CN110394736A - A kind of large size abrasive cutoff saw grinding wheel replacement system - Google Patents
A kind of large size abrasive cutoff saw grinding wheel replacement system Download PDFInfo
- Publication number
- CN110394736A CN110394736A CN201910617204.2A CN201910617204A CN110394736A CN 110394736 A CN110394736 A CN 110394736A CN 201910617204 A CN201910617204 A CN 201910617204A CN 110394736 A CN110394736 A CN 110394736A
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- China
- Prior art keywords
- grinding wheel
- disk
- box body
- hollow box
- old
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B45/00—Means for securing grinding wheels on rotary arbors
- B24B45/003—Accessories therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B45/00—Means for securing grinding wheels on rotary arbors
- B24B45/006—Quick mount and release means for disc-like wheels, e.g. on power tools
Abstract
The present invention provides a kind of large-scale abrasive cutoff saw grinding wheels to replace system, it is characterized by comprising the grinding wheel attaching/detaching apparatus for disassembling abrasive wheel piece, for shifting the transmission transport establishment for replacing new and old grinding wheel, it is used to support the rack of the grinding wheel attaching/detaching apparatus and the transmission transport establishment and for transporting the replacement conveyer for replacing new and old grinding wheel, the rack includes L shape pedestal and support column, the support column is set on the end of the L shape pedestal cross bar, the grinding wheel attaching/detaching apparatus is fixedly installed on the support column, L shape pedestal vertical bar end is connected with the transmission transport establishment；The replacement conveyer is set to the right front of the transmission transport establishment；The configuration of the present invention is simple, it is convenient to operate, and can be realized the dismounting and transhipment of grinding wheel.
Description
Technical field
The present invention relates to grinding wheels to dismount technical field, and especially a kind of large-scale abrasive cutoff saw grinding wheel replaces system.
Background technique
Large-scale abrasive cutoff saw is called large-scale abrasive wheel cutting machine, is to metal side's flat tube, square band steel, I-steel, U-steel, carbon member
The commonly used equipment that the materials such as steel, first pipe are cut, is suitable for building, hardware, petrochemical industry, mechanical metallurgy and hydropower installation etc.
Department, in mechanical processing industry, use is very frequent；Because the material of grinding wheel belongs to easily-consumed products, in use with
It is rubbed by cutting material, causes to wear.
Large-scale grinding wheel belongs to vulnerable part, and frequency of use height is also easy to produce abrasion, and abrasion must just be replaced to a certain extent.Greatly
Abrasive wheel piece carries out irregular replacement according to its service condition；Common and unique substitute mode is artificial replacement at present, is led to
The fixture nut removed on abrasive cutoff saw main shaft by hand, gasket are crossed, and replaces old grinding wheel with new grinding wheel, due to large-scale grinding wheel
Volume big (diameter is up to 1200mm), weight weight (quality up to 50kg or more), replace low efficiency, large labor intensity, manually at
This height, the reliability of replacement be not high.
Large-scale grinding wheel uses the thermal cutting with steel.Heavy workload is usually all weather operations.One grinding wheel work
Time at more than one hours or so, manually generally requires two workers when replacement and half an hour limits production efficiency.And work
The quality of the harsh environmental conditions manually made, grinding wheel is big, will cause bigger security risk.Since production line stops meeting
Lead to serious production problem so using using two equipment switchings, greatly limit equipment in this way utilizes effect
Rate increases cost.
Summary of the invention
In view of this, the present invention provides a kind of large-scale abrasive cutoff saw grinding wheels to replace system, tearing open for grinding wheel can be realized
Dress and transhipment.
The present invention is realized using following methods: a kind of large size abrasive cutoff saw grinding wheel replacement system, it is characterised in that: including
It replaces the transmission transport establishment of new and old grinding wheel for the grinding wheel attaching/detaching apparatus of disassembling abrasive wheel piece, for shifting, be used to support
The grinding wheel attaching/detaching apparatus and it is described transmission transport establishment rack and for transport replace new and old grinding wheel replacement transport
Device, the rack include L shape pedestal and support column, and the support column is set on the end of the L shape pedestal cross bar, described
Grinding wheel attaching/detaching apparatus is fixedly installed on the support column, and L shape pedestal vertical bar end is connected with the transmission fortune
Transfer mechanism；The replacement conveyer is set to the right front of the transmission transport establishment；The grinding wheel attaching/detaching apparatus utilizes
First machine vision and position sensor carry out Dual positioning to grinding wheel, and the grinding wheel attaching/detaching apparatus is by grinding wheel from grinding wheel
After being dismantled on saw, it is transported on replacement conveyer through the transmission transport establishment, first machine vision passes through figure first
As partitioning algorithm, the image in specified region is extracted；The template matching for carrying out framing after successful match, passes through Canny algorithm
Image is pre-processed, then Hough transform is carried out to its marginal point, obtains the slope of image border and the phase in interpolation direction
Marginal point is answered, is rotated gradient direction to, extraction image center coordinate, so that institute consistent with interpolation direction by coordinate transform
Stating grinding wheel attaching/detaching apparatus can preferably dismantle grinding wheel from abrasive cutoff saw.
Further, the grinding wheel attaching/detaching apparatus includes L shape bottom plate, and the transverse slat of the L shape bottom plate is set to the branch
On dagger, the transverse slat upper surface rear and front end of the L shape bottom plate offers first rail groove；The L shape plate upper surface is set
It is equipped with the first hollow box body, first hollow box body front is provided with one first disk, in the first hollow box body front
Portion offers first through hole, and the second through-hole corresponding with the first through hole is offered on first disk；Described first
Middle part is fixedly installed the high power air wrench for dismantling abrasive cutoff saw mainshaft nut, and the high power air in hollow box body
The sleeve of wrench sequentially passes through the first through hole and second through-hole, and the sleeve front of the high power air wrench is set
It is equipped with permanent magnet；Support base is provided with above first hollow box body, first machine vision is set to the support base
Upper end, the position sensor are set to support base front, so that the first machine vision and position sensor are to grinding wheel
Piece carries out Dual positioning；By the second through-hole, the annular centered on the center of circle is provided with for adsorbing abrasive cutoff saw in first disk front
First vacuum chuck of main shaft upper flange platen, first disk front, which is provided with, to be matched with first vacuum chuck
First soft-touch control, first disk front annular centered on the second through hole center are provided with for adsorbing grinding wheel
Two vacuum chucks, first disk front are provided with the second soft-touch control matched with second vacuum chuck；It is described
First disk is disposed with the second vacuum chuck, the first vacuum chuck and the second through-hole from outside to inside, and first vacuum is inhaled
The outlet side of disk and the second vacuum chuck is respectively connected with the first vacuum generator, and first vacuum generator be set to it is described
In first hollow box body, it is provided with the first shunt valve in first hollow box body, and first shunt valve is by the road and outside
The connection of portion's vacuum pump；First hollow box body bottom surface surrounding is provided with the first directive wheel, and first directive wheel is embedded in
In the first rail groove, it is provided in the middle part of the riser of the L shape bottom plate for driving the first hollow box body side-to-side movement
The first telescopic cylinder, the telescopic rod end of first telescopic cylinder connects in the first hollow box body right flank middle part.
