CN115945973A

CN115945973A - Abrasive machining equipment with truss manipulator

Info

Publication number: CN115945973A
Application number: CN202310099267.XA
Authority: CN
Inventors: 朱宏建; 胡利忠; 郑立军
Original assignee: Zhejiang Linhai Zhefu Electric Machinery Co ltd
Current assignee: Zhejiang Linhai Zhefu Electric Machinery Co ltd
Priority date: 2023-01-29
Filing date: 2023-01-29
Publication date: 2023-04-11

Abstract

The utility model relates to a grinding processing equipment with truss manipulator, including material loading conveyer, unloading conveyer, centerless grinder and truss manipulator, centerless grinder is located between material loading conveyer belt and the unloading conveyer belt, the holder includes driving piece five, a fixed base, two splint and two bull sticks, the fixing base sets up on the second removes the seat, two splint are each other just to setting up and along X axle direction sliding connection on the fixing base, two splint of five drive of driving piece slide, two bull sticks correspond two splint respectively, the bull stick rotates along X axle direction to be connected on corresponding splint, two bull sticks are located the both sides of axle type work piece respectively and carry out coaxial centre gripping to axle type work piece. The shaft workpiece can rotate under the action of the centerless grinding machine, when the shaft workpiece after grinding is clamped by the clamping piece, the rotating shaft workpiece can drive the rotating rod to rotate together, and the shaft workpiece can always rotate in the subsequent transportation process, so that the air drying speed of the cooling liquid on the shaft workpiece is increased.

Description

Abrasive machining equipment with truss manipulator

Technical Field

The invention relates to the field of automation equipment, in particular to grinding processing equipment with a truss manipulator.

Background

A centerless grinding machine is a grinding machine that grinds a workpiece without using a workpiece axis positioning method. The truss manipulator is industrial equipment which is established on the basis of a rectangular X, Y and Z coordinate system and used for adjusting stations of workpieces or realizing functions of workpiece track motion and the like. The control core is realized by an industrial controller (such as a PLC, a motion controller, a singlechip and the like). The controller analyzes and processes various input (various sensors, buttons and the like) signals, and after certain logic judgment is made, an execution command is issued to each output element (a relay, a motor driver, an indicator light and the like) to complete the joint motion among the three axes of X, Y and Z, so that a whole set of automatic operation process is realized.

As shown in fig. 1, a grinding processing apparatus with a truss manipulator in the related art includes a feeding conveyer 2, a discharging conveyer 3, a centerless grinder 4 and a truss manipulator 5, where the feeding conveyer 2 includes a first driving part 22 and a first feeding conveyer 23, the first driving part 22 drives the first feeding conveyer 23 to convey a shaft-like workpiece 7 to a designated position, the truss manipulator 5 is used to grab the shaft-like workpiece 7 at the designated position and move the shaft-like workpiece 7 to the centerless grinder 4, the centerless grinder 4 performs grinding processing on the shaft-like workpiece 7, the centerless grinder 4 is further provided with a water-cooling device for spraying a cooling liquid on the shaft-like workpiece 7 during grinding to cool down, and then the truss manipulator 5 moves the ground workpiece to the discharging conveyer 3, the discharging conveyer 3 includes a second driving part 32 and a second discharging conveyer 33, and the second driving part 32 drives the second discharging conveyer 33 to convey the processed shaft-like workpiece 7 to an external collection container.

The above-mentioned related technical solutions have the following drawbacks: because the water-cooling device cools the sprayed cooling liquid in the grinding process of the shaft workpieces, the cooling liquid can be remained on the surfaces of the shaft workpieces after the shaft workpieces are machined, and the time for waiting for the cooling liquid to carry out natural air drying is longer.

Disclosure of Invention

In order to accelerate the air-dry speed of coolant liquid on the axle type work piece, this application provides a abrasive machining equipment with truss manipulator.

The application provides a grinding processing equipment with truss manipulator adopts following technical scheme:

the utility model provides a grinding processing equipment with truss manipulator, includes the workstation and sets up material loading conveyer, unloading conveyer, centerless grinder and truss manipulator on the workstation, material loading conveyer includes driving piece one and material loading conveyer belt, driving piece one drive material loading conveyer belt conveys axle type work piece to the assigned position, truss manipulator is used for pressing from both sides and gets and remove axle type work piece, centerless grinder carries out abrasive machining to axle type work piece, unloading conveyer belt includes driving piece two and unloading conveyer belt, driving piece two drive unloading conveyer belts will be processed axle type work piece deliver to external collection container in, truss manipulator includes support, driving piece three, driving piece four, first removal seat, second removal seat and holder, the support sets up on the workstation, driving piece three drive first removal seats along X axle direction sliding connection on the support, driving piece four drive second removal seats along Z axle direction sliding connection on first removal seat, material loading conveyer, centerless grinder and unloading conveyer belt and conveyer belt are along X axle direction sliding connection in proper order on the support, centerless grinder is located between material loading conveyer belt and the unloading conveyer belt, the conveyer belt five drive piece are connected on one side along the first removal seats of Z axle type work piece, two coaxial driving piece upper clamping plates of the fixing seat and two coaxial driving piece are just corresponding to the X axle type work piece, the two coaxial pole top mounting plates of the pole are just corresponding to two fixing seats or two X pole corresponding clamping plates of the top bar are set up two coaxial driving piece, and are connected on one side of the corresponding to the two fixing seat, and are just along the corresponding to the X axle type work piece, and are located two fixing seat, the corresponding the two fixing seat, the top bar.

