from the feeding tray device 10 on the same side, then, the feeding operation of the cross-shaped workpiece 100 is completed, and the production efficiency is further improved.

The feeding bracket device 10 comprises a feeding conveyor belt 11, a first power device 13 and a first sensor 12, wherein the feeding conveyor belt 11 is used for placing a cross-shaped workpiece 100 to be processed, the first power device 13 is used for driving the feeding conveyor belt 11 to be connected, the first sensor 12 is arranged on one side close to a feeding point through a first support rod 14 and can identify whether the cross-shaped workpiece 100 at the feeding point is in a vacant position or not, specifically, the cross-shaped workpiece 100 to be processed can be arranged on the feeding conveyor belt 11, when the cross-shaped workpiece 100 at the feeding point on the feeding conveyor belt 11 is clamped by a feeding manipulator 51, the first sensor 12 can identify the vacant position and feed back the vacant position to a control system, the control system controls the first power device 13 to drive the feeding conveyor belt 11 and other cross-shaped workpieces 100 arranged on the feeding conveyor belt to move, so that the next cross-shaped workpiece 100 is automatically fed to the feeding point, the feeding manipulator 51 performs the next grasping. The first power device 13 may be motor-driven or mechanically driven.

The blanking bracket device 20 comprises a blanking conveyor belt 21, a second power device (not shown) and a second sensor 22, wherein the blanking conveyor belt 21 is used for placing the processed cross-shaped workpiece 100, the second power device is in driving connection with the blanking conveyor belt 21, the second sensor 22 is provided with one side close to a blanking position point through a second support rod 23, and can identify whether the cross-shaped workpiece 100 at the blanking site is in a vacant state, specifically, the processed cross-shaped workpiece 100 can be placed on the blanking site on the blanking conveyor belt 21 by the blanking manipulator 52, after the placement is completed, the second sensor 22 can identify the state, and feeds back to the control system, the control system controls the second power device to drive the blanking conveyor belt 21 and the cross workpiece 100 placed on the blanking conveyor belt to move, so that the blanking station on the blanking conveyor belt 21 is in a vacant state for the next placement by the blanking manipulator 52. Wherein, the second power device can be driven by a motor or a machine.

After the first shaft 101 of the cross-shaped workpiece 100 is ground, the cross-shaped workpiece 100 needs to be placed on the indexing device 30 for indexing and reversing, and the second shaft 102 of the cross-shaped workpiece 100 in a free state is aligned to be horizontal, so that the second shaft 102 is parallel to the axis of the grinding wheel of the grinding device 40, so that the feeding manipulator 51 can grab the cross-shaped workpiece 100, and then the cross-shaped workpiece is placed at a machining site for grinding the second shaft 102. In the present embodiment, the indexing device 30 is disposed on one side of the bed 41, specifically, the indexing device 30 includes a bracket assembly 31, a reversing mechanism 32 and a leveling mechanism, wherein the bracket assembly 31 includes two first brackets 311 disposed oppositely, the two first brackets 311 are used for supporting two ends of the first shaft 101 of the cross workpiece 100 to be indexed, the reversing mechanism 32 includes a rotary cylinder 321 and a rotary shaft 322 driven by the rotary cylinder 321, the rotary cylinder 321 is connected to the bracket assembly 31 through the rotary shaft 322 to drive the cross workpiece 100 placed on the bracket assembly 31 to rotate along with the bracket assembly 31, specifically, the rotary cylinder 321 is fixed on the base 37, the two first brackets 311 are fixed on the rotary shaft 322 and can rotate along with the rotary shaft 322, specifically, the two first brackets 311 are fixedly connected to the rotary shaft 322 through the fixing frame 38 and the first connecting plate 312, wherein, the fixing frame 38 is fixed on the rotating shaft 322 and can rotate along with the rotating shaft 322, the first connecting plate 312 is fixedly connected to the fixing frame 38, the leveling mechanism includes a main leveling component 33 and a proximity switch 34, wherein the main leveling component 33 can be in friction contact with an outer wall surface of the first shaft 101 of the cross-shaped workpiece 100 placed on the first support 311 and can frictionally drive the cross-shaped workpiece 100 to rotate around the axis of the first shaft 101, the proximity switch 34 can recognize whether the second shaft 102 of the cross-shaped workpiece 100 rotates to a horizontal state, and more specifically, the main leveling component 33 includes a friction wheel component 332 and a third driving motor 331 for driving the friction wheel component 332 to rotate, wherein the outer wall surface of the first shaft 101 of the cross-shaped workpiece 100 is in friction contact with the friction wheel component 332, and the rotation of the friction wheel component 332 can drive the cross-shaped workpiece 100 to rotate around the axis of the first. The friction wheel assembly 332 comprises a driving wheel 334 and two friction wheels 333 which are in transmission connection with the driving wheel 334 respectively, an output shaft of the third driving motor 331 is in driving connection with the driving wheel 334, and the two friction wheels 333 can be matched with two sides of the outer wall surface of the first shaft 101 of the cross workpiece 100, so that the cross workpiece 100 is driven to rotate around the axis of the first shaft 101 in a friction transmission mode. In this embodiment, the surface of the driving wheel 334 contacting the friction wheel 333 may be made of a material with elasticity and a high friction coefficient, such as nitrile rubber or fluorine rubber, to meet the requirement of friction transmission therebetween, and the friction wheel 333 may be made of a material with a high friction coefficient, such as polyurethane, to meet the requirement of friction transmission on the outer wall surface of the first shaft 101 of the cross-shaped workpiece 100. In addition, two friction wheels 333 are arranged to support two sides of the outer wall surface of the first shaft 101 of the cross-shaped workpiece 100, so that the friction force applied to the cross-shaped workpiece 100 is increased, the rotation process of the cross-shaped workpiece 100 around the first shaft 101 is more stable, and the problem that the cross-shaped workpiece 100 slips due to insufficient friction force is solved. Of course, the main leveling component 33 may also adopt other friction components besides the friction wheel component 332, such as a friction belt, as long as the friction component can be in friction contact with the outer wall surface of the first shaft 101 of the cross workpiece 100 and drive the cross workpiece 100 to rotate around the axis of the first shaft 101, so as to level the cross workpiece 100.