Further, the transverse slat lower surface left and right ends of the L shape bottom plate offer T-rail, the L shape bottom plate
Transverse slat lower surface is provided with the old sand wheel for placing the old grinding wheel that the grinding wheel attaching/detaching apparatus is removed from abrasive cutoff saw
Roll-over in piece, in the old grinding wheel roll-over upper surface left and right ends be provided with for be embedded in the T-rail and with the T
The T-shaped slider that shape guide rail matches；The transverse slat lower surface of the L shape bottom plate is provided with a supporting block, is arranged in the supporting block
There is the second telescopic cylinder, the telescopic rod of second telescopic cylinder is connect with roll-over back in the old grinding wheel, in favor of institute
It states the second telescopic cylinder and is able to drive roll-over in the old grinding wheel and moved left and right in T-rail；The old grinding wheel transfer
The front in storehouse be it is unlimited, the left and right ends of roll-over are provided with the limit plate for limiting grinding wheel, institute in the old grinding wheel
The opening for stating roll-over in old grinding wheel is gradually reduced from top to bottom.
Further, first disk and first hollow box body front, which are offered with the second through hole center, is
The setting of thimble shape is for installing the first mounting hole of fixed first vacuum chuck, first disk and described first hollow
Cabinet front offers centered on the second through hole center annular setting for installing the of fixed second vacuum chuck
Two mounting holes.
Further, first vacuum chuck is identical with the second vacuum chuck structure, first vacuum chuck
Including the first escape pipe and sucker, the inlet end of first escape pipe is connect with the sucker, and first escape pipe goes out
Gas end passes through first mounting hole and connect with the inlet end of first vacuum generator；The first shunt valve air inlet warp
Pipeline is connected with first vacuum generator gas outlet, and the first vacuum generator air inlet is by the road respectively with first
Gas pressure detector air inlet and the first air filter gas outlet are connected, the air inlet of first air filter with it is described
The outlet side of first escape pipe is connected, and first air filter and the first gas pressure detector are all set in described first
It is matched in empty van body with first vacuum generator.
Further, the transmission transport establishment includes U-lag body, and upper end is respectively provided in the U-lag body left and right sides
There is the first guide rail, lower end is provided with the first rack gear in the U-lag body left side, is provided in the U-lag body and leads first
The first movement bottom plate being moved forward and backward in rail, the first movement lower surface of base plate surrounding are provided with insertion first guide rail
The second interior directive wheel is provided with the second hollow box body and first motor on the first movement bottom plate, the first motor
Output shaft passes through the first movement bottom plate, and the first motor output the tip of the axis is provided with to be meshed with first rack gear
First gear, be provided with a fixed block in the first motor；The positive left and right ends of second hollow box body open up
There is the second guide-track groove, the back side left and right ends of the fixed block are provided with the sliding block for being embedded in second guide-track groove,
Middle face is provided with third telescopic cylinder on the fixed block, is provided with a fixed plate on second hollow box body, and described
The telescopic rod of three telescopic cylinders is connect with the bottom surface of the fixed plate, so that third telescopic cylinder is able to drive in described second
Empty van body moves up and down；It is provided with a placement bottom plate on the vertical bar of the L shape pedestal, is arranged on the placement bottom plate useful
In the grinding wheel holding tray for placing grinding wheel, the U-lag body front end is provided with the second motor, the output shaft of second motor
It is erected in the U-lag body, the output axis connection of the left side for placing bottom plate and second motor；In described second
The cross rack for replacing grinding wheel is provided on empty van body right side, positive four vertex of cross rack are respectively provided with
There is third vacuum chuck, the positive Middle face of the cross rack is provided with horizontal hanging scroll corresponding with grinding wheel middle part, described
The second machine vision for positioning grinding wheel is provided in horizontal hanging scroll, the outlet side of the third vacuum chuck is connected with
Two air filters, the gas outlet of second air filter are connected with the air inlet of the second vacuum generator, and described second
The air inlet of vacuum generator is also connect with the air inlet of second gas pressure detector, and second vacuum generator,
Two air filters and the second gas pressure detector are all set in second hollow box body, setting in second hollow box body
There is the second shunt valve, and second shunt valve is connect with external vacuum pump by the road, the second shunt valve air inlet is through pipe
Road is connected with second vacuum generator gas outlet.
Further, the replacement conveyer includes mechanical arm, and the robotic arm end is provided with for disassembling abrasive wheel
The holding device of piece, the mechanical arm are fixed on a pedestal, and the pedestal is fixed on the second movable base plate, and described second moves
Third motor is provided on dynamic bottom plate, the third motor is set to the right side of the pedestal, the second movable base plate lower section
It is provided with U-shaped guide rail, upper end is provided with the second guide rail, the second movable base plate following table in the U-shaped guide rail left and right sides
Face surrounding is provided with the third directive wheel for being embedded in and being moved left and right in second guide rail；The third motor output shaft is worn
Cross second movable base plate, third motor output shaft end is provided with second gear, at left and right sides of the U-shaped guide rail in
Lower end is provided with the second rack gear engaged with the second gear；So that third motor is able to drive the described second mobile bottom
Plate side-to-side movement in the second guide rail.
It further, further include that old grinding wheel places cart and new grinding wheel placement cart, the old grinding wheel placement pushes away
Vehicle is consistent with the new grinding wheel placement structure of cart, and it includes the placement for placing grinding wheel that the old grinding wheel, which places cart,
Plate, placement plate lower section surrounding are provided with universal wheel, are provided in the placement plate for pushing pushing away for the placement plate
Vehicle handrail is provided with two limited posts for limiting grinding wheel in the placement plate；The old grinding wheel places cart and new
Grinding wheel places cart and pushes away the underface put to the holding device, so that holding device can be complete through the second movable base plate
At the transhipment placement operation of new and old grinding wheel.
Further, the holding device includes the second disk, with the second circle disk center in second lower disk surface
Center annular array is provided with the 4th vacuum chuck；The outlet side of 4th vacuum chuck is connected with third air filtration
Device, the gas outlet of the third air filter are connected with the air inlet of third vacuum generator, the third vacuum generator
Air inlet also connect with the air inlet of the third gas pressure detector, and the third vacuum generator, third air filtration
Device and third gas pressure detector are all set on second disk, and second disk upper surface is provided with third shunt valve,
And the third shunt valve is connect with external vacuum pump by the road, the third shunt valve air inlet is true with the third by the road
Empty generator gas outlet is connected；The third vacuum generator and the 4th vacuum chuck correspond, and the third
Vacuum generator is identical as the 4th vacuum chuck quantity；Third through-hole is offered on second disk, the third is logical
It is passed through in hole and is provided with third soft-touch control, second disk upper surface is provided with for fixing the third soft-touch control
First L shape support, and the first L shape support is set to the third through-hole side；The 4th is offered on second disk
Through-hole, the fourth hole top are provided with camera, and the promising camera of the second lower disk surface setting provides light
The LED light ring in source, the LED light ring are set to the side of the fourth hole；Second disk upper surface, which is provided with, to be used for
2nd L shape support of the fixed camera, the 2nd L shape support are set to the fourth hole side.