Preferably, the transmission directions of the feeding conveyor belt and the discharging conveyor belt are parallel to the Y axis, a plurality of first arc-shaped grooves for placing the shaft workpieces are formed in the surface of the feeding conveyor belt along the winding direction of the feeding conveyor belt, the length direction of each first arc-shaped groove is parallel to the X axis direction, and when the shaft workpieces are placed on the first arc-shaped grooves, the axis directions of the shaft workpieces are parallel to the X axis direction.

Preferably, first removal seat, second remove seat, driving piece four and holder all have two, and two first removal seat reciprocal anchorages set up, and two second remove the seat and correspond two first removal seats respectively, and two holders correspond two second respectively and remove the seat, the centerless grinder is located the intermediate position of material loading conveyer belt and unloading conveyer belt, and when one of them holder carries out the centre gripping to the axle type work piece on the centerless grinder, another holder is just setting up material loading conveyer belt or unloading conveyer belt.

Preferably, the blanking conveying device further comprises a triangular belt, the blanking conveying device further comprises two second side plates, the two second side plates are opposite to each other and are arranged on the workbench, the driving part II comprises a second motor and two second rotating rollers, the two second rotating rollers are rotatably connected to the two second side plates along the X-axis direction, the blanking conveying belt is wound on the two second rotating rollers, the second motor is fixed on one of the second side plates, and an output shaft of the second motor is coaxially and fixedly connected to one of the second rotating rollers;

be equipped with on the second curb plate and extend the frame, it is connected with the pivot to extend to rotate along the axis direction that is on a parallel with the second commentaries on classics rod on the frame, the V-belt is around rolling up in pivot and one of them second commentaries on classics rod, be equipped with a plurality of flabellums along the circumferential direction in proper order on the circumference outer wall of pivot, the flabellum is used for blowing to the axle type work piece that centerless grinder removed to the unloading conveyer belt, and the projection part of axle type work piece along X axle direction is located the outside of splint and bull stick on splint and bull stick.

Preferably, the revolving bar speed reducer further comprises a speed reducer, wherein the speed reducer is used for reducing the rotating speed of the revolving bar, the speed reducer comprises a deformable speed reducing head, the speed reducing head is fixed at the end part, close to the centerless grinder, of the rotating shaft, the revolving bar, close to one side of the speed reducing head, of the two revolving bars is the speed reducing bar, a speed reducing groove matched with the speed reducing head is formed in the side surface, close to the speed reducing head, of one side of the speed reducing bar, and the rotating directions of the speed reducing bar and the revolving bar are opposite.

Preferably, the side of one side that the deceleration pole is close to the deceleration head is seted up and is had the groove of dodging with the deceleration groove intercommunication, dodge the groove and supply the deceleration head to shift out the deceleration pole along the Z axle direction.

Preferably, the reduction gear further comprises a driving part six and a reduction block, the reduction block is connected to the clamping plate corresponding to the reduction rod in a sliding mode from one side close to the reduction rod to one side far away from the reduction rod, and the driving part six drives the reduction block to slide on the corresponding clamping plate.

Preferably, the driving part six comprises a first rack, a gear, a second rack, a balancing weight and a moving block, the deceleration block is connected to the corresponding clamping plate in a sliding manner along the Z-axis direction, the balancing weight, the moving block, the first rack and the second rack are connected to the corresponding clamping plate in a sliding manner along the direction parallel to the sliding direction of the deceleration block, the gear is connected to the corresponding clamping plate in a rotating manner along the Y-axis direction, the first rack and the second rack are respectively connected to two sides of the gear and meshed with the gear, when the deceleration head extends into the deceleration tank, the moving block is located right above the deceleration head and the rotating shaft, and the moving block is fixedly connected to the second rack through the balancing weight;

the speed reducing block comprises a first rod, a second rod and a spring, the second rod is located under the first rod, the first rod and the second rod are connected to corresponding clamping plates in a sliding mode in the Z-axis direction, the two ends of the spring are fixed to the first rod and the second rod respectively, the first rack is fixed to the first rod, when the speed reducing head is located in the speed reducing groove, the second rod is far away from the speed reducing rod, and when the shaft workpieces are placed on the feeding conveying belt through the clamping piece, the rotating shaft abuts against the moving block and drives the second rod to move to abut against the speed reducing rod.