The number of the main leveling assemblies 33 may be two, and the two main leveling assemblies 33 are respectively disposed at the upper ends of the two first brackets 311, in this embodiment, the number of the main leveling assemblies 33 is one, and the main leveling assemblies are fixed on one of the first brackets 311 and can rotate with the first bracket 311, wherein the two friction wheels 333 of the main leveling assemblies 33 are freely rotatably fixed at the upper end of one of the first brackets 311 through a supporting bearing 335, correspondingly, the upper end of the other first bracket 311 is also fixed with two auxiliary wheels 36 that can freely rotate through a supporting bearing 335, wherein the auxiliary wheels 36 and the friction wheels 333 may be the same size and are located on the same horizontal plane, so that the two ends of the first shaft 101 of the cross-shaped workpiece 100 can be horizontally placed on the two friction wheels 333 and the two auxiliary wheels 36, respectively. In the present embodiment, the two auxiliary wheels 36 are arranged such that the cross-shaped workpiece 100 only needs to be driven at one end of the first shaft 101, and correspondingly, the other end of the first shaft 101 of the cross-shaped workpiece 100 also rotates on the auxiliary wheel 36, so that the rotation of the cross-shaped workpiece 100 is more flexible, and the number of parts of the main leveling assembly 33 is also reduced.

When the cross-shaped workpiece 100 is leveled by the main leveling assembly 33, there may be a problem that the cross-shaped workpiece 100 is not leveled in place or is over-leveled due to a delay of the feedback time of the proximity switch 34, in this embodiment, the indexing device 30 further includes an auxiliary leveling mechanism 35, the auxiliary leveling mechanism 35 includes a third power device 352 and two second supports 351 driven by the third power device 352 and capable of moving up and down, the two second supports 351 can be extended upward and supported against both ends of the second shaft 102 of the cross-shaped workpiece 100 under the driving of the third power device 352, so as to keep the cross-shaped workpiece 100 in a horizontal state, specifically, the two second supports 351 can also be driven to rotate by the rotating cylinder 321, so as to ensure that the two second supports 351 of the auxiliary leveling mechanism 35 can be always located right below the second shaft 102 of the cross-shaped workpiece 100, the upper ends of the two second supports 351 each have a recessed portion 3511 for supporting both ends of the second shaft 102 of the cross workpiece 100, wherein the recessed portions 3511 of the upper ends of the second supports 351 may be V-shaped, arc-shaped, or other shapes as long as the limitation of both ends of the second shaft 102 of the cross workpiece 100 can be satisfied, and further, the third power unit 352 may be a cylinder, specifically, a slide table cylinder. The auxiliary leveling mechanism 35 is provided to enable the cross-shaped workpiece 100 which is not leveled in place to be finely adjusted and to be kept in a horizontal state, so that the feeding manipulator 51 can conveniently grab the two ends of the second shaft 102 of the cross-shaped workpiece 100.

In this embodiment, the control process of the indexing device 30 includes a reversing step, a leveling step, and a resetting step, wherein the reversing step is that the control system controls the reversing mechanism 32 to drive the first support 311 to rotate, and the cross workpiece 100 to be ground placed on the first support 311 can rotate together with the first support 311 to complete the reversing operation; the leveling step is that the control system controls the third driving motor 331 of the main leveling component 33 to drive the friction wheel component 332 to rotate, so as to drive the cross-shaped workpiece 100 in frictional contact with the friction wheel component 332 to rotate around the axis of the first shaft 101 of the cross-shaped workpiece 100, when the second shaft 102 of the cross-shaped workpiece 100 rotates to a horizontal state or a state close to the horizontal state, the proximity switch 34 can recognize the state and feed back the signal to the control system, and the control system controls the third driving motor 331 to be turned off, so that the leveling operation of the cross-shaped workpiece 100 is completed; the resetting step is that after the cross-shaped workpiece 100 is grabbed and separated from the first support 311, the control system controls the reversing mechanism 32 to drive the first support 311 to rotate to the initial position, and the resetting operation is completed. The indexing process of the cross workpiece 100 may be performed according to a procedure of performing a leveling step, then performing a reversing step, and finally performing a resetting step, that is, according to a preset procedure, the control system performs the leveling operation of the cross workpiece 100 by controlling the main leveling component 33, then performs the reversing operation of the cross workpiece 100 by controlling the reversing mechanism 32, and after the cross workpiece 100 is grabbed and separated from the first bracket 311, finally performs the resetting operation of the first bracket 311 by controlling the reversing mechanism 32, so as to place the next cross workpiece 100, wherein since the indexing device 30 performs the leveling operation first, the proximity switch 34 capable of recognizing the leveling state of the cross workpiece 100 may be fixed on the base by an upright 341 and may be close to one end of the second shaft 102 of the initially placed cross workpiece 100. More specifically, after the cross-shaped workpiece 100 placed on the first bracket 311 is leveled by the main leveling assembly 33, the control system may control the auxiliary leveling mechanism 35 to operate, so that the second bracket 351 is supported against both ends of the second shaft 102 of the cross-shaped workpiece 100, and further, the cross-shaped workpiece 100 which is not leveled in place can be finely adjusted and maintained in a horizontal state, wherein the recessed portion 3511 at the upper end of the second bracket 351 can be clamped at the end of the second shaft 102 of the cross-shaped workpiece 100, so that it can be avoided that the cross-shaped workpiece 100 which has been leveled rotates to become a non-leveling state due to the absence of support of the second shaft 102 when the cross-shaped workpiece 100 is subjected to the next reversing operation, and the feeding manipulator 51 is influenced to grasp the cross-shaped workpiece. After the cross-shaped workpiece 100 is grasped and separated from the first support 311, the control system can control the cylinder of the auxiliary leveling mechanism 35 to contract and return to the initial state, so as to avoid influencing the placement or leveling of the next cross-shaped workpiece 100. Of course, when the friction between the main leveling assembly 33 and the first shaft 101 of the cross workpiece 100 is large, i.e. when the reversing operation is performed, the leveled cross workpiece 100 will not deviate from the horizontal state, the auxiliary leveling mechanism 35 can be omitted, so as to reduce the number of parts and operation steps, and improve the production efficiency. Of course, as another embodiment, the indexing device 30 of the cross workpiece 100 may be operated according to a sequence of performing the reversing step first, then performing the leveling step, and finally performing the resetting step.