Further, the 4th vacuum chuck includes sucker and sucker hoop, and the sucker hoop is set on the sucker,
It is provided with an air cavity in the sucker hoop, sucker hoop lower surface offers multiple ventholes, in sucker hoop gas outlet
It is provided with the second escape pipe, second escape pipe gas outlet is connect with the third air filter air inlet, and described second
Escape pipe outer peripheral sidewall is arranged with sleeve, and the sleeve passes through second disk, is provided in the sleeve outer peripheral sidewall outer
Screw thread, the sleeve upper end are fixed with the first nut, and first nut is set to second disk upper surface, the sleeve
Lower end is fixed with the second nut, and second nut is set on the sucker hoop.
The beneficial effects of the present invention are: the present invention joined grinding wheel attaching/detaching apparatus, transmission transport establishment in systems
With replacement conveyer, the dismounting and replacement integration that grinding wheel is completed by mechanical device are realized；It is torn open by grinding wheel
Assembling device makes it possible to that grinding wheel is preferably carried out dismounting effect, can constant level's movement by M100 nut, gasket, method
Blue platen is synchronous with old grinding wheel successively to be removed from abrasive cutoff saw main shaft, ensure that nut and gasket exist by the effect of permanent magnet
It is not fallen out after being exited from main shaft；Again by transmission transport device, to carry out the replacement of new and old grinding wheel；It is transported finally by replacement
Device is sent, makes it possible to be transported through operation to grinding wheel by mechanical structure, reduces artificial, raising work and production effect
Rate realizes the energy-saving of automatic production line, reduces the labor intensity and cost of labor of worker, reliability when replacement
Height greatly strengthens the replacement efficiency of replacement grinding wheel, ensure that the safety of personnel, and security performance is high, increases production for enterprise
Value；Work difficulty greatly reduces, improves safety, it is injured due to carrying grinding wheel to avoid worker.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of first state of the present invention.
Fig. 2 is the structural schematic diagram of the second state of the invention.
Fig. 3 is the structural schematic diagram of the grinding wheel attaching/detaching apparatus.
Fig. 4 is the left view of the grinding wheel attaching/detaching apparatus.
Fig. 5 is the main view of the grinding wheel attaching/detaching apparatus.
Fig. 6 is the structural schematic diagram of first disk.
Fig. 7 is the left view of first disk.
Fig. 8 is the structural schematic diagram of first hollow box body.
Fig. 9 is the schematic diagram of internal structure of first hollow box body.
Figure 10 is the structural schematic diagram of roll-over in the old grinding wheel.
Figure 11 is the structural schematic diagram of second hollow box body.
Figure 12 is the structural schematic diagram of the fixed block.
Figure 13 is the schematic diagram of internal structure of second hollow box body.
Figure 14 is the structural schematic diagram that second hollow box body is connected with the fixed block.
Figure 15 is the main view that second hollow box body is connected with the fixed block.
Figure 16 is the structural schematic diagram of the U-lag body.
Figure 17 is schematic diagram in the structure of the cross rack.
Figure 18 is the structural schematic diagram of the replacement conveyer.
Figure 19 is the right view of the replacement conveyer.
Figure 20 is the structural schematic diagram of second disk.
Figure 21 is the bottom view of second disk.
Figure 22 is the connection schematic diagram of the third vacuum generator.
Figure 23 is the structural schematic diagram of the 4th vacuum chuck.
Specific embodiment
The present invention will be further described with reference to the accompanying drawing.
It please refers to shown in Fig. 1 and Fig. 2, the present invention provides an embodiments: a kind of large size abrasive cutoff saw grinding wheel replacement system,
Including for disassembling abrasive wheel piece grinding wheel attaching/detaching apparatus 1, for shift replace new and old grinding wheel transmission transport establishment 2, use
In the rack 3 for supporting the grinding wheel attaching/detaching apparatus 1 and the transmission transport establishment 2 and for transporting the new and old grinding wheel of replacement
Conveyer 4 is replaced, the rack 3 includes L shape pedestal 31 and support column 32, and the support column 32 is set to the L shape pedestal
On the end of 31 cross bars, the grinding wheel attaching/detaching apparatus 1 is fixedly installed on the support column 32,31 vertical bar of L shape pedestal
End is connected with the transmission transport establishment 2；The replacement conveyer 4 is set to the right side of the transmission transport establishment 2
Front；So that grinding wheel can be dismounted and be replaced by the replacement system；The grinding wheel attaching/detaching apparatus 1 utilizes the first machine
Vision 133 and position sensor 134 carry out Dual positioning to grinding wheel, and the grinding wheel attaching/detaching apparatus 1 is by grinding wheel from grinding wheel
After being dismantled on saw, it is transported on replacement conveyer 4 through the transmission transport establishment 2, first machine vision passes through first
Image segmentation algorithm extracts the image in specified region；The template matching for carrying out framing after successful match, is calculated by Canny
Method pre-processes image, then carries out Hough transform to its marginal point, obtains the slope of image border and in interpolation direction
Respective edges point is rotated gradient direction to, extraction image center coordinate consistent with interpolation direction by coordinate transform, so that
The grinding wheel attaching/detaching apparatus 1 can preferably dismantle grinding wheel from abrasive cutoff saw.