The technical effects of the invention are mainly reflected in the following aspects:

1. the invention has stronger practicability by arranging the truss manipulator, has convenient structural design for personnel to understand, simple operation and convenient maintenance compared with a complex joint robot, can automatically finish the carrying and moving of shaft workpieces, and improves the production efficiency.

2. According to the invention, by arranging the clamping piece with the rotating rod, when the shaft-type workpiece is ground on the centerless grinder, the shaft-type workpiece can rotate under the action of the centerless grinder, when the clamping piece clamps the ground shaft-type workpiece, the rotating shaft-type workpiece can drive the rotating rod to rotate together, and in the process that the shaft-type workpiece is conveyed to the blanking conveying belt by the subsequent clamping piece, the shaft-type workpiece can always rotate, so that the air drying speed of the cooling liquid on the shaft-type workpiece is accelerated.

3. According to the invention, the speed reducer is arranged, and the speed reducer can reduce the speed of the counter-speed reducing rod, so that the shaft workpiece can be stably placed on the blanking conveying belt.

Drawings

Fig. 1 is an overall structural diagram of the related art.

Fig. 2 is a schematic view of the overall structure of the clamping member positioned on the feeding conveyor belt and the centerless grinding machine according to the embodiment of the application.

Fig. 3 is a schematic view of the whole structure of the clamping member positioned on the centerless grinding machine and the blanking conveyor belt according to the embodiment of the application.

Fig. 4 is a schematic structural diagram of a clamping member according to an embodiment of the present application.

Fig. 5 is a schematic structural diagram of a centerless grinder according to an embodiment of the present application.

Fig. 6 is a schematic structural view of a state where the deceleration head of the embodiment of the present application is inserted into the deceleration tank.

Fig. 7 is a schematic structural view of the rotating rod abutting against the moving block according to the embodiment of the present application.

Fig. 8 isbase:Sub>A sectional view taken along linebase:Sub>A-base:Sub>A of fig. 7.

Fig. 9 is an enlarged view at B in fig. 8.

Description of reference numerals: 1. on the workbench; 11. erecting a frame; 2. a feeding and conveying device; 21. a first side plate; 22. a first driving part; 221. a first motor; 222. a first rotating roller; 23. a feeding conveyor belt; 231. a first arc-shaped slot; 3. a blanking conveying device; 31. a second side plate; 32. a driving part II; 321. a second motor; 322. a second rotating roller; 33. a blanking conveyor belt; 4. a centerless grinder; 41. a body; 42. grinding the grinding wheel; 43. an adjustment wheel; 44. a workpiece top frame; 45. a drive motor; 5. a truss manipulator; 51. a support; 52. a driving member III; 521. a third motor; 53. a first movable base; 54. a driving part IV; 541. a fourth motor; 542. a fourth lead screw; 55. a second movable base; 56. a connecting plate; 6. a clamping member; 61. a driving member V; 611. a cylinder; 62. a fixed seat; 63. a splint; 631. a vertical slot; 64. a rotating rod; 641. a speed reduction lever; 642. a deceleration tank; 643. an avoidance groove; 7. shaft workpieces; 71. a tapered groove; 81. an extension frame; 82. a rotating shaft; 821. a fan blade; 83. rotating the ring; 84. a V-belt; 85. a reduction gear; 851. a deceleration head; 852. a frustum cone; 853. a driving strip; 86. a deceleration block; 861. a first lever; 862. a second lever; 8621. a chute; 863. a spring; 9. a driving member six; 91. a first rack; 92. a gear; 93. a second rack; 94. a balancing weight; 95. a moving block; 951. a second arc-shaped slot; 96. the connecting rod is abutted.

Detailed description of the preferred embodiments

The present application will be described in further detail below with reference to fig. 2-9 to make the technical solutions of the present application easier to understand and understand.

The embodiment of the application discloses abrasive machining equipment with truss manipulator.