In the embodiment, the indexing device 30 is disposed at one side of the grinder bed 41, which is far from the grinding device 40, the indexing process is safer and more reliable, and the indexing device 30 adopts a friction transmission manner to level the cross-shaped workpiece 100 placed on the first bracket 311, which has wider applicability and no leveling dead angle, i.e., when the cross-shaped workpiece 100 is placed on the first bracket 311, the main leveling component 33 of the indexing device 30 for the cross-shaped workpiece 100 can level the cross-shaped workpiece 100 no matter whether the second shaft 102 of the cross-shaped workpiece 100 is in a vertical state or a state close to the vertical state, and the leveling operation, the reversing operation and the resetting operation of the cross-shaped workpiece 100 can be automatically completed according to a preset program under the cooperation of the control system, the reversing mechanism 32 and the proximity switch 34, which has high automation degree, and can be conveniently applied to the process of the grinding production line of the feeding and discharging cross-shaped workpiece 100, the indexing reliability is obviously improved, and the automation degree and the production efficiency are greatly improved.

The control method of the cross-shaped workpiece grinding machine comprises a first feeding step, a second feeding step, a grinding processing step, a transposition step, a first blanking step and a second blanking step, and specifically comprises the following steps:

a first feeding step: the feeding robot 51 moves laterally along the girder 50 to above the feeding site, then moves downward from an initial position to an end position, and grasps the cross workpiece 100 to be machined from the feeding site, then moves upward to return to the initial position, then moves laterally along the girder 50 to above the machining site, then moves downward from the initial position to the end position, places the cross workpiece 100 to the machining site, then the feeding robot 51 moves upward to return to the initial position, and then moves laterally along the girder 50 away from the machining site.

A second feeding step: the feeding robot 51 moves laterally along the girder 50 to above the index position, then moves downward from the initial position to the final position, and grasps the cross workpiece 100 to be machined from the index position, then moves upward to return to the initial position, then moves laterally along the girder 50 to above the machining position, then moves downward from the initial position to the final position, places the cross workpiece 100 to the machining position, then the feeding robot 51 moves upward to return to the initial position, and then moves laterally along the girder 50 away from the machining position.

Grinding: when the cross-shaped workpiece 100 is placed at the machining point, the grinding program is started to grind the cross-shaped workpiece 100 placed at the machining point, and after the grinding is completed, the grinding program is closed so that the blanking robot 52 can grasp the cross-shaped workpiece 100.

And (3) transposition step: when the blanking manipulator 52 places the cross workpiece 100 to be indexed to the indexing position, the indexing program is started to index and reverse the cross workpiece 100 placed to the indexing position, so that the feeding manipulator 51 can grab the cross workpiece 100, and when the cross workpiece 100 is grabbed and separated from the indexing position, the indexing device 30 is reset to the initial state, so that the blanking manipulator can place the next cross workpiece 100.

A first blanking step: when the grinding process is completed, the blanking robot 52 located above the machining site moves downward from the initial position to the final position, grips the cross workpiece 100 from the machining site, moves upward to return to the initial position, moves laterally along the truss 50 to above the index position, then moves downward from the initial position to the final position, places the cross workpiece 100 on the index position, then moves upward to return to the initial position, and then moves laterally along the truss 50 away from the index position.

A second blanking step: when the grinding process is completed, the unloading robot 52 moves down from the initial position to the end position, picks up the cross work 100 from the machining site, moves up to return to the initial position, moves laterally along the truss 50 to above the unloading site, then moves down from the initial position to the end position, places the cross work 100 on the unloading site, then moves up to return to the initial position, and moves laterally along the truss 50 away from the unloading site.