It please referring to shown in Fig. 3 to Fig. 9, in one embodiment of the invention, the grinding wheel attaching/detaching apparatus 1 includes L shape bottom plate 11,
The transverse slat of the L shape bottom plate 11 is set on the support column 32, and the transverse slat upper surface rear and front end of the L shape bottom plate 11 is opened
Equipped with first rail groove 12；11 upper surface of L shape bottom plate is provided with the first hollow box body 13, and first hollow box body 13 is just
Face is provided with one first disk 14, and the positive Middle face of first hollow box body 13 offers first through hole 131, first disk
Second through-hole 141 corresponding with the first through hole 131 is offered on 14；Middle part fixation is set in first hollow box body 13
It is equipped with the high power air wrench 15 for dismantling abrasive cutoff saw mainshaft nut, and the sleeve of the high power air wrench 15 is successively
Across the first through hole 131 and second through-hole 141, the sleeve front of the high power air wrench 15 is provided with permanent magnetism
Body (not shown)；First hollow box body 13 is provided with support base 132 above, and first machine vision 133 is set to institute
132 upper end of support base is stated, the position sensor 134 is set to 132 front of support base, in favor of the first machine vision
133 and position sensor 134 to grinding wheel carry out Dual positioning；First disk, 14 front is with the second through-hole 141 with the center of circle
Centered on annular be provided with the first vacuum chuck 16 for adsorbing abrasive cutoff saw main shaft upper flange platen, first disk 14 is just
Face is provided with the first soft-touch control 161 matched with first vacuum chuck 16, and 14 front of the first disk is with second
Annular is provided with the second vacuum chuck 17 for adsorbing grinding wheel, the 14 front setting of the first disk centered on through hole center
There is the second soft-touch control 171 matched with second vacuum chuck 17；First disk 14 is set gradually from outside to inside
There are the second vacuum chuck 17, the first vacuum chuck 16 and the second through-hole 141, first vacuum chuck 16 and the second vacuum chuck
17 outlet side is respectively connected with the first vacuum generator 18, and first vacuum generator 18 is set to first hollow box
In body 13, be provided in first hollow box body 13 first shunt valve (not shown), and first shunt valve by the road with
External vacuum pump connection (not shown)；First hollow box body, the 13 bottom surface surrounding is provided with the first directive wheel 135, and described
First directive wheel 135 is embedded in the first rail groove 12, is provided in the middle part of the riser of the L shape bottom plate 11 described for driving
First telescopic cylinder 19 of 13 side-to-side movement of the first hollow box body, the telescopic rod end of first telescopic cylinder 19 is in described
The connection of one hollow box body, 13 right flank middle part.When abrasive cutoff saw continues sawing until grinding wheel may wear to diameter by diameter 1200mm
When 700, abrasive cutoff saw stops cutting, after grinding wheel sawing spindle nose moves to grinding wheel position to be replaced by operating position, abrasive cutoff saw
Grinding wheel hatch door automatically opens, under the first machine vision 133 and 134 Dual positioning of position sensor, grinding wheel attaching/detaching apparatus 1
After accurately being docked with abrasive cutoff saw main shaft, open the first telescopic cylinder 19 so that the first directive wheel 135 in first rail groove 12 to
Left movement opens the first vacuum generator 18, external vacuum pump starts until the second vacuum chuck 17 touches grinding wheel surface
Suction vacuumizing is carried out to the first vacuum chuck 16 and the second vacuum chuck 17, it is same that the second vacuum chuck 17 adsorbs old grinding wheel
When, the first vacuum chuck 16 adsorbs abrasive cutoff saw main shaft upper flange platen, and passes through high power air wrench 15 for abrasive cutoff saw main shaft
After upper M100 nut screws off, present apparatus constant level movement is synchronous with old grinding wheel successively by M100 nut, gasket, flange platen
It is removed from abrasive cutoff saw main shaft, since the sleeve of high power air wrench 15 strives front equipped with permanent magnet, ensure that abrasive cutoff saw master
Nut and gasket on axis are not fallen out after exiting from main shaft.
It please refers to shown in Figure 10, in one embodiment of the invention, the transverse slat lower surface left and right ends of the L shape bottom plate 11 are opened
Equipped with T-rail 5, the transverse slat lower surface of the L shape bottom plate 11 is provided with for placing the grinding wheel attaching/detaching apparatus 1 from grinding wheel
Roll-over 51 in the old grinding wheel of the old grinding wheel removed on saw, 51 upper surface left and right ends of roll-over are all provided in the old grinding wheel
It is equipped with the T-shaped slider 52 for being embedded in the T-rail 5 and matching with the T-rail 5；The transverse slat of the L shape bottom plate 11
Lower surface is provided with a supporting block 53, and the second telescopic cylinder 54, second telescopic cylinder 54 are provided in the supporting block 53
Telescopic rod connect with 51 back of roll-over in the old grinding wheel, in favor of second telescopic cylinder 54 be able to drive it is described old
Roll-over 51 moves left and right in T-rail 5 in grinding wheel；The front of roll-over 51 is unlimited, the old sand in the old grinding wheel
The left and right ends of roll-over 51 are provided with the limit plate 55 for limiting grinding wheel in wheel piece, roll-over 51 in the old grinding wheel
Opening is gradually reduced from top to bottom, so that old grinding wheel is not easy to fall.So that the second vacuum chuck 17 is by old grinding wheel from main shaft
On when picking up, open the second telescopic cylinder 54, roll-over 51 in old grinding wheel be moved to old grinding wheel front position, old grinding wheel
The opening of middle roll-over 51 is corresponding with old grinding wheel, and then staff closes the first vacuum generator 18, so that the second vacuum
Sucker 17 decontrols old grinding wheel, and old grinding wheel is fallen down into old grinding wheel in the opening of roll-over 51 until old grinding wheel is complete
Limit in roll-over 51, is again turned on the second telescopic cylinder 54 in old grinding wheel, so that roll-over 51 in old grinding wheel is driven to reply
To initial position.
First disk 14 and first hollow box body, 13 front offer centered on 141 center of circle of the second through-hole
Annular setting is for installing the first mounting hole 162 of fixed first vacuum chuck 16, first disk 14 and described the
It is true for installing fixed described second that one hollow box body, 13 front offers the annular setting centered on 141 center of circle of the second through-hole
Second mounting hole 172 of suction disk 17.So that the escape pipe of the first vacuum chuck 16 passes through the first mounting hole 162 and install admittedly
It is fixed, and connect with the first vacuum generator 18, the first vacuum chuck 16 is fixed on the first disk 14；So that the second vacuum is inhaled
The escape pipe of disk 17 passes through the second mounting hole 172 and carries out installation fixation, and connect with the first vacuum generator 18, by the second vacuum
Sucker 17 is fixed on the first disk 14.
First vacuum chuck 16 is identical with 17 structure of the second vacuum chuck, and first vacuum chuck 16 includes
First escape pipe 6 and sucker 61, the inlet end of first escape pipe 6 are connect with the sucker 61, first escape pipe 6
Outlet side passes through first mounting hole 161 and connect with the inlet end of first vacuum generator 18；First shunt valve
Air inlet is connected with 18 gas outlet of the first vacuum generator by the road, and 18 air inlet of the first vacuum generator is through pipe
Road is connected with 62 air inlet of the first gas pressure detector and 63 gas outlet of the first air filter respectively, first air filtration
The air inlet of device 63 is connected with the outlet side of first escape pipe 6, first air filter 63 and the first air pressure inspection
Survey device 62 is all set in first hollow box body 13 and matches with first vacuum generator 18.So that external vacuum pump
The air in sucker can be siphoned away through the first escape pipe 6, in favor of the first vacuum chuck 16 and second vacuum chuck 17
Flange platen and the grinding wheel on abrasive cutoff saw main shaft can smoothly be picked up.