Referring to fig. 2 and 3, a grinding processing apparatus with a truss manipulator according to an embodiment of the present disclosure includes a workbench, and a feeding conveyer 2, a discharging conveyer 3, a centerless grinder 4, and a truss manipulator 5 that are disposed on the workbench 1, where the centerless grinder 4 is located between the feeding conveyer 2 and the discharging conveyer 3, the feeding conveyer 2 includes a first driving part 22 and a feeding conveyer belt 23, the first driving part 22 drives the feeding conveyer belt 23 to convey a shaft-like workpiece 7 to a specified position, the truss manipulator 5 is used to clamp and move the shaft-like workpiece 7, the centerless grinder 4 is used to grind the shaft-like workpiece 7, a water-cooling device (not shown in the drawings) is disposed on the centerless grinder 4 and is used to cool the shaft-like workpiece 7 during grinding by spraying a cooling liquid, the discharging conveyer 3 includes a second driving part 32 and a discharging conveyer belt 33, and the second driving part 32 drives the discharging conveyer belt 33 to convey the processed shaft-like workpiece 7 to an external collection container. The truss manipulator 5 first clamps the non-ground shaft workpiece 7 from the feeding conveyor belt 23, and then sends the shaft workpiece 7 to the centerless grinder 4 for grinding, and then sends the ground shaft workpiece 7 to the discharging conveyor belt 33, so that the workpiece is transported to an external collection container through the discharging conveyor belt 33.

Referring to fig. 4, the shaft-like workpiece 7 is provided in a cylindrical shape, and tapered grooves 71 are coaxially provided at both ends of the shaft-like workpiece 7.

Referring to fig. 2 and 3, the feeding and conveying device 2, the centerless grinder 4 and the blanking and conveying device 3 are sequentially distributed along the X-axis direction, the feeding and conveying device 2 further comprises two first side plates 21, and the two first side plates 21 are opposite to each other and fixed on the workbench 1 along the direction parallel to the Y-axis direction. The first driving member 22 includes a first motor 221 and two first rotating rollers 222, the two first rotating rollers 222 are rotatably connected to the two first side plates 21 along the X-axis direction, the two first rotating rollers 222 are located at the same horizontal height, the feeding conveyor belt 23 is wound around the two first rotating rollers 222, the first motor 221 is fixed on the outer wall of one of the first side plates 21, and an output shaft of the first motor 221 is coaxially and fixedly connected to one of the first rotating rollers 222. A plurality of first arc-shaped grooves 231 for placing the shaft workpieces 7 are uniformly formed in the surface of the feeding conveyor belt 23 along the winding direction of the feeding conveyor belt 23, the length direction of the first arc-shaped grooves 231 is parallel to the X-axis direction, the vertical cross sections of the first arc-shaped grooves 231 along the Y-axis direction are in arc-shaped arrangement, when the shaft workpieces 7 are placed in the first arc-shaped grooves 231, the axis direction of the shaft workpieces 7 is parallel to the X-axis direction, and the conical grooves 71 of the shaft workpieces 7 are located above the feeding conveyor belt 23.

Referring to fig. 2 and 3, the blanking conveying device 3 further includes two second side plates 31, and the two second side plates 31 are opposite to each other and fixed on the worktable 1 along a direction parallel to the Y axis. The second driving part 32 comprises a second motor 321 and two second rotating rollers 322, the two second rotating rollers 322 are rotatably connected to the two second side plates 31 along the X-axis direction, the two second rotating rollers 322 are located at the same horizontal height, the blanking conveyor belt 33 is wound around the two second rotating rollers 322, the second motor 321 is fixed on the outer wall of one of the second side plates 31, and the output shaft of the second motor 321 is coaxially and fixedly connected to one of the second rotating rollers 322.

Referring to fig. 2 and 3, the truss manipulator 5 includes a support 51, a third driving member 52, a first moving seat 53, a fourth driving member 54, two second moving seats 55, and two clamping members 6, two vertical frames 11 are fixed on the work bench 1 along the vertical direction, and the two vertical frames 11 are respectively disposed near the feeding conveyor belt 23 and the discharging conveyor belt 33. Two ends of the support 51 are respectively fixed on the two vertical frames 11, the length direction of the support 51 is parallel to the X-axis direction, the two first moving seats 53 are slidably connected to the support 51 along the X-axis direction, a connecting plate 56 is arranged on the first moving seats 53, the two first moving seats 53 are fixed together through the connecting plate 56, and the driving part three 52 drives the first moving seats 53 to be slidably connected to the support 51 along the X-axis direction. The third driving member 52 includes a transmission belt, a third motor 521 and a third lead screw, the third lead screw is rotatably connected to the bracket 51 along a direction parallel to the X axis, the third lead screw is inserted into and screwed to the two first movable seats 53, the third motor 521 is fixed to the bracket 51, and the axial direction of the output shaft of the third motor 521 is parallel to the X axis. The belt is wound around the output shaft of the third motor 521 and the third lead screw.

Referring to fig. 2 to 4, the two second moving seats 55 respectively correspond to the two first moving seats 53, the two driving members four 54 respectively correspond to the two second moving seats 55, and the driving members four 54 drive the second moving seats 55 to be slidably connected to the corresponding first moving seats 53 along the Z-axis direction. The driving member four 54 includes a fourth motor 541 and a fourth lead screw 542, the fourth lead screw 542 is rotatably connected to the corresponding first movable seat 53 along the Z-axis direction, the fourth lead screw 542 is inserted and screwed to the corresponding second movable seat 55, the fourth motor 541 is fixed to the first movable seat 53, and an output shaft of the fourth motor 541 is vertically downward and coaxially fixed to the corresponding fourth lead screw 542.