In the process that the blanking manipulator 52 performs the first blanking step or the second blanking step on the current cross workpiece 100, the feeding manipulator 51 simultaneously performs the first feeding step or the second feeding step on another workpiece, so that the machining point of the grinding device is in a continuous working state. Specifically, during the second blanking step of the previous cross-shaped workpiece 100 by the blanking manipulator 52, the feeding manipulator 51 simultaneously performs the first feeding step of the first cross-shaped workpiece 100, wherein when the blanking manipulator 52 grips the previous cross-shaped workpiece 100 in the vertical direction away from the machining point, the feeding manipulator 51 moves horizontally to the upper side of the machining point, moves down to the end point to place the first cross-shaped workpiece 100 on the machining point, then the grinding procedure is started to grind both ends of the first shaft 101 of the cross-shaped workpiece 100, during the grinding procedure, the blanking manipulator 52 continues to perform the second blanking step of the previous cross-shaped workpiece 100, and after the blanking manipulator 52 completes the second blanking step, slides horizontally along the truss 50 to the upper side of the machining point to prepare to perform the first blanking step of the first cross-shaped workpiece 100, when the blanking manipulator 52 performs the second blanking step, after the cross-shaped workpiece 100 which is ground and processed is placed on the blanking site on the blanking conveyor belt 21, the second sensor 22 can recognize the state and feed back the state to the control system, and the control system controls the second power device to drive the blanking conveyor belt 21 and the cross-shaped workpiece 100 placed on the blanking conveyor belt 21 to move, so that the blanking site on the blanking conveyor belt 21 is in a vacant position state, so that the blanking manipulator 52 can perform the next placement, wherein the operation of the blanking conveyor belt 21 can be controlled by setting corresponding time; when the feeding manipulator 51 performs the first feeding step, after the cross workpiece 100 at the feeding position is clamped by the feeding manipulator 51, the first sensor 12 can recognize the state and feed back to the control system, the control system controls the first power device 13 to drive the feeding conveyor belt 11 and other cross workpieces 100 placed on the feeding conveyor belt to move, so that the next cross workpiece 100 is automatically fed to the feeding position, the feeding manipulator 51 is used for grabbing the next time, wherein the operation of the feeding conveyor belt 11 is controlled by setting corresponding time.

After the first feeding step of the first cross-shaped workpiece 100 is completed by the feeding manipulator 51, the first feeding step of the second cross-shaped workpiece 100 is prepared by moving the first feeding manipulator 51 to the position above the feeding position along the truss 50, after the grinding process of the two ends of the first shaft 101 of the first cross-shaped workpiece 100 is completed, the first discharging step is performed on the cross-shaped workpiece 100 by the discharging manipulator 52, during the first discharging step, the feeding manipulator 51 simultaneously performs the first feeding step of the second cross-shaped workpiece 100, wherein when the discharging manipulator 52 clamps the first cross-shaped workpiece 100, moves upward to return to the initial position and leaves the processing position, the feeding manipulator 51 moves to the position above the processing position, moves downward to the final position to place the second cross-shaped workpiece 100 to the processing position, then the grinding process program is started to grind the two ends of the first shaft 101 of the cross-shaped workpiece 100, during the grinding process, the blanking robot 52 continues to perform the first blanking step for the first cross-shaped workpiece 100, wherein after the blanking robot 52 places the first cross-shaped workpiece 100 at the indexing position, the indexing process is initiated, and during the indexing process, the blanking robot 52 moves upward to the home position and then slides laterally along the truss 50 away from the indexing position in preparation for performing the first blanking step for the second cross-shaped workpiece 100.

After the feeding manipulator 51 finishes the first feeding step of the second cross-shaped workpiece 100, the second cross-shaped workpiece 100 is moved transversely along the truss 50 to the position above the indexing position to be ready for the second feeding step of the first cross-shaped workpiece 100, and after the indexing and reversing of the first cross-shaped workpiece 100 are finished, the feeding manipulator 51 performs the second feeding step of the first cross-shaped workpiece 100.

During the first unloading step of the second cross-shaped workpiece 100 by the unloading manipulator 52, the loading manipulator 51 simultaneously performs the second loading step of the first cross-shaped workpiece 100, wherein after the grinding process of the first shaft 101 of the second cross-shaped workpiece 100 is completed, the unloading manipulator 52 moves down to the end position, clamps the second cross-shaped workpiece 100 and moves up away from the vertical direction of the processing site, then the loading manipulator 51 moves above the processing site and moves down to the end position, places the first cross-shaped workpiece 100 to the processing site, then the grinding process program is started to grind the two ends of the second shaft 102 of the cross-shaped workpiece 100, during the grinding process, the unloading manipulator 52 continues to perform the first unloading step of the second cross-shaped workpiece 100, wherein after the unloading manipulator 52 places the second cross-shaped workpiece 100 to the processing site and indexes, the indexing sequence is initiated and during indexing, the blanking robot 52 moves up to an initial position and then laterally slides along the truss 50 away from the index station in preparation for a second blanking step of the first cross workpiece 100.

After the second feeding step of the first cross-shaped workpiece 100 is completed by the feeding robot 51, the second feeding step of the second cross-shaped workpiece 100 is prepared by moving the feeding robot 51 transversely along the truss 50, and after the first cross-shaped workpiece 100 is indexed and reversed, the second feeding step of the second cross-shaped workpiece 100 is performed by the feeding robot 51.

After the grinding process of the two ends of the second shaft 102 of the first cross-shaped workpiece 100 is completed, the blanking manipulator 52 performs a second blanking step on the first cross-shaped workpiece 100, and during the second blanking step, the feeding manipulator 51 simultaneously performs a second feeding step on the second cross-shaped workpiece 100, wherein when the blanking manipulator 52 clamps the first cross-shaped workpiece 100, moves upwards to the initial position and leaves the machining site, the feeding manipulator 51 moves above the machining site, moves downwards to the end position to place the second cross-shaped workpiece 100 on the machining site, then the grinding process program is started to grind the two ends of the second shaft 102 of the second cross-shaped workpiece 100, and during the grinding process, the blanking manipulator 52 continues to complete the second blanking step of the first cross-shaped workpiece 100 and then moves transversely above the machining site, a second blanking step of the second cross workpiece 100 is prepared.

When the grinding of both ends of the second shaft 102 of the second cross-shaped workpiece 100 is completed, the feeding robot 51 is ready to perform the first feeding step of the third cross-shaped workpiece 100, and the discharging robot 52 is simultaneously ready to perform the second discharging step of the second cross-shaped workpiece 100, forming a processing cycle, and the processing is performed in a cycle.