It please referring to shown in Figure 11 to Figure 17, in one embodiment of the invention, the transmission transport establishment 2 includes U-lag body 21,
Upper end is provided with the first guide rail 22 in 21 left and right sides of U-lag body, and lower end is provided in 21 left side of U-lag body
First rack gear 23, is provided with the first movement bottom plate 24 being moved forward and backward in the first guide rail 22 in the U-lag body 21, and described
One movable base plate, 24 lower surface surrounding is provided with the second directive wheel 241 being embedded in first guide rail 22, and described first moves
The second hollow box body 25 and first motor 26 are provided on dynamic bottom plate 24, the output shaft of the first motor 26 passes through described first
Movable base plate 24, the first motor 26 export the tip of the axis and are provided with the first gear being meshed with first rack gear 23
27, it when so that first motor 26 rotating, is able to drive on first gear 27 and the first rack gear 23 and moves forward and backward, first gear 27 is transported
First movement bottom plate 24 is driven to move forward and backward in U-lag body 21 while dynamic；It is fixed that one is provided in the first motor 26
Block 28；The positive left and right ends of second hollow box body 25 offer the second guide-track groove 251, the back side of the fixed block 28
Left and right ends are provided with the sliding block 281 for being embedded in second guide-track groove 251, and Middle face is arranged on the fixed block 28
There is third telescopic cylinder 282, a fixed plate 252 is provided on second hollow box body 25, the third telescopic cylinder 282
Telescopic rod is connect with the bottom surface of the fixed plate 252, so that third telescopic cylinder 282 is able to drive second hollow box body
25 move up and down；It is provided with a placement bottom plate 29 on the vertical bar of the L shape pedestal 31, is provided on the placement bottom plate 29
For placing the grinding wheel holding tray 291 of grinding wheel, 21 front end of U-lag body is provided with the second motor 292, second electricity
The output shaft of machine 292 is erected in the U-lag body 21, the left side for placing bottom plate 29 and second motor 292
Axis connection is exported, when so that the second motor 292 rotating, placement bottom plate 29 is able to drive and is overturn, overturn and overturn for 90 degree, with
New grinding wheel can be sent on the second hollow box body 25 conducive to grinding wheel holding tray 291, by 25 slave of the second hollow box body
The old grinding wheel unloaded down on tool, which is placed on grinding wheel holding tray 291, carries out transfer operation；Second hollow box body 25 is right
The cross rack 7 for replacing grinding wheel is provided on side, 7 positive four vertex of the cross rack are provided with third
Vacuum chuck 71, the positive Middle face of the cross rack 7 are provided with and horizontal hanging scroll 72 corresponding in the middle part of grinding wheel, the water
The second machine vision (not shown) for positioning grinding wheel, the outlet of the third vacuum chuck 71 are provided in flat hanging scroll 72
End is connected with the second air filter 73, and the gas outlet of second air filter 73 is connected with the second vacuum generator 74
Air inlet, the air inlet of second vacuum generator 74 is also connect with the air inlet of second gas pressure detector 75, and institute
It states the second vacuum generator 74, the second air filter 73 and the second gas pressure detector 75 and is all set in second hollow box body
It in 25, is provided in second hollow box body 25 second shunt valve (not shown), and second shunt valve is by the road and outside
Portion's vacuum pump it is (not shown) connection, the second shunt valve air inlet by the road with the 74 gas outlet phase of the second vacuum generator
Connection enables and passes through the old grinding wheel that third vacuum chuck 71 disassembles grinding wheel attaching/detaching apparatus 1 from abrasive cutoff saw
It picks up and is transported through, new grinding wheel can be also transitted on grinding wheel attaching/detaching apparatus 1 by third vacuum chuck 71, then pass through sand
The installation of piece attaching/detaching apparatus 1 to the enterprising enforcement of abrasive cutoff saw is taken turns to use.
It please referring to shown in Figure 18 and Figure 19, in one embodiment of the invention, the replacement conveyer 4 includes mechanical arm 41,
41 end of robotic arm is provided with the holding device 8 for disassembling abrasive wheel piece, so that passing through mechanical arm 41 and holding device 8
Manipulator is cooperatively formed, operation preferably is transported through to grinding wheel, the mechanical arm 41 is fixed on a pedestal 42, the bottom
Seat 42 is fixed on the second movable base plate 43, is moved left and right so that the second movable base plate 43 is able to drive mechanical arm 41, institute
It states and is provided with third motor 44 on the second movable base plate 43, the third motor 44 is set to the right side of the pedestal 42, described
U-shaped guide rail 45 is provided with below second movable base plate 43, upper end is provided with the second guide rail in 45 left and right sides of U-shaped guide rail
46, the 43 lower surface surrounding of the second movable base plate is provided with the third for being embedded in and being moved left and right in second guide rail 46
Directive wheel 47；44 output shaft of third motor passes through second movable base plate 43, and the third motor 44 exports shaft end
It is provided with second gear 48, lower end is provided with the engaged with the second gear 48 in 45 left and right sides of U-shaped guide rail
Two rack gears 49 so that 44 output shaft of third motor be able to drive second gear 48 rotation, second gear 48 rotate when with the second tooth
Item 49 engages, so that second gear 48 can carry out side-to-side movement on the second rack gear 49, so that third motor 44 is able to drive
The side-to-side movement in U-shaped guide rail 45 of second movable base plate 43, so that third motor 44 is able to drive second movement
The side-to-side movement in the second guide rail 46 of bottom plate 43.
It further include that old grinding wheel places cart 9 and new grinding wheel places cart 10, the old grinding wheel places cart 9 and new
The structure that grinding wheel places cart 10 is consistent, and it includes the placement plate for placing grinding wheel that the old grinding wheel, which places cart 10,
101, the 101 lower section surrounding of placement plate is provided with universal wheel 102, is provided in the placement plate 101 described for pushing
The cart handrail 103 of placement plate 101 is provided with two limited posts 104 for limiting grinding wheel in the placement plate 101；Institute
It states old grinding wheel placement cart 9 and new grinding wheel places cart 10 and pushes away the underface put to the holding device 8, so that sticking
Device 8 can pick up new grinding wheel through mobile, be transported in grinding wheel holding tray 291, then by moving left and right, will be from grinding wheel
Old grinding wheel in piece holding tray 291 is placed on old grinding wheel and places on cart 9, so that holding device 8 can be moved through second
Dynamic bottom plate 43 completes the transhipment placement operation of new and old grinding wheel.
It please refers to shown in Figure 20 to Figure 22, the holding device 8 includes the second disk 81,81 lower surface of the second disk
On using 81 center of circle of the second disk as center annular array be provided with the 4th vacuum chuck 82, for picking up grinding wheel, to new old sand
Wheel piece is transported through operation；The outlet side of 4th vacuum chuck 82 is connected with third air filter 83, and the third is empty
The gas outlet of air filter 83 is connected with the air inlet of third vacuum generator 84, the air inlet of the third vacuum generator 84
It is also connect with the air inlet of the third gas pressure detector 85, and the third vacuum generator 84, third air filter 83
It is all set on second disk 81 with third gas pressure detector 85,81 upper surface of the second disk is provided with third branch
Valve 86, and the third shunt valve 86 is connect with external vacuum pump (not shown) by the road, 86 air inlet of third shunt valve
It is connected by the road with 84 gas outlet of third vacuum generator, so that external vacuum pump is through third vacuum generator 84,
Three vacuum generators 84 siphon away the air of the 4th vacuum chuck 82 through air filter 83, in favor of 82 energy of the 4th vacuum chuck
It is enough to pick up grinding wheel；The third vacuum generator 84 is corresponded with the 4th vacuum chuck 82, and the third is true
Empty generator 84 is identical as 82 quantity of the 4th vacuum chuck；Third through-hole 87 is offered on second disk 81, it is described
It passes through in third through-hole 87 and is provided with third soft-touch control 88,81 upper surface of the second disk is provided with for fixing described the
First L shape support (not shown) of three soft-touch controls 88, and the first L shape support is set to 87 side of third through-hole,
So that can be pressed third soft-touch control 88 when the 4th vacuum chuck 82 picks up grinding wheel, so that third touch is opened
Closing 88 can be as the foundation for judging whether grinding wheel is picked up；Fourth hole is offered on second disk 81 (not scheme
Show), the fourth hole top is provided with camera 89, and 81 lower surface of the second disk is arranged the promising camera 89 and mentions
For the LED light ring 891 of light source, the LED light ring 891 is set to the side of the fourth hole；Table on second disk 81
Face is provided with the 2nd L shape support (not shown) for fixing the camera 89, and the 2nd L shape support is set to described
Four through-hole sides, so that LED light ring 891 can provide light source for camera 89, so that camera when camera 89 is shot
89 can clearly be shot, to judge whether 82 lower section of the 4th vacuum chuck has grinding wheel for user.
