CN115502792A - Automatic polishing system and method for circular blade - Google Patents

Automatic polishing system and method for circular blade Download PDF

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Publication number
CN115502792A
CN115502792A CN202211134922.2A CN202211134922A CN115502792A CN 115502792 A CN115502792 A CN 115502792A CN 202211134922 A CN202211134922 A CN 202211134922A CN 115502792 A CN115502792 A CN 115502792A
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CN
China
Prior art keywords
blade
feeding
blades
grinding
autorotation
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202211134922.2A
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Chinese (zh)
Inventor
包磊
陈奇
张俊
周睿
薛伟伟
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zhongtian Intelligent Equipment Co ltd
Original Assignee
Zhongtian Intelligent Equipment Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Zhongtian Intelligent Equipment Co ltd filed Critical Zhongtian Intelligent Equipment Co ltd
Priority to CN202211134922.2A priority Critical patent/CN115502792A/en
Publication of CN115502792A publication Critical patent/CN115502792A/en
Pending legal-status Critical Current

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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
    • B24B3/00—Sharpening cutting edges, e.g. of tools; Accessories therefor, e.g. for holding the tools
    • B24B3/36—Sharpening cutting edges, e.g. of tools; Accessories therefor, e.g. for holding the tools of cutting blades
    • B24B3/46—Sharpening cutting edges, e.g. of tools; Accessories therefor, e.g. for holding the tools of cutting blades of disc blades
    • 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
    • B24B27/00—Other grinding machines or devices
    • B24B27/0069—Other grinding machines or devices with means for feeding the work-pieces to the grinding tool, e.g. turntables, transfer means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B41/00—Component parts such as frames, beds, carriages, headstocks
    • B24B41/005—Feeding or manipulating devices specially adapted to grinding machines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B41/00—Component parts such as frames, beds, carriages, headstocks
    • B24B41/04—Headstocks; Working-spindles; Features relating thereto
    • 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
    • B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
    • B24B49/12—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation involving optical means
    • 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
    • B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
    • B24B49/16—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation taking regard of the load
    • B24B49/165—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation taking regard of the load for grinding tyres
    • 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
    • B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
    • B24B49/18—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation taking regard of the presence of dressing tools
    • B24B49/186—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation taking regard of the presence of dressing tools taking regard of the wear of the dressing tools

Abstract

The invention discloses an automatic polishing system for a circular blade, relates to the technical field of blade polishing devices, and solves the problem that the conventional circular blade polishing mode is a manual-matching semi-automatic polishing device and cannot meet the current situation. The automatic grinding device comprises a device main body, wherein a feeding and discharging device, an autorotation mechanism, a pressing device, a visual detection mechanism and a grinding mechanism are arranged in the device main body, the autorotation mechanism comprises a plurality of autorotation rotating shafts and an autorotation driving piece for driving the rotating shafts to rotate, and the autorotation rotating shafts are connected with workpiece supporting blocks; the pressing device comprises a plurality of rotating pressing heads which move up and down, and the pressing heads press the blades onto the corresponding workpiece supporting blocks and rotate along with the blades and the rotating shafts; grinding machanism polishes a set of blade on to rotation mechanism, and unloader is used for going up the unloading operation to rotation mechanism, and required feeding compensation volume after the visual inspection mechanism calculates the emery wheel wearing and tearing to feed back grinding machanism. The effect of realizing the automatic production of the high-efficiency blade is achieved.

Description

Automatic polishing system and method for circular blade
Technical Field
The invention relates to the technical field of blade polishing devices, in particular to an automatic polishing system and a polishing method for a circular blade.
Background
With the rapid development of machine vision and industrial robots in the grinding and polishing industry, the intellectualization, automation and low cost in the processing and manufacturing aspects have become a trend of technological progress, and the realization of automation and intellectualization of the production process is a key point to be considered by enterprises.
The traditional circular blade polishing mode is a manual matching semi-automatic polishing device, the current situation cannot be met, the polishing beat of the prior art depends on the proficiency, skill and physical ability of workers, and the production efficiency of products is seriously influenced; the feed compensation of the abraded grinding wheel is adjusted by means of the size and experience of spot inspection of workers, a certain amount of product size is easily out of tolerance, and the product reject ratio is high; and the grinding devices are all single-head grinding, and the productivity is low.
Disclosure of Invention
The invention aims to provide an automatic grinding system for a circular blade, which can realize high-efficiency automatic production of the blade.