Referring to fig. 2-4, two clamps 6 correspond two second movable seats 55 respectively, and clamp 6 includes driving piece five 61, fixing base 62, two splint 63 and two bull sticks 64, and fixing base 62 is fixed to be set up on second movable seat 55, and two splint 63 are just to setting up each other and along X axle direction sliding connection on fixing base 62, and driving piece five 61 drives two splint 63 and slides towards the one side that is close to each other or keeps away from each other. The driving member five 61 includes two air cylinders 611, the two air cylinders 611 are fixed on the fixing base 62 and located between the two clamping plates 63, piston rods of the air cylinders 611 are arranged in a direction parallel to the X-axis, the two air cylinders 611 correspond to the two clamping plates 63 respectively, and the piston rods of the two air cylinders 611 extend out toward one side in the opposite direction and are fixed on the corresponding clamping plates 63. Two bull sticks 64 correspond two splint 63 respectively, and bull stick 64 rotates along the X axle direction and connects on corresponding splint 63, and two bull sticks 64 are located the both sides of axle type work piece 7 respectively and carry out coaxial centre gripping to axle type work piece 7, and the one end that two bull sticks 64 are close to each other is the toper form setting that matches with tapered groove 71. When the piston rods of the two cylinders 611 extend out, the gap between the two rotating rods 64 is larger than the length of the shaft workpiece 7; when the piston rods of the two cylinders 611 contract, the two rotating rods 64 can clamp the shaft-like workpiece 7, the end parts of the rotating rods 64 extend into and abut against the tapered grooves 71, at this time, the rotating rods 64 and the shaft-like workpiece 7 are coaxially arranged, and simultaneously, the shaft-like workpiece 7 and the rotating rods 64 can synchronously rotate under the action of friction force. After the shaft-like workpieces 7 are clamped by the clamping piece 6, two ends of the shaft-like workpieces 7 in the radial direction of the Y axis are respectively positioned outside the clamping plate 63 and the rotating rod 64, and the bottom ends of the shaft-like workpieces 7 are positioned below the clamping plate 63 and the rotating rod 64, so that the influence of the clamping piece 6 on other equipment during conveying of the shaft-like workpieces 7 can be reduced as much as possible.

Referring to fig. 3 and 5, the centerless grinder 4 is located in the middle of the feeding conveyor belt 23 and the discharging conveyor belt 33, the centerless grinder 4 includes a machine body 41, a grinding wheel 42, an adjusting wheel 43, a workpiece top frame 44 and two driving motors 45, the machine body 41 is fixed on the worktable 1, the grinding wheel 42 is rotatably connected to the machine body 41 along the Y-axis direction, the adjusting wheel 43 is rotatably connected to the machine body 41 and can adjust the rotation axis direction in a small range, and the two driving motors 45 respectively correspond to the grinding wheel 42 and the adjusting wheel 43 and drive the corresponding grinding wheel 42 and the adjusting wheel 43 to rotate. The workpiece top frame 44 is located between the grinding wheel 42 and the adjusting wheel 43 and is used for supporting the shaft-type workpiece 7 during grinding, the grinding wheel 42 mainly grinds the shaft-type workpiece 7, the adjusting wheel 43 can realize feeding of the shaft-type workpiece 7 through angle adjustment, and the adjusting wheel 43 controls rotation of the shaft-type workpiece 7 and feeding of the shaft-type workpiece 7.

Referring to fig. 2 to 3, by providing two clamping pieces 6, when one clamping piece 6 clamps the shaft-like workpiece 7 on the centerless grinder 4, the other clamping piece 6 is arranged opposite to the feeding conveyor belt 23 or the discharging conveyor belt 33, so that the processing time can be effectively shortened. When the shaft-like workpieces 7 are being ground, the shaft-like workpieces 7 on the centerless grinding machine 4 are positioned above the feeding conveyor belt 23 and the discharging conveyor belt 33 at this time.

Referring to fig. 2, 4 and 5, when the shaft-like workpiece 7 is ground on the centerless grinder 4, the shaft-like workpiece 7 rotates under the action of the centerless grinder 4, when the clamping part 6 clamps the ground shaft-like workpiece 7, the rotating shaft-like workpiece 7 drives the rotating rod 64 to rotate together, and in the process that the shaft-like workpiece 7 is conveyed to the blanking conveyor belt 33 by the subsequent clamping part 6, the shaft-like workpiece 7 rotates all the time, so that the air drying speed of the cooling liquid on the shaft-like workpiece 7 is increased.