In this embodiment, the feeding and discharging device of the grinding machine for cross-shaped workpieces 100 includes a sliding frame 61 capable of sliding laterally on a truss 50, a second-stage propulsion device is connected to the sliding frame 61, wherein the second-stage propulsion device includes a first-stage propulsion mechanism and a second-stage propulsion mechanism, the first-stage propulsion mechanism is disposed on the sliding frame 61 and is in driving connection with the second-stage propulsion mechanism, the second-stage propulsion mechanism is in driving connection with a feeding manipulator 51 and a discharging manipulator 52, the first-stage propulsion mechanism is capable of driving the second-stage propulsion mechanism and is connected with the feeding manipulator 51 and the discharging manipulator 52 on the second-stage propulsion mechanism to move up and down relative to the sliding frame 61, and under the driving of the second-stage propulsion mechanism, the feeding manipulator 51 and the discharging. Therefore, during the grinding process of the cross-shaped workpiece 100, the feeding manipulator 51 and the discharging manipulator 52 can move transversely together with the sliding frame 61, when the feeding manipulator 51 or the discharging manipulator 52 moves transversely to the upper part of the corresponding position, the feeding manipulator 51 and the discharging manipulator 52 move downwards together under the drive of the first-stage propulsion mechanism, wherein during the downward movement, one of the feeding manipulator 51 and the discharging manipulator 52 advances downwards for the second time simultaneously under the drive of the second-stage propulsion mechanism, when the cross-shaped workpiece reaches the terminal position, the grabbing or placing action of the cross-shaped workpiece 100 is carried out, and the other is in a waiting state without secondary propulsion; after the grabbing or placing action of the cross-shaped workpiece 100 is completed, the second-stage pushing mechanism drives the feeding manipulator 51 or the discharging manipulator 52 to move upwards for resetting, and in the resetting process, the first-stage pushing mechanism simultaneously drives the feeding manipulator 51 and the discharging manipulator 52 to move upwards together to the initial position.

In this embodiment, when the machining process of the cross workpiece grinding machine needs to be stopped, the control system also has a control process of "one-key end", when the "one-key end" button is triggered, the feeding manipulator 51 stops the first feeding step and the second feeding step, the discharging manipulator 52 moves transversely to the upper part of the processing site, prepares to perform the second discharging step on the current cross-shaped workpiece 100, that is, after the current grinding process of the cross-shaped workpiece 100 is completed, the feeding robot 52 moves down to the end position, picks up the cross-shaped workpiece 100, then moves upward to the initial position, then moves laterally along the truss 50 to above the blanking site, and then moving downwards to the end position, placing the cross workpiece 100 at a blanking position, and then moving upwards to the initial position, so as to complete the second blanking step of the cross workpiece 100, and simultaneously, stopping the machining process of the cross workpiece grinder.

The cross workpiece grinding machine has many advantages, and concretely speaking, the loading and unloading device of the cross workpiece grinding machine comprises a loading manipulator 51 and an unloading manipulator 52, wherein the loading manipulator 51 and the unloading manipulator 52 are clear in labor division and can be interactively matched, so that the production efficiency is greatly improved, after the unloading manipulator 52 takes out the processed cross workpiece 100 from a processing site of a grinding processing platform, the loading manipulator 51 can immediately place the other grabbed cross workpiece 100 to the processing site for grinding processing, so that the grinding processing site of the grinding machine can be in a continuous working state, namely one cross workpiece 100 is still in a grinding processing state in the unloading or transposition process, the grinding processing platform is not idle, and the production efficiency is obviously improved. Secondly, the up-down moving process of the feeding and discharging manipulator 52 of the cross grinding machine is completed by a secondary propulsion mechanism, the secondary propulsion mechanism simultaneously acts through a servo motor and a driving cylinder, on one hand, the moving speed of the feeding and discharging manipulator 52 is improved, the feeding and discharging efficiency is correspondingly improved, on the other hand, the action of the driving cylinder is rapid, the feeding and discharging manipulator 52 is ensured to have a faster moving speed, the servo motor is arranged, the feeding and discharging manipulator 52 can flexibly stop at different height positions through a preset program, the cooperation of the feeding and discharging manipulator 52 and the servo motor not only improves the moving speed of the feeding and discharging manipulator 52, but also does not need to require that a processing site, a feeding site, a discharging site and a transposition site are positioned at the same horizontal height, so that the heights of all devices can be reasonably arranged according to actual conditions and space requirements, the manufacturing difficulty is reduced, and the alignment operation of the feeding and discharging manipulator 52 at the upper and lower positions is facilitated. For another example, the indexing device 30 levels the second shaft 102 of the cross workpiece 100 in a friction transmission manner, the leveling manner has no leveling dead angle, and the adaptability is wider, and the indexing device 30 is arranged at one side of the grinder body 41, rather than above the grinding device 40, so that safety accidents caused by misoperation or fault (such as part falling) in the indexing process are avoided, and the safety is improved; meanwhile, the faults of parts such as an air cylinder, a motor, a detection switch and the like of the transposition device 30 caused by damage in a water mist environment for a long time are avoided, and the reliability of the whole system is obviously improved. Finally, the cross workpiece grinding machine can act in sequence according to a preset program under the control of the control system, the automation degree is high, wherein an operator arranges the cross workpieces 100 on the feeding conveyor belt 11, the machining program is started, the automatic machining process of the cross workpieces 100 can be realized, the machined cross workpieces 100 are placed on the discharging conveyor belt 21 by the discharging manipulator 52 for automatic discharging, in the normal machining process, the operator only needs to place the cross workpieces 100 to be machined on the feeding conveyor belt 11 and take down the machined cross workpieces 100 from the discharging conveyor belt 21, and therefore one person can operate multiple devices, the automation degree is improved, and the labor cost is reduced.