The technical purpose of the invention is realized by the following technical scheme:
an automatic polishing system for a circular blade comprises an equipment main body, wherein a feeding and discharging device, a self-rotating mechanism, a pressing device and a polishing mechanism are arranged in the equipment main body,
the autorotation mechanism comprises a plurality of autorotation rotating shafts and an autorotation driving piece for driving the rotating shafts to rotate, and the autorotation rotating shafts are connected with the workpiece supporting blocks; the pressing device comprises a plurality of rotating pressing heads which move up and down, and the pressing heads press the blades onto the corresponding workpiece supporting blocks and rotate along with the blades and the rotating shafts;
the polishing mechanism polishes a group of blades on the rotation mechanism, and the feeding and discharging device is used for feeding and discharging the rotation mechanism.
Furthermore, a visual detection mechanism is further arranged in the equipment main body, and is used for shooting a picture of the polished blade in real time/shooting the polished blade according to the polishing beat of the circular blade, calculating the feeding compensation amount required after the grinding wheel is abraded, and feeding the feeding compensation amount back to a feeding driving motor of the polishing mechanism.
Furthermore, the feeding and discharging device comprises a material storage mechanism, and the feeding and discharging device feeds the polished blade into the material storage mechanism.
Furthermore, the storage mechanism comprises a plurality of storage stations, the storage stations comprise at least one OK station and one NG station, the visual detection mechanism feeds back the quality detection result of the blade to the loading and unloading device or the storage mechanism according to the picture of the polished blade, and the polished blade is placed on the corresponding OK station or the NG station.
Furthermore, the material storage mechanism comprises a material storage rotary table, each material storage station is arranged around a rotating center of the material storage rotary table, and the OK station or the NG station is rotated to the final blanking position of the upper blanking device through the rotation of the material storage rotary table.
Furthermore, the feeding and discharging device further comprises a feeding mechanism and a grabbing mechanism, the grabbing mechanism clamps the blades from the feeding mechanism to the rotating mechanism, and clamps the polished circular blades from the rotating mechanism to the storing mechanism.
Furthermore, the feeding mechanism comprises a material cylinder and a material pushing plate, blades are stacked in the material cylinder, a material pushing groove is formed in the material pushing plate, the material pushing plate is pushed below the material cylinder in a reciprocating mode, and only the blade at the lowest position in the material cylinder is pushed out when the material pushing plate is pushed outwards at each time, so that the grabbing mechanism can clamp the blade onto the rotation mechanism.
Furthermore, the grabbing mechanism comprises a grabbing rotating shaft, the upper end of the grabbing rotating shaft is connected with a cylinder group mounting plate, two lifting cylinders are connected to the cylinder group mounting plate, the upper ends of the lifting cylinders are respectively connected with telescopic cylinders, the output directions of the two telescopic cylinders are distributed in an angle A, the output ends of the two telescopic cylinders are respectively connected to a first clamping jaw group and a second clamping jaw group, and in the connecting lines of the storage mechanism, the autorotation mechanism and the feeding mechanism and the grabbing rotating shaft, the included angle of adjacent connecting lines is an angle A;
the first clamping jaw group grabs a blade to be processed in the feeding mechanism, the second clamping jaw group grabs a blade processed in the rotation mechanism, the grabbing rotating shaft drives the cylinder group mounting plate to rotate for an angle A, then the first clamping jaw group controls the blade to be processed to be placed in the rotation mechanism, and the second clamping jaw group controls the processed blade to be placed in the storage mechanism.
Furthermore, a transfer positioning table is further arranged in the equipment main body, a plurality of conical positioning columns which are small in top and large in bottom are arranged on the transfer positioning table, the bottom diameter of each positioning column is matched with the inner diameter of each blade, and the blades are placed outside the positioning columns corresponding to the transfer positioning tables by the feeding and discharging devices, positioned and then moved to the rotation mechanism.
Furthermore, the grinding mechanism comprises a grinding wheel and a grinding wheel driving device for driving the grinding wheel to move along X, Y and Z axes respectively, the grinding wheel driving device in the X and Y axis directions controls the grinding wheel to feed grinding to the blades, and the grinding wheel driving device in the Z axis direction controls the grinding wheel to sequentially grind a group of blades on the rotation mechanism.