It please refers to shown in Figure 23, the 4th vacuum chuck 82 includes sucker 821 and sucker hoop 822, the sucker hoop 822
It is set on the sucker 821, an air cavity 823 is provided in the sucker hoop 822,822 lower surface of sucker hoop offers
Multiple ventholes 824 are provided with the second escape pipe 825,825 outlet of the second escape pipe in 822 gas outlet of sucker hoop
Mouth is connect with 85 air inlet of third air filter, and 825 outer peripheral sidewall of the second escape pipe is arranged with sleeve 826, institute
It states sleeve 826 and is provided with external screw thread (not shown), the sleeve on second disk 81,81 outer peripheral sidewall of sleeve
826 upper ends are fixed with the first nut 827, and first nut 827 is set to 81 upper surface of the second disk, the sleeve
826 lower ends are fixed with the second nut 828, and second nut 828 is set on the sucker hoop 822.So that passing through sleeve
826, the second escape pipe 825 can connect third air filter 85 and sucker hoop 822, so that third air filter 85 can be by gas
Pressure is delivered in air cavity 823, then air pressure is delivered to sucker 821 by venthole 824, so that sucker 821 can produce suction and incite somebody to action
Grinding wheel picks up.
The working principle of the invention: abrasive cutoff saw continues sawing when grinding wheel may wear to diameter 700 by diameter 1200mm,
Abrasive cutoff saw stops cutting, after grinding wheel attaching/detaching apparatus moves to grinding wheel position to be replaced by operating position, abrasive cutoff saw grinding wheel
Piece hatch door automatically opens, and under the first machine vision and position sensor Dual positioning, starts the first telescopic cylinder, so that first
A hollow box body left side is pushed to old grinding wheel surface location, and after grinding wheel attaching/detaching apparatus is accurately docked with abrasive cutoff saw main shaft, second is true
Simultaneously, the first vacuum chuck adsorbs abrasive cutoff saw main shaft upper flange platen to the empty old grinding wheel of sucker suction, and by being mounted in manipulator
Head high power air wrench starts the first telescopic cylinder, by the first hollow box for after M100 nut screws off on abrasive cutoff saw main shaft
Body moves right, so that grinding wheel attaching/detaching apparatus constant level movement is same by M100 nut, gasket, flange platen and old grinding wheel
Step is successively removed from abrasive cutoff saw main shaft, and the front of high power air wrench is equipped with permanent magnet, ensure that nut and gasket from
Main shaft is not fallen out after exiting；The second telescopic cylinder of subsequent start-up moves roll-over in old grinding wheel from L shape pedestal lower horizontal
To old grinding wheel following position directly, the second vacuum chuck, which stops working, discharges old grinding wheel into old grinding wheel in roll-over, then
The second telescopic cylinder of secondary starting, while roll-over is retracted into its initial position with old grinding wheel in old grinding wheel, replacement is transported
Device receives signal, opens third motor, and the second movable base plate is moved to new grinding wheel and places trolley position, passes through the 4th
Vacuum chuck picks up new grinding wheel, start third motor, drive new grinding wheel in perpendicular precise motion to and grinding wheel
Saw the coaxial grinding wheel holding tray position of main shaft；New grinding wheel is placed on grinding wheel holding tray position, starts the second motor, the
Two motor output shafts, which drive, places 90 degree of bottom plate rotation, and new grinding wheel is overturn to the cross of the second hollow box body and is matched
Position, by the positioning of the second machine vision, third vacuum chuck picks up new grinding wheel, places bottom plate and overturns to start bit
It sets, starts first motor, first motor drives first gear to move on the first rack gear, moves to and grinding wheel attaching/detaching apparatus pair
Position is answered, so that grinding wheel attaching/detaching apparatus is docked with the 4th vacuum chuck, starts the first telescopic cylinder, so that the first hollow box body
It is moved to the left, the start-up operation of the second vacuum chuck adsorbs new grinding wheel to be replaced, first motor is then turned on, so that the first electricity
Machine drives first movement bottom plate, and opposite direction integral level is moved new grinding wheel from the horizontal hanging scroll of grinding wheel attaching/detaching apparatus again
It removes and completely disengages, after being driven transport establishment's empty driving to the position to be installed of first time, grinding wheel attaching/detaching apparatus is whole again
Horizontal movement by new grinding wheel, flange platen is synchronous with gasket successively puts on abrasive cutoff saw main shaft, high power air wrench again will
Torque is threaded on abrasive cutoff saw main shaft M100 nut as required, and at this moment, the second vacuum chuck, which stops working, decontrols new grinding wheel, and first
Vacuum chuck decontrols flange platen, starts the first telescopic cylinder, the first hollow box body is retracted its initial position；Replacement process is complete
Finish, the automatic disassembly system of grinding wheel issues signal, and abrasive cutoff saw system, which is connected to after signal, closes saw blade hatch door, grinding wheel sawing spindle nose by
Grinding wheel position to be replaced moves to operating position and starts to continue to cut bar；Meanwhile first movement bottom plate moves to again
The second telescopic cylinder is opened in roll-over front in the old grinding wheel of grinding wheel attaching/detaching apparatus lower part, and roll-over in old grinding wheel is horizontal
By on the horizontal hanging scroll of old grinding wheel centre bore set to cross rack, the third vacuum chuck of horizontal hanging scroll tail portion starts work for movement
Old grinding wheel is sucked work, opens third telescopic cylinder, by old grinding wheel from being detached from roll-over in old grinding wheel, in old grinding wheel
Opposite direction level and the second hollow box body are detached from again for roll-over；Open first motor, drive of the old grinding wheel in the second hollow box body
Under, the level that sequentially passes sequentially through according to reverse motions before new grinding wheel turns over, replaces conveyer, is moved to old grinding wheel and returns
It is closed flat the old grinding wheel on platform to place in cart, replacement conveyer grabs new grinding wheel by the movement of U-shaped guide rail again, starts
One new working cycles.
Machine vision, position sensor, high power air wrench, vacuum generator, gas pressure detector in the present invention and
The structure and circuit theory of air filter are the prior art, and those skilled in the art have been able to understand in detail, herein not
It is described in detail, the impact gun pneumatic impact spanner of model BK20, position sensing type can be used in high power air wrench in the present invention
Number can be AS612 intelligent infrared sensor, machine vision model can be PD-MVISION-1300M/C, vacuum generator compared with
Good model can be Fei Situo vacuum generator VADMI-95-P, and gas pressure detector preferably can be sky victory air pressure detection
Device, air filter preferably can be C/T/A-001-500, but be not limited only to this.
The foregoing is merely presently preferred embodiments of the present invention, all equivalent changes done according to scope of the present invention patent with
Modification, is all covered by the present invention.