Claims

1. The utility model provides a cross workpiece grinder, includes lathe bed (41), locates grinding process device (40), last unloader and control system on lathe bed (41), grinding process device (40) and last unloader carry out signal intercommunication with control system, its characterized in that last unloader includes:

the feeding bracket device (10) is used for placing a cross workpiece (100) to be processed;

the blanking bracket device (20) is used for placing the processed cross-shaped workpiece (100);

the indexing device (30) is used for driving the cross workpiece (100) placed on the indexing device (30) to rotate and reverse; the grinding device is characterized by further comprising a truss (50) arranged above the grinding device (40), and a feeding manipulator (51) and a discharging manipulator (52) which are arranged on the truss (50) in a transverse sliding mode, wherein the truss (50) extends to the upper portions of the feeding bracket device (10), the discharging bracket device (20) and the indexing device (30), and the feeding manipulator (51) and the discharging manipulator (52) can move up and down relative to the truss (50); wherein the feeding manipulator (51) can move between a feeding bracket device (10) and a grinding device (40), and has a first action state of grabbing a cross-shaped workpiece (100) to be processed from the feeding bracket device (10) and then placing the cross-shaped workpiece on the grinding device (40); the feeding manipulator (51) can also move between an indexing device (30) and a grinding device (40), and has a second action state of grabbing a cross workpiece (100) to be machined from the indexing device (30) and then placing the cross workpiece on the grinding device (40); the blanking manipulator (52) can move between the grinding device (40) and the indexing device (30), and has a third action state of grabbing the cross-shaped workpiece (100) from the grinding device (40) and then placing the cross-shaped workpiece on the indexing device (30); the blanking manipulator (52) is also movable between the grinding device (40) and the blanking bracket device (20), and has a fourth operating state in which the machined cross-shaped workpiece (100) is grasped from the grinding device (40) and then placed on the blanking bracket device (20).

2. The cross-work grinding machine of claim 1, wherein: the loading and unloading device further comprises a first driving assembly and a second driving assembly, wherein the first driving assembly can drive the loading manipulator (51) and the unloading manipulator (52) to transversely slide on the truss (50), and the second driving assembly can drive the loading manipulator (51) and the unloading manipulator (52) to vertically move relative to the truss (50);

the first driving assembly comprises a sliding frame (61) which is arranged on the truss (50) in a transverse sliding mode and a first driving motor (62) which drives the sliding frame (61) to move, wherein the feeding mechanical arm (51) and the discharging mechanical arm (52) are arranged on the sliding frame (61); the second drive assembly is for setting up second grade advancing device on carriage (61), second grade advancing device is including first order advancing mechanism and the second level advancing mechanism that can mutually support the action, first order advancing mechanism sets up on carriage (61) to the drive is connected second level advancing mechanism, second level advancing mechanism drive is connected material loading manipulator (51) and unloading manipulator (52), and can drive material loading manipulator (51) or unloading manipulator (52) reciprocate independently respectively.

3. The cross-work grinding machine of claim 2, wherein: the first-stage propelling mechanism comprises a second driving motor (711) and a transmission rod (712) which is driven by the second driving motor (711) and can move up and down relative to the sliding frame (61), and the second-stage propelling mechanism is fixed on the transmission rod (712); the second-stage propelling mechanism comprises a first driving air cylinder (721) and a second driving air cylinder (722) which are arranged on the transmission rod (712) side by side, wherein the feeding manipulator (51) is driven by the first driving air cylinder (721) to move up and down, and the blanking manipulator (52) is driven by the second driving air cylinder (722) to move up and down.

4. The cross-shaped workpiece grinding machine according to any one of claims 1 to 3, characterized in that: transposition device (30) are including bracket component (31), reversing mechanism (32) and levelling mechanism, wherein bracket component (31) are used for supporting the both ends at the primary shaft (101) of the cross work piece (100) of waiting to transpose, reversing mechanism (32) drive connection bracket component (31), and the drive is placed cross work piece (100) on bracket component (31) rotate along with bracket component (31), levelling mechanism can drive and place cross work piece (100) of bracket component (31) are rotated to the horizontality around the axle center of primary shaft (101) of this cross work piece (100).

5. The cross-work grinding machine of claim 4, wherein: leveling mechanism includes main leveling subassembly (33) and proximity switch (34), wherein, main leveling subassembly (33) can with place the outer wall friction contact of the primary shaft (101) of cross work piece (100) on bracket component (31) to the friction drive cross work piece (100) rotate around the axle center of its primary shaft (101), proximity switch (34) can discern whether the secondary shaft of cross work piece (100) rotates to the horizontality.

6. The cross-work grinding machine of claim 5, wherein: the main leveling assembly (33) comprises a friction wheel assembly (332) and a third driving motor (331) for driving the friction wheel assembly (332) to rotate; the outer wall surface of the first shaft (101) of the cross workpiece (100) is in friction contact with the friction wheel assembly (332), wherein the rotation of the friction wheel assembly (332) can drive the cross workpiece (100) to rotate around the axis of the first shaft (101).

7. A control method applied to a cross-shaped workpiece grinding machine according to any one of claims 1 to 6, characterized in that: the grinding device (40) is provided with machining sites for machining the cross-shaped workpiece (100), the feeding bracket device (10) is provided with feeding positions for the feeding manipulator (51) to grab the cross-shaped workpiece (100), the discharging bracket device (20) is provided with feeding positions for the discharging manipulator (52) to place the cross-shaped workpiece (100), the indexing device (30) is provided with indexing positions for the feeding manipulator (51) to grab the cross-shaped workpiece (100) or the discharging manipulator (52) to place the cross-shaped workpiece (100), the feeding manipulator (51) and the discharging manipulator (52) can transversely slide to the upper sides of the corresponding sites along the truss (50), and the upper end position and the lower end position are also provided in the up-down moving process, the feeding manipulator (51) and the discharging manipulator (52) can move from the corresponding sites at the end positions Grabbing the cross-shaped workpiece (100) or placing the cross-shaped workpiece (100) to a corresponding position; and comprises the following steps:

a first feeding step: the feeding mechanical arm (51) moves transversely to the position above the feeding site along the truss (50), then moves downwards from an initial position to a final position, grabs the cross workpiece (100) to be machined from the feeding site, then moves upwards to return to the initial position, moves transversely to the position above the machining site along the truss (50), then moves downwards from the initial position to the final position, places the cross workpiece (100) to the machining site, then moves upwards to return to the initial position by the feeding mechanical arm (51), and then moves transversely to the truss (50) to leave the machining site;

a second feeding step: the feeding mechanical arm (51) moves transversely to the upper side of the indexing position along the truss (50), then moves downwards from the initial position to the final position, grabs the cross workpiece (100) to be machined from the indexing position, then moves upwards to reset to the initial position, moves transversely to the upper side of the machining position along the truss (50), then moves downwards from the initial position to the final position, places the cross workpiece (100) to the machining position, then moves upwards to reset to the initial position, and then moves transversely to leave the machining position along the truss (50);

grinding: after the cross-shaped workpiece (100) is placed on the machining site, starting a grinding program, grinding the cross-shaped workpiece (100) placed on the machining site, and after the grinding is finished, closing the grinding program so that the blanking mechanical arm (52) can grab the cross-shaped workpiece (100);

and (3) transposition step: when a cross workpiece (100) to be indexed is placed to an indexing position by a blanking manipulator (52), an indexing program is started, the cross workpiece (100) placed to the indexing position is subjected to indexing reversing, so that the feeding manipulator (51) can grab the cross workpiece (100), and when the cross workpiece (100) is grabbed and separated from the indexing position, the indexing device (30) is reset to an initial state, so that the blanking manipulator can place the next cross workpiece (100);

a first blanking step: after the grinding processing step is completed, a blanking mechanical arm (52) positioned above the processing site moves downwards from an initial position to an end position, grabs the cross workpiece (100) from the processing site, moves upwards to return to the initial position, moves transversely along the truss (50) to be above the indexing site, then moves downwards from the initial position to the end position, places the cross workpiece (100) on the indexing site, moves upwards to return to the initial position, and then moves transversely along the truss (50) to be away from the indexing site;

a second blanking step: after the grinding processing step is completed, the blanking manipulator (52) moves downwards from the initial position to the final position, grabs the cross-shaped workpiece (100) from the processing site, moves upwards to return to the initial position, moves transversely along the truss (50) to the position above the blanking site, then moves downwards from the initial position to the final position, places the cross-shaped workpiece (100) on the blanking site, moves upwards to return to the initial position, and moves transversely along the truss (50) to leave the blanking site;

during the first blanking step or the second blanking step of the current cross-shaped workpiece (100) by the blanking manipulator (52), the feeding manipulator (51) simultaneously performs the first feeding step or the second feeding step of another workpiece, so that the machining point of the grinding device is in a continuous working state.

8. The control method of a cross work grinder as set forth in claim 7, wherein: when the blanking mechanical arm (52) carries out the second blanking step of the previous cross-shaped workpiece (100), the feeding mechanical arm (51) can simultaneously carry out the first feeding step of the first cross-shaped workpiece (100), wherein when the blanking mechanical arm (52) clamps the previous cross-shaped workpiece (100) and is far away from the vertical direction of the machining site, the feeding mechanical arm (51) moves transversely to the upper part of the machining site, moves downwards to the end point position to place the first cross-shaped workpiece (100) to the machining site, then a grinding machining program is started to grind and machine the two ends of the first shaft (101) of the cross-shaped workpiece (100), during the grinding machining process, the blanking mechanical arm (52) continues to carry out the second blanking step of the previous cross-shaped workpiece (100), and when the blanking mechanical arm (52) finishes the second blanking step, slides transversely to the upper part of the machining site along the truss (50), preparing a first blanking step of a first cross-shaped workpiece (100);

after the first feeding step of a first cross-shaped workpiece (100) is finished, the feeding mechanical arm (51) moves transversely along the truss (50) to be above the feeding position point to prepare for carrying out a first feeding step of a second cross-shaped workpiece (100), after the grinding processing of the two ends of the first shaft (101) of the first cross-shaped workpiece (100) is finished, the blanking mechanical arm (52) carries out a first blanking step on the cross-shaped workpiece (100), during the first blanking step, the feeding mechanical arm (51) simultaneously carries out the first feeding step of the second cross-shaped workpiece (100), wherein when the blanking mechanical arm (52) clamps the first cross-shaped workpiece (100), the feeding mechanical arm (51) moves to be above the processing position and moves downwards to be at the end position to place the second cross-shaped workpiece (100) to the processing position, then starting a grinding processing program, grinding both ends of a first shaft (101) of the cross workpiece (100), wherein in the grinding processing process, the blanking manipulator (52) continues to carry out a first blanking step of a first cross workpiece (100), wherein after the blanking manipulator (52) places the first cross workpiece (100) to the indexing position, the indexing program is started, in the indexing process, the blanking manipulator (52) moves upwards to an initial position and then slides transversely along the truss (50) to leave the indexing position to prepare for carrying out the first blanking step of a second cross workpiece (100);

after the first feeding step of a second cross-shaped workpiece (100) is finished, the feeding mechanical arm (51) moves transversely along the truss (50) to the position above the transposition position to prepare for a second feeding step of the first cross-shaped workpiece (100), and after the transposition and reversing of the first cross-shaped workpiece (100) are finished, the feeding mechanical arm (51) performs the second feeding step of the first cross-shaped workpiece (100);