The invention also discloses an automatic polishing method of the circular blade, which comprises the following steps:
s1: the feeding mechanism detects whether the material barrel has material, and when the blades of the material barrel are sufficient, the material pushing plate acts to push out the blade at the lowest layer of the material barrel;
s2: a first clamping jaw group of the grabbing mechanism clamps a blade to be machined at a feeding station, clamps the blade to be machined at a transfer positioning station and then clamps the blade again, meanwhile, a second clamping jaw group clamps the polished blade at an autorotation station, then the first clamping jaw group and the second clamping jaw group move, the blade to be machined is placed in the autorotation mechanism, the polished blade is placed in a storage mechanism, the blade feeding and the blanking are synchronously completed, the blade is reset after the action is completed, the feeding mechanism pushes out the next blade, and the feeding and the blanking are continued after the polishing action is completed;
s3: after the blade is fed to the autorotation mechanism, the rotating swaging head moves downwards to press the blade on the workpiece supporting block, then the autorotation shaft rotates rapidly, and the rotating swaging head also rotates synchronously;
s4: the grinding mechanism finishes feeding through an X grinding wheel driving device and a Y grinding wheel driving device according to initialized parameters, and a grinding wheel moves along the Z axis under the action of the grinding wheel driving device in the Z axis direction to finish grinding of a group of blades in sequence;
s5: the visual detection mechanism shoots the polished blade through a camera, calculates the blade edge width compensation amount of the blade and feeds the blade edge width compensation amount back to X and Y servo motors of the polishing mechanism to compensate the polishing of the blade at the next time;
s6: and repeating the steps S2 to S5, and circulating in sequence.
In conclusion, the invention has the following beneficial effects:
1. according to the device, the automatic feeding and selective blanking of the circular blade are realized through the cartridge clip type feeding mechanism, the clamping jaw type clamping mechanism and the servo control material storage mechanism, and the polishing production efficiency is improved;
2. according to the device, the grinding size of the blade is monitored on line by the grinding mechanism with adjustable feeding amount and the visual detection mechanism, the grinding feeding amount is fed back in real time and adjusted in time, closed-loop control is formed, and the qualified rate of the blade is improved;
aiming at the defects of the prior circular blade in the aspects of production efficiency and quality, the device can realize high-efficiency automatic production of the blade, simultaneously utilizes the visual detection function to automatically compensate the abrasion loss of the grinding wheel, and controls the size precision of the blade within the tolerance range.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic structural view of a loading and unloading apparatus according to the present invention;
FIG. 3 is a schematic view of a feed mechanism portion of the present invention;
FIG. 4 is an enlarged schematic view of section I of FIG. 3;
FIG. 5 is a schematic view of the construction of the grasping mechanism portion in the present invention;
FIG. 6 is a schematic view of the structure of a portion of the stocker mechanism of the present invention;
FIG. 7 is a schematic view of the transfer table portion of the present invention;
FIG. 8 is a schematic structural view of the rotation mechanism and the grinding mechanism of the present invention in partial operation;
FIG. 9 is a schematic view showing the construction of a rotating shaft portion of the rotation mechanism in the present invention;
FIG. 10 is a schematic view of the pressing mechanism of the present invention;
FIG. 11 is a schematic view of a portion of the grinding mechanism of the present invention;
FIG. 12 is a schematic view of a portion of the visual inspection mechanism of the present invention;
fig. 13 is a schematic view of the automatic grinding process of the circular blade of the present invention.
In the figure, 1, an apparatus main body; 11. a water tank; 12. installing a panel; 13. an electric control cabinet;
2. a feeding mechanism; 21. a balancing weight; 22. a charging barrel; 23. a blade; 24. a material pushing plate; 25. a material pushing cylinder;
3. a transfer positioning table; 31. a positioning column; 32. a positioning column mounting plate; 33. a vertical cylinder; 34. a cylinder mounting plate;
4. a material storage mechanism; 41. a storage pole; 42. a material storage turntable; 43. a material storage mounting seat; 44. a material storage servo motor; 45. a first synchronous pulley set; 46. a material storage rotating shaft;
5. a grabbing mechanism; 51. a telescopic cylinder; 52. a clamping jaw cylinder; 53. a jaw module; 54. a lifting cylinder; 55. a gear; 56. a rotating cylinder; 57. a rack limiting wheel set; 58. a rack; 59. a limit position limiting block; 510. a rotating shaft bearing seat; 511. grabbing a rotating shaft; 512. a cylinder block mounting plate;
6. a rotation mechanism; 61. a workpiece support block; 62. a rotation shaft; 63. a tapered roller bearing; 64. a first spacer sleeve; 65. a self-rotating bearing seat; 66. a second spacer sleeve; 67. a self-rotating synchronous belt wheel; 68. locking the nut; 69. a self-rotation mounting seat;
7. a material pressing mechanism; 71. a material pressing cylinder; 72. a horizontal mounting plate; 73. a material pressing guide shaft; 74. a material pressing bearing seat; 75. rotating the material pressing head;
8. a visual detection mechanism; 81. a camera; 82. a lens; 83. a light source;
9. a polishing mechanism; 91. a grinding wheel rotating motor; 92. polishing the Z-axis slide rail; 93. servo the X-axis slide rail; 94. polishing the air cylinder; 95. an X-axis servo motor screw rod pair; 96. servo the Y-axis steering axis; 97. an X-axis servo motor; 98. a Y-axis servo motor screw rod pair; 99. a Y-axis servo motor; 910. a Y-axis limit sensor; 911. an X-axis limit sensor; 912. grinding a grinding wheel; 913. a second synchronous pulley set.