Referring to fig. 3 and 6, in order to further increase the air drying speed of the cooling liquid on the surface of the shaft-like workpiece 7, an extension frame 81 is fixed on the upper outer wall of the second side plate 31, the extension frame 81 is located on one side of the blanking conveyor belt 33 away from the feeding conveyor belt 23, a rotating shaft 82 is rotatably connected to the extension frame 81 along the axis direction parallel to the second rotating rod 322, a rotating ring 83 is coaxially fixedly sleeved on the second rotating rod 322 on one side close to the support 51, and the diameter of the rotating ring 83 is greater than that of the rotating shaft 82. The rotating ring 83 is connected with a triangular belt 84, and the triangular belt 84 is wound around the rotating shaft 82 and the rotating ring 83. A plurality of fan blades 821 are uniformly fixed on the circumferential outer wall of the rotating shaft 82 along the circumferential direction, and the fan blades 821 are used for blowing the shaft-like workpiece 7 moved to the blanking conveying belt 33 by the centerless grinding machine 4. The wind blown out by the fan blades 821 can further accelerate the air flow speed around the shaft workpiece 7, so as to accelerate the air drying speed of the cooling liquid on the surface of the shaft workpiece 7.

Referring to fig. 6 and 7, the grinding processing equipment with the truss manipulator according to the embodiment of the present application further includes a speed reduction device 85, where the speed reduction device 85 is used to reduce the rotation speed of the rotating rod 64, and the reduction of the rotation speed of the rotating rod 64 can synchronously drive the reduction of the rotation speed of the clamped shaft-like workpiece 7, so that the shaft-like workpiece 7 can be placed on the blanking conveyor belt 33 more stably. In order to further improve the placing stability of the shaft-like workpiece 7 on the blanking conveyor belt 33, the surface of the blanking conveyor belt 33 is provided with anti-skid lines to keep the shaft-like workpiece 7 and the blanking conveyor belt 33 to move synchronously all the time.

Referring to fig. 6-9, the decelerating device 85 includes a deformable decelerating head 851, wherein both ends of the rotating shaft 82 respectively extend out of the extension frame 81, the decelerating head 851 is fixed at the end of the rotating shaft 82 close to the blanking conveyor belt 33, and the fan 821 is located at the side of the extension frame 81 far away from the blanking conveyor belt 33. The speed reduction head 851 comprises a circular truncated cone body 852 and a plurality of driving strips 853, wherein the circular truncated cone body 852 and the driving strips 853 are made of silica gel or rubber materials, the circular truncated cone body 852 is coaxially fixed on the rotating shaft 82, the circular truncated cone body 852 is close to one end of the rotating shaft 82 and is arranged in a tapered manner to one end far away from the rotating shaft 82, and the plurality of driving strips 853 are uniformly fixed on the circular truncated cone body 852 along the circumferential direction of the outer wall of the circular truncated cone body 852. The rotating rod 64 on the side close to the decelerating head 851 among the four rotating rods 64 is the decelerating rod 641, the side surface of the decelerating rod 641 on the side close to the decelerating head 851 is provided with a decelerating groove 642 matched with the decelerating head 851, and the rotating directions of the decelerating rod 641 and the rotating rod 64 are opposite.

Referring to fig. 6 to 9, when the shaft workpiece 7 clamped by the clamping member 6 is translated over the blanking conveyor belt 33, the decelerating head 851 faces the decelerating groove 642, and when the shaft workpiece 7 clamped by the clamping member 6 is translated over the blanking conveyor belt 33, the decelerating head 851 extends into the decelerating groove 642, and the decelerating rod 641 and the rotating rod 64 rotate in opposite directions, so that the decelerating head 851 can decelerate the decelerating rod 641.

Referring to fig. 6 to 9, an escape groove 643 communicating with the deceleration groove 642 is formed in a side surface of the deceleration rod 641 close to the deceleration head 851, a vertical cross section of the escape groove 643 is semicircular, and the escape groove 643 allows the deceleration head 851 to move out of the deceleration rod 641 along the Z-axis direction. Since the clamping member 6 needs to place the workpiece on the blanking conveyor belt 33, the clamping member 6 needs to have a downward moving process, and the avoidance groove 643 allows a relatively large space to be reserved, so that when the deceleration rod 641 rotates to a corresponding angle, the deceleration head 851 on the rotating rod 64 can move out of the deceleration rod 641 through the avoidance groove 643.

Referring to fig. 6-9, the speed reducer 85 further includes a driving member six 9 and a speed reducing block 86, the speed reducing block 86 is slidably connected to the clamp plate 63 engaged with the speed reducing rod 641 from a side close to the speed reducing rod 641 to a side far from the speed reducing rod 641, and the driving member six 9 drives the speed reducing block 86 to slide on the corresponding clamp plate 63.