during the first unloading step of a second cross-shaped workpiece (100) by the unloading manipulator (52), the loading manipulator (51) simultaneously performs a second loading step of the first cross-shaped workpiece (100), wherein after the grinding processing of a first shaft (101) of the second cross-shaped workpiece (100) is completed, the unloading manipulator (52) moves downwards to a final position, clamps the second cross-shaped workpiece (100), moves upwards away from the vertical direction of the processing site, then the loading manipulator (51) moves above the processing site, moves downwards to the final position, places the first cross-shaped workpiece (100) to the processing site, then starts a grinding processing program, grinds two ends of a second shaft of the cross-shaped workpiece (100), during the grinding processing, the unloading manipulator (52) continues to perform the first unloading step of the second cross-shaped workpiece (100), when the blanking manipulator (52) places a second cross workpiece (100) to the indexing position, the indexing program is started, and in the indexing process, the blanking manipulator (52) moves upwards to an initial position and then slides transversely along the truss (50) to leave the indexing position to prepare for a second blanking step of the first cross workpiece (100);

after the second feeding step of the first cross-shaped workpiece (100) is finished by the feeding mechanical arm (51), the feeding mechanical arm moves transversely along the truss (50) to prepare for the second feeding step of the second cross-shaped workpiece (100), and after the first cross-shaped workpiece (100) is shifted in the transposition mode, the feeding mechanical arm (51) performs the second feeding step of the second cross-shaped workpiece (100);

when the grinding processing of the two ends of the second shaft of the first cross-shaped workpiece (100) is finished, the blanking mechanical arm (52) carries out a second blanking step on the first cross-shaped workpiece (100), and in the process of carrying out the second blanking step, the feeding mechanical arm (51) simultaneously carries out a second feeding step on a second cross-shaped workpiece (100), wherein when the blanking mechanical arm (52) clamps the first cross-shaped workpiece (100) and moves upwards to reset to an initial position and leaves the processing site, the feeding mechanical arm (51) moves to the position above the processing site and moves downwards to a final position to place the second cross-shaped workpiece (100) to the processing site, then the grinding processing program is started to carry out the grinding processing of the two ends of the second shaft of the second cross-shaped workpiece (100), and during the grinding processing, the blanking mechanical arm (52) continues and finishes the second blanking step of the first cross-shaped workpiece (100), then transversely moving the workpiece to the position above the machining point to prepare for a second blanking step of a second cross workpiece (100);

when the grinding processing of the two ends of the second shaft of the second cross-shaped workpiece (100) is finished, the feeding mechanical arm (51) is ready to carry out the first feeding step of the third cross-shaped workpiece (100), and simultaneously the discharging mechanical arm (52) is ready to carry out the second discharging step of the second cross-shaped workpiece (100) to form a processing period, so that the processing is carried out in a circulating mode.

9. The control method of a cross work grinder as set forth in claim 8, wherein: the loading and unloading device comprises a sliding frame (61) capable of transversely sliding on the truss (50), a secondary propelling device is connected to the sliding frame (61), wherein the secondary propulsion device comprises a first-stage propulsion mechanism and a second-stage propulsion mechanism, the first-stage propulsion mechanism is arranged on the sliding frame (61), and is connected with the second-stage propulsion mechanism in a driving way, the second-stage propulsion mechanism is connected with the feeding mechanical arm (51) and the discharging mechanical arm (52) in a driving way, the first-stage propelling mechanism can drive the second-stage propelling mechanism and a feeding manipulator (51) and a discharging manipulator (52) connected to the second-stage propelling mechanism to move up and down relative to the sliding frame (61) together, the feeding manipulator (51) and the blanking manipulator (52) can independently move up and down under the driving of the second-stage propelling mechanism;

the feeding manipulator (51) and the blanking manipulator (52) can move transversely along with the sliding frame (61), when the feeding manipulator (51) or the blanking manipulator (52) moves transversely to the upper side of a corresponding position, the feeding manipulator (51) and the blanking manipulator (52) move downwards together under the driving of the first-stage propelling mechanism, in the moving downwards process, one of the feeding manipulator (51) and the blanking manipulator (52) is driven by the second-stage propelling mechanism to advance downwards for the second time at the same time, the grabbing or placing action of the cross workpiece (100) is carried out when the end position is reached, and the other one is in a waiting state without secondary propelling; after the grabbing or placing action of the cross-shaped workpiece (100) is completed, the second-stage pushing mechanism drives the feeding manipulator (51) or the discharging manipulator (52) to move upwards for resetting, and in the resetting process, the first-stage pushing mechanism simultaneously drives the feeding manipulator (51) and the discharging manipulator (52) to move upwards together to an initial position.

10. The control method of a cross work grinder as set forth in claim 9, wherein: the feeding bracket device (10) comprises a feeding conveyor belt (11), a first power device (13) and a first sensor (12); the blanking bracket device (20) comprises a blanking conveyor belt (21), a second power device and a second sensor (22);

the cross-shaped workpieces (100) to be processed are arranged on the feeding conveyor belt (11), when the cross-shaped workpieces (100) which are placed on the feeding conveyor belt (11) and located at a feeding position point are clamped away by the feeding manipulator (51), the state can be recognized by the first sensor (12) and fed back to the control system, and the control system controls the first power device (13) to drive the feeding conveyor belt (11) and the other cross-shaped workpieces (100) placed on the feeding conveyor belt to move, so that the next cross-shaped workpiece (100) is automatically repositioned to the feeding position for the feeding manipulator (51) to grab next time;

the processed cross-shaped workpiece (100) is placed on a blanking site on the blanking conveyor belt (21) through the blanking manipulator (52), the second sensor (22) can recognize the state and feed back to the control system, and the control system controls the second power device to drive the blanking conveyor belt (21) and the cross-shaped workpiece (100) placed on the blanking conveyor belt to move, so that the blanking site on the blanking conveyor belt (21) is in a vacant position state, and the blanking manipulator (52) can place the next time.