Detailed Description
The following further describes the embodiments of the present invention with reference to the drawings, and the present embodiment is not to be construed as limiting the invention.
An automatic polishing system for circular blades is shown in figures 1 and 2 and comprises an equipment main body 1, wherein the equipment main body 1 comprises a lower frame body and an upper frame, a cooling liquid water tank 11 is further fixed in the lower frame body, one side of the lower frame body is connected with an electric control cabinet 13, a panel 12 is fixedly installed at the top of the lower frame body, and an upper blanking device, an autorotation mechanism 6, a polishing mechanism 9, a material pressing mechanism 7 and a visual detection mechanism 8 are connected onto the installation panel 12; the grinding mechanism 9 is used for grinding a group of blades 23 on the rotation mechanism 6, and the feeding and discharging device is used for feeding and discharging the rotation mechanism 6.
As shown in fig. 2, the loading and unloading device comprises a feeding mechanism 2, a grabbing mechanism 5 and a storing mechanism 4; the grabbing mechanism 5 clamps the blade 23 from the feeding mechanism 2 to the rotating mechanism 6, and clamps the polished circular blade 23 from the rotating mechanism 6 to the storing mechanism 4.
As shown in fig. 3 (the state of the pushing plate when retracted), the feeding mechanism 2 includes a supporting seat, the supporting seat is connected with a circular material cylinder 22 and a pushing plate 24 located below the circular material cylinder 22, a blade 23 and a counterweight 21 are stacked in the material cylinder 22, the blade 23 is pressed on the pushing plate 24 under the action of the counterweight 21 and self-weight, the pushing plate 24 is provided with a pushing groove for placing the blade 23, the outer end of the pushing plate is also provided with an opening for the grabbing mechanism 5 to grab the blade 23, and the opening extends into the pushing groove;
the material pushing plate 24 is provided with horizontal linear guide rails on two sides, the bottom of the material pushing plate is connected with the material pushing cylinder 25, the material pushing plate is guided by the material pushing cylinder 25 and the guide rails to be pushed to the lower side of the material cylinder 22 in a reciprocating mode, and only the lowest blade 23 in the material cylinder 22 is pushed out each time when the material pushing plate is pushed outwards, so that the grabbing mechanism 5 can clamp the material pushing plate to the rotating mechanism 6;
when the device works, the material pushing cylinder 25 pushes the material pushing plate 24 below the material cylinder 22 to push the blade 23 out of the bottommost layer of the material cylinder 22, each material cylinder 22 can only push one piece at a time, and the blade 23 is continuously pressed onto the material pushing plate 24 under the action of the balancing weight 21.
As shown in FIG. 4, in order to ensure the reliability of the pushing, a certain gap is required to be ensured between the parts in the feeding mechanism 2, wherein 0.5mm (the distance between the side wall of the pushing groove and the outer side of the blade 23) can be taken out, 0.15mm (the distance between the pushing plate 24 and the charging barrel 22) can be taken out, and 0.3mm (the thickness of the single blade 23 is higher than the depth of the pushing groove).
As shown in fig. 5, the grabbing mechanism 5 includes a grabbing spindle 511, the upper end of the grabbing spindle 511 is fixedly connected to a cylinder group mounting plate 512, the cylinder group mounting plate 512 is connected to two lifting cylinders 54, the upper ends of the lifting cylinders 54 are respectively connected to telescopic cylinders 51, the output directions of the two telescopic cylinders 51 are distributed at 90 ° angles, the output ends of the two telescopic cylinders are respectively connected to one group of clamping jaw cylinders 52 and clamping jaw modules 53 (which can also be replaced by electric fingers and other devices) which are controlled to clamp or put down by the clamping jaw cylinders 52, the two groups of clamping jaw modules 53 are respectively a first clamping jaw group and a second clamping jaw group, and are three groups for simultaneously clamping or putting down three blades 23, and the included angle between adjacent connecting lines among the three parts of the storing mechanism 4, the rotating mechanism 6 and the feeding mechanism 2 and the grabbing spindle 511 is 90 ° (located on the left side, right front and right side of the grabbing spindle 511 respectively);
after the first clamping jaw group grabs the blade 23 to be machined in the feeding mechanism 2 and the second clamping jaw group grabs the blade 23 machined in the rotation mechanism 6, the grabbing rotating shaft 511 drives the cylinder group mounting plate 512 to rotate for 90 degrees, then the first clamping jaw group controls the blade 23 to be machined to be placed in the rotation mechanism 6, the second clamping jaw group controls the blade 23 machined to be placed in the storage mechanism 4, and then the blade is reset;
in this embodiment, the bottom end of the grabbing rotary shaft 511 is connected to the gear 55, the periphery of the grabbing rotary shaft 511 is connected to the rotary shaft bearing block 510, the gear 55 is meshed with the rack 58, one end of the rack 58 is connected to the rotary cylinder 56, the other end of the rack 58 is provided with the limit position limiting block 59, one side of the rack 58, which is far away from the gear 55, abuts against the limit wheel set 57 of the rack 58, so that the rack 58 is limited between the gear 55 and the limit wheel set 57 of the rack 58, and the rotary cylinder 56 drives the rack 58, thereby driving the grabbing rotary shaft 511 to rotate.