Referring to fig. 6 to 9, the driving member six 9 includes a first rack 91, a gear 92, a second rack 93, a weight block 94 and a moving block 95, the speed reducing block 86, the weight block 94, the moving block 95, the first rack 91 and the second rack 93 are all slidably connected to the corresponding clamp plate 63 along a sliding direction parallel to the speed reducing block 86, wherein the first rack 91 and the second rack 93 are slidably connected to the inside of the corresponding clamp plate 63, the gear 92 is rotatably connected to the corresponding clamp plate 63 along the Y-axis direction, and the first rack 91 and the second rack 93 are respectively connected to two sides of the gear 92 and meshed with the gear 92. The moving block 95 is slidably connected to the outside of the corresponding clamp 63 near the rotating rod 64, a vertical groove 631 is formed in the outer wall of the corresponding clamp 63 facing the rotating rod 64, the counter weight 94 is slidably connected to the vertical groove 631, two ends of the counter weight 94 are respectively fixed to the moving block 95 and the second rack 93, and the speed reducing block 86 is fixed to the bottom end of the first rack 91 and is used for abutting against the speed reducing rod 641 to reduce the speed of the speed reducing rod 641.

Referring to fig. 6-9, the speed reduction block 86 includes a first rod 861, a second rod 862 and a spring 863, the first rod 861 is fixed at the bottom end of the first rack 91, the second rod 862 is located right below the first rod 861, a sliding slot 8621 matched with the first rod 861 is formed at the top end of the second rod 862, and the bottom end of the first rod 861 penetrates through the sliding slot 8621 and is slidably connected in the direction of the Z axis. Meanwhile, the first rod 861 and the second rod 862 are both slidably connected to the corresponding clamp plate 63 along the Z-axis direction, the spring 863 is located in the sliding groove 8621, and two ends of the spring 863 are respectively fixed to the bottom wall of the sliding groove 8621 and the bottom surface of the first rod 861.

Referring to fig. 6 to 9, when the deceleration head 851 is located in the deceleration groove 642, the moving block 95 is located right above the rotating rod 64 and the deceleration head 851, a second arc groove 951 matched with the outer wall of the rotating shaft 82 is formed in the bottom surface of the moving block 95, a butt rod 96 is rotatably connected in the moving block 95 along the X-axis direction, and the bottom end of the butt rod 96 is located in the second arc groove 951.

Referring to fig. 6-9, when the decelerating head 851 is located in the decelerating groove 642, under the action of the counterweight block 94, the first rack 91 and the moving block 95 move downward, so as to drive the second rack 93 and the decelerating block 86 to move upward, and at this time, the decelerating block 86 does not contact with the rotating rod 64, and the rotation of the rotating rod 64 is not affected; when the clamping member 6 moves down to place the shaft-type workpiece 7 on the blanking conveyor belt 33, the rotating shaft 82 gradually abuts against the abutting rod 96, the rotating shaft 82 drives the abutting rod 96 to rotate while driving the moving block 95 to move up on the clamping plate 63, the speed reducing block 86 is driven to move down to abut against the speed reducing rod 641 through a series of linkage of the six 9 driving members, the force of the bottom end of the second rod abutting against the rotating rod 64 is continuously increased under the action of the spring 863 along with continuous downward movement of the clamping member 6, and finally the rotating rod 64 and the shaft-type workpiece 7 are driven to stop rotating, so that the shaft-type workpiece 862 7 can be stably placed on the blanking conveyor belt 33.

Referring to fig. 6-9, a space for the rotating rod 64 to separate from the loose shaft workpiece 7 is reserved between the extending frame 81 and the moving block 95 and between the extending frame and the rotating rod 64, and the mutual interference motion of the two devices does not exist in the whole operation process.

The above are only typical examples of the present invention, and besides, the present invention may have other embodiments, and all the technical solutions formed by equivalent substitutions or equivalent changes are within the scope of the present invention as claimed.