Claims (10)
1. a kind of large size abrasive cutoff saw grinding wheel replaces system, it is characterised in that: including the grinding wheel dismounting for disassembling abrasive wheel piece
Device replaces the transmission transport establishment of new and old grinding wheel, is used to support the grinding wheel attaching/detaching apparatus and the biography for shifting
The rack of dynamic transport establishment and for transport the replacement conveyer for replacing new and old grinding wheel, the rack include L shape pedestal with
Support column, the support column are set on the end of the L shape pedestal cross bar, and the grinding wheel attaching/detaching apparatus is fixedly installed on institute
It states on support column, L shape pedestal vertical bar end is connected with the transmission transport establishment；The replacement conveyer setting
In the right front of the transmission transport establishment；The grinding wheel attaching/detaching apparatus is using the first machine vision and position sensor to sand
It takes turns piece and carries out Dual positioning, after the grinding wheel attaching/detaching apparatus dismantles grinding wheel from abrasive cutoff saw, through the transmission transporter
Structure is transported on replacement conveyer, and first machine vision passes through image segmentation algorithm first, extracts the figure in specified region
Picture；The template matching for carrying out framing after successful match, pre-processes image by Canny algorithm, then to its edge
Point carries out Hough transform, obtains the slope of image border and the respective edges point in interpolation direction, by coordinate transform by gradient
Direction is rotated to consistent with interpolation direction, is extracted image center coordinate, is enabled the grinding wheel attaching/detaching apparatus better
Grinding wheel is dismantled from abrasive cutoff saw.
2. a kind of large-scale abrasive cutoff saw grinding wheel according to claim 1 replaces system, it is characterised in that: the grinding wheel is torn open
Assembling device includes L shape bottom plate, and the transverse slat of the L shape bottom plate is set on the support column, the transverse slat upper surface of the L shape bottom plate
Rear and front end offers first rail groove；The L shape plate upper surface is provided with the first hollow box body, first hollow box
Body front is provided with one first disk, and the positive Middle face of the first hollow box body offers first through hole, on first disk
Offer the second through-hole corresponding with the first through hole；Middle part is fixedly installed for dismantling in first hollow box body
The high power air wrench of abrasive cutoff saw mainshaft nut, and the sleeve of the high power air wrench sequentially passes through the first through hole
The sleeve front of second through-hole, the high power air wrench is provided with permanent magnet；Above first hollow box body
It is provided with support base, first machine vision is set to the support base upper end, and the position sensor is set to the branch
Seat front is supportted, so that the first machine vision and position sensor carry out Dual positioning to grinding wheel；The first disk front
By the second through-hole, annular is provided with the first vacuum chuck for adsorbing abrasive cutoff saw main shaft upper flange platen, institute centered on the center of circle
State the first disk front and be provided with the first soft-touch control matched with first vacuum chuck, first disk front with
Annular is provided with the second vacuum chuck for adsorbing grinding wheel, the setting of first disk front centered on second through hole center
There is the second soft-touch control matched with second vacuum chuck；It is true that first disk is disposed with second from outside to inside
The outlet side of suction disk, the first vacuum chuck and the second through-hole, first vacuum chuck and the second vacuum chuck is respectively connected with
First vacuum generator, and first vacuum generator is set in first hollow box body, first hollow box body
It is inside provided with the first shunt valve, and first shunt valve is connect with external vacuum pump by the road；First hollow box body bottom
Face surrounding is provided with the first directive wheel, and first directive wheel is embedded in the first rail groove, and the L shape bottom plate erects
The first telescopic cylinder for driving the first hollow box body side-to-side movement is provided in the middle part of plate, first telescopic cylinder
Telescopic rod end is connected in the first hollow box body right flank middle part.
3. a kind of large-scale abrasive cutoff saw grinding wheel according to claim 2 replaces system, it is characterised in that: the L shape bottom plate
Transverse slat lower surface left and right ends offer T-rail, the transverse slat lower surface of the L shape bottom plate is provided with described for placing
Grinding wheel attaching/detaching apparatus roll-over from the old grinding wheel of the old grinding wheel removed on abrasive cutoff saw, in the old grinding wheel in roll-over
Surface left and right ends are provided with the T-shaped slider for being embedded in the T-rail and matching with the T-rail；The L shape
The transverse slat lower surface of bottom plate is provided with a supporting block, and the second telescopic cylinder, the second flexible gas are provided in the supporting block
The telescopic rod of cylinder is connect with roll-over back in the old grinding wheel, so that second telescopic cylinder is able to drive the old sand
Roll-over moves left and right in T-rail in wheel piece；The front of roll-over is unlimited in the old grinding wheel, the old grinding wheel transfer
The left and right ends in storehouse are provided with the limit plate for limiting grinding wheel, in the old grinding wheel opening of roll-over from top to bottom by
It is tapered small.
4. a kind of large-scale abrasive cutoff saw grinding wheel according to claim 2 replaces system, it is characterised in that: first disk
Annular setting is offered centered on the second through hole center for installing fixed described the with first hollow box body front
First mounting hole of one vacuum chuck, first disk and first hollow box body front are offered with the second through-hole circle
Annular setting is for installing the second mounting hole of fixed second vacuum chuck centered on the heart.
5. a kind of large-scale abrasive cutoff saw grinding wheel according to claim 4 replaces system, it is characterised in that: first vacuum
Sucker is identical with the second vacuum chuck structure, first vacuum chuck include the first escape pipe and sucker, described first
The inlet end of escape pipe is connect with the sucker, and the outlet side of first escape pipe passes through first mounting hole and described the
The inlet end of one vacuum generator connects；The first shunt valve air inlet by the road with first vacuum generator gas outlet
Be connected, the first vacuum generator air inlet by the road respectively with the first gas pressure detector air inlet and the first air filtration
Device gas outlet is connected, and the air inlet of first air filter is connected with the outlet side of first escape pipe, described
First air filter and the first gas pressure detector are all set in first hollow box body and first vacuum generator
It matches.
6. a kind of large-scale abrasive cutoff saw grinding wheel according to claim 1 replaces system, it is characterised in that: the transmission transport
Mechanism includes U-lag body, at left and right sides of the U-lag body in upper end be provided with the first guide rail, in the U-lag body left side
Lower end is provided with the first rack gear, and the first movement bottom plate being moved forward and backward in the first guide rail is provided in the U-lag body, described
First movement lower surface of base plate surrounding is provided with the second directive wheel being embedded in first guide rail, the first movement bottom plate
On be provided with the second hollow box body and first motor, the output shaft of the first motor passes through the first movement bottom plate, described
First motor output the tip of the axis is provided with the first gear being meshed with first rack gear, is provided in the first motor
One fixed block；The positive left and right ends of second hollow box body offer the second guide-track groove, and the back side of the fixed block is left
Right both ends are provided with the sliding block for being embedded in second guide-track groove, and it is flexible to be provided with third for Middle face on the fixed block
Cylinder, is provided with a fixed plate on second hollow box body, the telescopic rod of the third telescopic cylinder and the fixed plate
Bottom surface connection, moves up and down so that third telescopic cylinder is able to drive second hollow box body；The L shape pedestal
A placement bottom plate is provided on vertical bar, it is described to place the grinding wheel holding tray being provided on bottom plate for placing grinding wheel, the U
Shape groove body front end is provided with the second motor, and the output shaft of second motor is erected in the U-lag body, the placement bottom plate
Left side and second motor output axis connection；Second hollow box body is provided on right side for replacing grinding wheel
The cross rack of piece, positive four vertex of cross rack are provided with third vacuum chuck, and the cross rack is just
Middle face is provided with horizontal hanging scroll corresponding with grinding wheel middle part, is provided in the horizontal hanging scroll for positioning grinding wheel
Second machine vision, the outlet side of the third vacuum chuck are connected with the second air filter, second air filter
Gas outlet be connected with the air inlet of the second vacuum generator, the air inlet of second vacuum generator also with second gas
The air inlet connection of detector is pressed, and second vacuum generator, the second air filter and the second gas pressure detector are all provided with
It is placed in second hollow box body, the second shunt valve is provided in second hollow box body, and second shunt valve passes through
Pipeline is connect with external vacuum pump, and the second shunt valve air inlet is connected with second vacuum generator gas outlet by the road
It connects.