As shown in fig. 6, the storage mechanism 4 includes 4 storage stations, each storage station includes 3 OK stations and 1 NG station (two storage stations may be provided for performing work and material taking respectively), the visual inspection mechanism 8 feeds back the quality inspection result of the blade 23 to the loading and unloading device or the storage mechanism 4 according to the finished polished picture of the blade 23, and accordingly places the polished blade 23 at the corresponding OK station or NG station.
The material storage mechanism 4 comprises a four-station material storage rotary table 42 connected to the mounting panel 12 and a material storage mounting seat 43 fixed below the mounting panel 12, each material storage station is arranged around the rotating center of the material storage rotary table 42, each material storage station comprises three vertical material storage rods 41 fixed on the material storage rotary table 42, a blade 23 is sleeved on each material storage rod 41, and an OK station or an NG station is rotated to the final blanking position of the upper blanking device through the rotation of the material storage rotary table 42;
the storage servo motor 44 is fixed on the storage mounting seat 43, the lower portion of the storage rotary table 42 is coaxially connected to the storage rotary shaft 46, the storage servo motor 44 drives the storage rotary shaft 46 to rotate through the first synchronous belt wheel group 45, the storage servo motor 44 enables the NG or OK stations to rotate to the blanking position of the circular blade 23 through rotating the storage rotary table 42 according to visual detection results, and when all OK or NG stations are full of materials, an alarm is given to remind people to change the table.
As shown in fig. 7, in order to ensure that the feeding of the circular blade 23 can be accurately realized each time, the apparatus main body 1 may further be provided with a transfer positioning table 3 (located between the gripping mechanism 5 and the feeding mechanism 2), and the gripping mechanism 5 may clamp the circular blade 23 onto the rotation mechanism 6 after positioning the circular blade 23 on the transfer positioning table 3 once;
the transfer positioning table 3 comprises a vertical cylinder mounting plate 34, a vertical cylinder 33 is fixed on the cylinder mounting plate 34, the output end of the vertical cylinder 33 is connected with the positioning mounting plate, three vertical equal-height columns are connected on the positioning mounting plate, the top parts of the equal-height columns are connected with a small-upper-lower-larger conical positioning column 31, the diameter of the bottom part of the positioning column 31 is matched with the inner diameter of the blade 23 and is smaller than the diameter of the equal-height columns,
the positioning column 31 is conical, and after the grabbing mechanism 5 is in place, the positioning column 31 is driven to ascend through the vertical cylinder 33, the grabbing mechanism 5 releases the blade 23, the blade 23 is positioned through the positioning column 31, then the positioning column 31 continuously ascends (or the grabbing mechanism 5 descends) through the vertical cylinder 33 until the blade 23 is positioned in the center of the grabbing mechanism 5, the grabbing mechanism 5 can grab the blade, and the positioning function can be automatically completed when the blade 23 reaches the transfer positioning table 3.
As shown in fig. 8 and 9, the rotation mechanism 6 includes a rotation mounting seat 69 and a rotation driving member, three rotation shafts 62 that are synchronously driven to rotate by the rotation driving member are mounted in the rotation mounting seat 69, the rotation shafts 62 are connected with the workpiece support block 61, and the workpiece support block 61 can improve the positioning effect through the positioning protrusions; the rotating shaft part adopts the structure of a machine tool main shaft, the structure has good coaxiality, the coaxiality can be controlled within 0.15mm, and the quality of the blade 23 is ensured;
specifically, the rotation rotating shaft 62 is installed in the rotation installation seat 69 through the upper and lower tapered roller bearings 63, the rotation rotating shaft 62 is externally sleeved with a first spacer 64 located between the two tapered roller bearings 63, a second spacer 66 located on the lower side of the lower tapered roller bearing 63, and a rotation synchronous pulley 67 located on the lower side of the second spacer 66, the lower side of the rotation synchronous pulley 67 is locked through a locking nut 68, the rotation driving part includes a variable frequency driving motor and a motor-driven rotating driving wheel, the diameters of the driving wheel and the rotation synchronous pulley 67 are equal, the driving wheel drives the three rotation synchronous pulleys 67 to rotate through a synchronous belt, the synchronous pulleys can also be set to be tooth-shaped, and the rotation driving is realized through a gear transmission mode, or the three rotation rotating shafts 62 are driven independently, and the like.
As shown in fig. 10, the material pressing mechanism 7 is located right above the rotation mechanism 6, and includes a horizontal mounting plate 72, a material pressing cylinder 71 and a plurality of material pressing guide shafts 73 are fixed on the lower side of the horizontal mounting plate 72, an output end of the lower side of the material pressing cylinder 71 is connected to the horizontal plate, the horizontal plate is guided by the material pressing guide shafts 73, three material pressing bearing seats 74 are fixed on the lower side of the horizontal plate, a rotating material pressing head 75 is rotatably connected in the material pressing bearing seats 74, the rotating material pressing head 75 is controlled by the material pressing cylinder 71 to move up and down, and the material pressing head presses the blade 23 against the corresponding workpiece support block 61 and rotates along with the blade 23 and the rotation shaft 62 through the material pressing bearing seats 74.
When the automatic feeding and discharging mechanism works, the material pressing mechanism 7 is pressed down to press the circular blade 23 onto the working surface of the rotation mechanism 6, after polishing is completed, the material pressing mechanism 7 rises to keep a certain distance from the rotation shaft, and the clamping mechanism is guaranteed not to interfere when the circular blade 23 is fed and discharged.
As shown in fig. 10, the grinding device has functions of grinding and automatic adjustment of grinding wheel wear compensation, and includes a grinding wheel 912 and a grinding wheel driving device for driving the grinding wheel 912 to move along the X, Y and Z axes, respectively, the grinding wheel driving device in the X and Y axes controls the grinding wheel 912 to feed grinding to the blades 23, and the grinding wheel driving device in the Z axis direction controls the grinding wheel 912 to sequentially grind a group of blades 23 on the rotation mechanism 6.
Specifically, the grinding device comprises a motor mounting plate, a grinding wheel rotating motor 91 and a grinding wheel 912 are connected to the motor mounting plate, the grinding wheel rotating motor 91 drives the grinding wheel to rotate through a second synchronous belt wheel set 913, the bottom of the motor mounting plate is driven to move through a grinding wheel driving device in the Z-axis direction, and the grinding wheel driving device in the Z-axis direction comprises a grinding Z-axis slide rail 92 guiding the motor mounting plate to move and a grinding cylinder 94 driving the motor mounting plate to move;
the grinding wheel driving device in the Z-axis direction is installed on the grinding wheel driving device in the X-axis direction, the grinding wheel driving device in the X-axis direction comprises an X-axis servo motor 97, an X-axis motor screw pair 95 and a servo X-axis slide rail 93, and the grinding wheel driving device in the Z-axis direction is driven and guided to move along the X direction (the Z axis is a horizontal direction perpendicular to a grinding wheel surface, the X axis is a horizontal direction of an induction Z axis, and the Y axis is a vertical direction), and the grinding wheel driving device in the Z-axis direction further comprises an X-axis limit sensor 911 or a travel switch for limiting;
the grinding wheel driving device in the X-axis direction is arranged on the grinding wheel driving device in the Y-axis direction, and the grinding wheel driving device in the Y-axis direction comprises a Y-axis servo motor 99, a Y-axis motor screw rod pair 98 and a servo Y-axis guide shaft 96 so as to drive and guide the grinding wheel driving device in the X-axis direction to move along the Y direction, and further comprises a Y-axis limit sensor 910 or a travel switch for limiting;
the inclination angle of the grinding wheel is 5 degrees, the grinding feeding amount of the grinding wheel to the circular blade 23 is controlled by the X-axis servo motor 97 and the Y-axis servo motor 99 through the ball screw pair structure, and the grinding feeding amount can be adjusted in real time according to visual feedback, and the adjusting precision is +/-0.03 mm; the grinding cylinder 94 drags the whole grinding wheel assembly to slide along the linear guide rail, and grinding of a group of three blades 23 is completed.
As shown in fig. 12, the visual inspection mechanism 8 includes a camera 81 and a lens 82 for photographing and a light source 83 for lighting, the camera 81 takes a picture of the ground blade 23 in real time/shoots the ground blade 23 according to the grinding beat of the circular blade 23, calculates the feed compensation amount required after the grinding wheel is worn, feeds the feed compensation amount back to the X-axis servo drive motor and the Y-axis servo drive motor to compensate the grinding of the blade 23 at the next time, and feeds the quality detection result of the blade 23 back to the servo motor of the magazine turntable 42 to control the magazine mechanism 4 to rotate to the corresponding OK station or NG station.