7. a kind of large-scale abrasive cutoff saw grinding wheel according to claim 1 replaces system, it is characterised in that: the replacement is transported
Device includes mechanical arm, and the robotic arm end is provided with the holding device for disassembling abrasive wheel piece, and the mechanical arm is fixed on
On one pedestal, the pedestal is fixed on the second movable base plate, is provided with third motor on second movable base plate, and described
Three motors are set to the right side of the pedestal, are provided with U-shaped guide rail, the U-shaped guide rail or so below second movable base plate
Upper end is provided with the second guide rail in two sides, and second movable base plate lower surface surrounding is provided with insertion second guide rail
The third directive wheel inside moved left and right；The third motor output shaft passes through second movable base plate, the third electricity
Machine output shaft end is provided with second gear, and lower end is provided in the U-shaped guide rail left and right sides nibbles with the second gear
The second rack gear closed；So that third motor is able to drive the second movable base plate side-to-side movement in the second guide rail.
8. a kind of large-scale abrasive cutoff saw grinding wheel according to claim 7 replaces system, it is characterised in that: further include old sand wheel
Piece places cart and new grinding wheel places cart, and the old grinding wheel places cart and new grinding wheel places the structure one of cart
It causes, it includes the placement plate for placing grinding wheel that the old grinding wheel, which places cart, and surrounding is provided with below the placement plate
Universal wheel is provided with the cart handrail for pushing the placement plate in the placement plate, is provided with and is used in the placement plate
Limit two limited posts of grinding wheel；The old grinding wheel places cart and new grinding wheel placement cart is pushed away and put to the sticking
The underface of device, so that holding device can complete the transhipment placement operation of new and old grinding wheel through the second movable base plate.
9. a kind of large-scale abrasive cutoff saw grinding wheel according to claim 7 replaces system, it is characterised in that: the holding device
Including the second disk, the 4th vacuum is provided with as center annular array using the second circle disk center in second lower disk surface and is inhaled
Disk；The outlet side of 4th vacuum chuck is connected with third air filter, and the gas outlet of the third air filter connects
Be connected to the air inlet of third vacuum generator, the air inlet of the third vacuum generator also with the third gas pressure detector
Air inlet connection, and the third vacuum generator, third air filter and third gas pressure detector are all set in described the
On two disks, second disk upper surface is provided with third shunt valve, and the third shunt valve by the road with external vacuum
Pump connection, the third shunt valve air inlet are connected with third vacuum generator gas outlet by the road；The third is true
Empty generator and the 4th vacuum chuck correspond, and the third vacuum generator and the 4th vacuum chuck quantity
It is identical；It offers third through-hole on second disk, is passed through in the third through-hole and be provided with third soft-touch control, described the
Two disk upper surfaces are provided with the first L shape support for fixing the third soft-touch control, and the first L shape support is arranged
In the third through-hole side；Fourth hole is offered on second disk, is provided with camera above the fourth hole,
Second lower disk surface is arranged the promising camera and provides the LED light ring of light source, and the LED light ring is set to described the
The side of four through-holes；Second disk upper surface is provided with the 2nd L shape support for fixing the camera, and described second
L shape support is set to the fourth hole side.
10. a kind of large-scale abrasive cutoff saw grinding wheel according to claim 9 replaces system, it is characterised in that: the described 4th is true
Suction disk includes sucker and sucker hoop, and the sucker hoop is set on the sucker, and an air cavity, institute are provided in the sucker hoop
It states sucker hoop lower surface and offers multiple ventholes, the second escape pipe is provided in sucker hoop gas outlet, described second goes out
Air pipe outlet is connect with the third air filter air inlet, and the second escape pipe outer peripheral sidewall is arranged with sleeve, institute
It states sleeve and is provided with external screw thread, the first nut of the sleeve upper end on second disk, the sleeve outer peripheral sidewall
Fixed, first nut is set to second disk upper surface, and the sleeve lower end is fixed with the second nut, and described second
Nut is set on the sucker hoop.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910617204.2A CN110394736B (en) | 2019-07-10 | 2019-07-10 | Large-scale abrasive wheel saw grinding wheel replacement system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910617204.2A CN110394736B (en) | 2019-07-10 | 2019-07-10 | Large-scale abrasive wheel saw grinding wheel replacement system |
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| CN110394736A true CN110394736A (en) | 2019-11-01 |
| CN110394736B CN110394736B (en) | 2020-05-22 |
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| CN201910617204.2A Active CN110394736B (en) | 2019-07-10 | 2019-07-10 | Large-scale abrasive wheel saw grinding wheel replacement system |
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| CN113635161A (en) * | 2021-08-19 | 2021-11-12 | 宇环数控机床股份有限公司 | Double-ended grinding machine |
| CN114147871A (en) * | 2021-11-30 | 2022-03-08 | 湖北省华建石材股份有限公司 | Reloading device for tower type circular saw and working method |
| CN117103079A (en) * | 2023-10-24 | 2023-11-24 | 苏州鑫旭合智能科技有限公司 | Pipe rust removing device for machining |
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| DE102017214117A1 (en) * | 2017-08-11 | 2019-02-14 | Robert Bosch Gmbh | Quick clamping device |
| CN109590904A (en) * | 2018-11-23 | 2019-04-09 | 基准精密工业（惠州）有限公司 | Grinding wheel installation system |
| CN109848853A (en) * | 2019-02-27 | 2019-06-07 | 安徽工程大学 | A kind of automatic quick change grinding wheel system |
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| DE102017214117A1 (en) * | 2017-08-11 | 2019-02-14 | Robert Bosch Gmbh | Quick clamping device |
| CN108972342A (en) * | 2018-06-27 | 2018-12-11 | 盐城市锐克斯研磨科技有限公司 | A kind of sander being convenient for changing grinding wheel |
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| CN113635161A (en) * | 2021-08-19 | 2021-11-12 | 宇环数控机床股份有限公司 | Double-ended grinding machine |
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| CN117103079A (en) * | 2023-10-24 | 2023-11-24 | 苏州鑫旭合智能科技有限公司 | Pipe rust removing device for machining |
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| Publication number | Publication date |
|---|---|
| CN110394736B (en) | 2020-05-22 |
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