As shown in fig. 13, the invention also discloses an automatic grinding method for the circular blade 23, which comprises the following steps:
s1: when the system starts to work, the system is initialized firstly, the feeding mechanism 2 detects whether the charging barrel 22 is charged or not through a pressure or infrared sensor and the like, and if the quantity of the blade 23 is insufficient, an alarm is given to remind of manual charging; when the blades 23 of the barrel 22 are sufficient, the material pushing plate 24 acts to push the blade 23 on the lowest layer of the barrel 22 out;
s2: a first clamping jaw group of the grabbing mechanism 5 clamps the blade 23 to be machined at a feeding station, and clamps the blade 23 again after the blade is positioned at a transfer positioning station, and meanwhile, a second clamping jaw group clamps the polished blade 23 at an autorotation station;
then the first clamping jaw group and the second clamping jaw group rotate together for 90 degrees, the blade 23 to be processed is placed on the autorotation mechanism 6, the polished blade 23 is placed on the storage rod 41 of the storage mechanism 4, the loading and the unloading of the blade 23 are synchronously completed, the first clamping jaw group and the second clamping jaw group reset after the action is completed, the feeding mechanism 2 pushes out the next blade 23, and the loading and the unloading are continued after the polishing action is completed;
s3: after the blade 23 is fed to the rotation mechanism 6, the pressing cylinder 71 acts to rotate the pressing head 75 to move downwards, the blade 23 is pressed on the workpiece supporting block 61, then the rotation shaft rotates rapidly, and the rotating pressing head 75 also rotates synchronously;
s4: the grinding mechanism 9 finishes feeding through an X grinding wheel driving device and a Y grinding wheel driving device according to initialized parameters, and the grinding wheel 912 moves along the Z axis under the action of the grinding wheel driving device in the Z axis direction to finish grinding of a group of blades 23 in sequence;
s5: the visual detection mechanism 8 shoots the ground blade 23 through the camera 81, synchronously calculates the edge width compensation quantity of the blade 23, feeds the edge width compensation quantity back to the X and Y servo motors of the grinding mechanism 9, and compensates the next grinding of the blade 23;
s6: and when the quantity of the blades 23 in the feeding mechanism 2 is sufficient and the quantity of the blades 23 in the storage mechanism 4 is not full, repeating the steps S2-S5, and circulating in sequence.
While the invention has been described with reference to certain preferred embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention.

Claims (11)

1. The utility model provides an automatic system of polishing of circular blade, includes the equipment main part, its characterized in that: the main body of the equipment is provided with a feeding and discharging device, a self-rotating mechanism, a material pressing device and a polishing mechanism,
the autorotation mechanism comprises a plurality of autorotation rotating shafts and an autorotation driving piece for driving the rotating shafts to rotate, and the autorotation rotating shafts are connected with the workpiece supporting blocks; the pressing device comprises a plurality of rotating pressing heads which move up and down, and the pressing heads press the blades onto the corresponding workpiece supporting blocks and rotate along with the blades and the rotating shafts;
the polishing mechanism polishes a group of blades on the rotation mechanism, and the feeding and discharging device is used for feeding and discharging the rotation mechanism.
2. The automatic grinding system for circular blades of claim 1, wherein: the equipment main body is also provided with a visual detection mechanism, and the visual detection mechanism is used for shooting a picture of the polished blade in real time/shooting the polished blade according to the polishing beat of the circular blade, calculating the feeding compensation amount required after the grinding wheel is abraded, and feeding the feeding compensation amount back to a feeding driving motor of the polishing mechanism.
3. The automatic grinding system for circular blades according to claim 2, characterized in that: the feeding and discharging device comprises a storage mechanism, and the feeding and discharging device feeds the polished blade into the storage mechanism.
4. The automatic grinding system for circular blades of claim 3, wherein: the storage mechanism comprises a plurality of storage stations, the storage stations comprise at least one OK station and one NG station, the vision detection mechanism feeds the quality detection result of the blade back to the feeding and discharging device or the storage mechanism according to the picture of the polishing end of the blade, and the blade after polishing is placed on the corresponding OK station or the NG station.
5. The automatic grinding system for circular blades of claim 4, wherein: the storage mechanism comprises a storage turntable, each storage station rotates an OK station or an NG station to the final blanking position of the blanking device around a rotating center of the storage turntable through rotation of the storage turntable.
6. The automatic grinding system for circular blades according to claim 1, characterized in that: the feeding and discharging device further comprises a feeding mechanism and a grabbing mechanism, the grabbing mechanism clamps the blades from the feeding mechanism to the rotation mechanism, and the polished circular blades are clamped from the rotation mechanism to the material storage mechanism.
7. The automatic grinding system for circular blades of claim 6, characterized in that: the feeding mechanism comprises a material cylinder and a material pushing plate, blades are stacked in the material cylinder, a material pushing groove is formed in the material pushing plate, the material pushing plate is pushed to the lower portion of the material cylinder in a reciprocating mode, and when the material pushing plate pushes outwards every time, only the blade at the lowest portion in the material cylinder is pushed out to allow the grabbing mechanism to clamp the blade onto the rotation mechanism.
8. An automatic grinding system for circular blades according to claim 6 or 7, characterized in that: the grabbing mechanism comprises a grabbing rotating shaft, the upper end of the grabbing rotating shaft is connected with a cylinder group mounting plate, the cylinder group mounting plate is connected with two lifting cylinders, the upper ends of the lifting cylinders are respectively connected with telescopic cylinders, the output directions of the two telescopic cylinders are distributed in an angle A, the output ends of the two telescopic cylinders are respectively connected to a first clamping jaw group and a second clamping jaw group, and in the connecting lines of the material storage mechanism, the autorotation mechanism and the feeding mechanism and the grabbing rotating shaft, the included angle between adjacent connecting lines is an angle A;
the first clamping jaw group grabs a blade to be processed in the feeding mechanism, the second clamping jaw group grabs a blade processed in the rotation mechanism, the grabbing rotating shaft drives the cylinder group mounting plate to rotate for an angle A, then the first clamping jaw group controls the blade to be processed to be placed in the rotation mechanism, and the second clamping jaw group controls the blade to be processed to be placed in the material storage mechanism.
9. The automatic grinding system for circular blades of claim 1, wherein: the equipment main body is also provided with a transfer positioning table, a plurality of conical positioning columns which are small at the top and big at the bottom are arranged on the transfer positioning table, the bottom diameter of each positioning column is matched with the inner diameter of each blade, and the blades are placed outside the positioning columns corresponding to the transfer positioning tables by the feeding and discharging device to be positioned and then moved to the rotation mechanism.
10. The automatic grinding system for circular blades of claim 1, wherein: the grinding mechanism comprises a grinding wheel and a wheel driving device for driving the grinding wheel to move along X, Y and Z axes respectively, the grinding wheel driving devices in the X and Y axes control the grinding wheel to give the grinding feed amount to the blade, and the grinding wheel driving device in the Z axis direction controls the grinding wheel to sequentially grind a group of blades on the rotation mechanism.
11. An automatic grinding method for a circular blade is characterized by comprising the following steps:
s1: the feeding mechanism detects whether the material barrel is filled with the material, and when the blades of the material barrel are sufficient, the material pushing plate acts to push out the blade at the lowest layer of the material barrel;
s2: a first clamping jaw group of the grabbing mechanism clamps a blade to be machined at a feeding station, clamps the blade to be machined again after the blade is positioned at a transfer positioning station, clamps a polished blade at an autorotation station by a second clamping jaw group, moves the first clamping jaw group and the second clamping jaw group, places the blade to be machined on the autorotation mechanism, places the polished blade on a storage mechanism, synchronously finishes blade feeding and blanking, resets after the action is finished, continues feeding and blanking after the feeding mechanism pushes out a next blade and polishes the blade;
s3: after the blades are fed to the autorotation mechanism, the rotating swaging heads move downwards to tightly press the blades on the workpiece supporting blocks, then the autorotation shafts rotate quickly, and the rotating swaging heads also rotate synchronously;
s4: the grinding mechanism finishes feeding through an X grinding wheel driving device and a Y grinding wheel driving device according to initialized parameters, and a grinding wheel moves along the Z axis under the action of the grinding wheel driving device in the Z axis direction to finish grinding of a group of blades in sequence;
s5: the visual detection mechanism photographs the polished blade through a camera, calculates the blade edge width compensation amount, feeds the blade edge width compensation amount back to X and Y servo motors of the polishing mechanism, and compensates the next polishing of the blade;
s6: and repeating the steps S2 to S5, and circulating in sequence.
CN202211134922.2A 2022-09-19 2022-09-19 Automatic polishing system and method for circular blade Pending CN115502792A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202211134922.2A CN115502792A (en) 2022-09-19 2022-09-19 Automatic polishing system and method for circular blade

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202211134922.2A CN115502792A (en) 2022-09-19 2022-09-19 Automatic polishing system and method for circular blade

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CN115502792A true CN115502792A (en) 2022-12-23

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117102349A (en) * 2023-10-17 2023-11-24 江西犀瑞制造有限公司 Automatic machine is cut to duplex procedure blade

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117102349A (en) * 2023-10-17 2023-11-24 江西犀瑞制造有限公司 Automatic machine is cut to duplex procedure blade
CN117102349B (en) * 2023-10-17 2024-01-30 江西犀瑞制造有限公司 Automatic machine is cut to duplex procedure blade

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