Claims

1. The utility model provides a grinding processing equipment with truss manipulator, includes workstation and material loading conveyer (2), unloading conveyer (3), centerless grinder (4) and truss manipulator (5) of setting (1) on the workstation, material loading conveyer (2) are including driving piece (22) and material loading conveyer belt (23), shaft class work piece (7) conveying to assigned position is sent to driving piece (22) drive material loading conveyer belt (23), truss manipulator (5) are used for pressing from both sides to get and remove shaft class work piece (7), centerless grinder (4) carry out abrasive machining to shaft class work piece (7), centerless grinder (4) are equipped with water cooling device and are used for spraying the cooling liquid cooling to shaft class work piece (7) in the grinding, unloading conveyer (3) are including driving piece two (32) and unloading conveyer belt (33), the external shaft class work piece (7) that processing was good are delivered to in the collection container to driving piece two (32) drive unloading conveyer belt (33), its characterized in that: the truss manipulator (5) comprises a support (51), a driving part three (52), a driving part four (54), a first movable seat (53), a second movable seat (55) and a clamping part (6), the support (51) is arranged on a workbench (1), the driving part three (52) drives the first movable seat (53) to be connected on the support (51) along the X-axis direction in a sliding manner, the driving part four (54) drives the second movable seat (55) to be connected on the first movable seat (53) along the Z-axis direction in a sliding manner, a feeding conveying device (2), a centerless grinder (4) and a blanking conveying device (3) are sequentially distributed along the X-axis direction, the centerless grinder (4) is positioned between a feeding conveying belt (23) and a blanking conveying belt (33), the clamping part (6) comprises a driving part five (61), a fixed seat (62), two rotating rods (63) and two rotating rods (64), the fixed seat (62) is arranged on the second movable seat (55), the two rotating rods (63) are mutually arranged and are mutually connected on the fixed seat (62) along the X-axis direction, the two rotating plates (63) and are correspondingly connected on the fixed seat (62), the two rotating rods (64) or two rotating plates (64) are correspondingly towards the driving part (61) and are arranged on one side of the two rotating plates (64), the two rotating rods (64) are respectively positioned at two sides of the shaft workpiece (7) to coaxially clamp the shaft workpiece (7).

2. An abrasive machining apparatus having a truss robot as defined in claim 1 wherein: the transmission directions of the feeding conveyor belt (23) and the discharging conveyor belt (33) are arranged in parallel to the Y axis, a plurality of first arc-shaped grooves (231) for placing the shaft workpieces (7) are formed in the surface of the feeding conveyor belt (23) along the winding direction of the feeding conveyor belt (23), the length direction of the first arc-shaped grooves (231) is parallel to the X axis direction, and when the shaft workpieces (7) are placed on the first arc-shaped grooves (231), the axis direction of the shaft workpieces (7) is parallel to the X axis direction.

3. An abrasive machining apparatus having a truss robot as defined in claim 2 wherein: first removal seat (53), second remove seat (55), driving piece four (54) and holder (6) and all have two, and two first removal seats (53) reciprocal anchorage settings, two second remove seat (55) and correspond two first removal seats (53) respectively, and two holder (6) correspond two second removal seats (55) respectively, centerless grinder (4) are located the intermediate position of material loading conveyer belt (23) and unloading conveyer belt (33), and when one of them holder (6) carried out the centre gripping to axle type work piece (7) on centerless grinder (4), another holder (6) just set up material loading conveyer belt (23) or unloading conveyer belt (33).

4. An abrasive machining apparatus having a truss robot as defined in claim 2 wherein: the blanking conveying device (3) further comprises two second side plates (31), the two second side plates (31) are opposite to each other and are arranged on the workbench (1), the second driving piece (32) comprises a second motor (321) and two second rotating rollers (322), the two second rotating rollers (322) are rotatably connected to the two second side plates (31) along the X-axis direction, the blanking conveying belt (33) is wound on the two second rotating rollers (322), the second motor (321) is fixed on one of the second side plates (31), and an output shaft of the second motor (321) is coaxially and fixedly connected to one of the second rotating rollers (322);

be equipped with on second curb plate (31) and extend frame (81), it is connected with pivot (82) to extend to rotate along the axis direction that is on a parallel with second commentaries on classics rod (322) on frame (81), V-belt (84) are around rolling up on pivot (82) and one of them second commentaries on classics rod (322), be equipped with a plurality of flabellums (821) along circumferential direction in proper order on the circumference outer wall of pivot (82), flabellum (821) are used for blowing to axle type work piece (7) that centerless grinder (4) removed to unloading conveyer belt (33), and axle type work piece (7) are located the outside of splint (63) and bull stick (64) along the projection part of X axle direction on splint (63) and bull stick (64).

5. An abrasive machining apparatus having a truss robot as defined in claim 4 wherein: the rotating rod type centrifugal grinding machine is characterized by further comprising a speed reducing device (85), wherein the speed reducing device (85) is used for reducing the rotating speed of the rotating rod (64), the speed reducing head (851) is fixed to the end portion, close to the centerless grinding machine (4), of the rotating shaft (82), the rotating rod (64) close to one side of the speed reducing head (851) in the two rotating rods (64) is made to be a speed reducing rod (641), a speed reducing groove (642) matched with the speed reducing head (851) is formed in the side face, close to the speed reducing head (851), of the speed reducing rod (641), and the rotating directions of the speed reducing rod (641) and the rotating rod (64) are opposite.

6. An abrasive machining apparatus having a truss robot as defined in claim 5 wherein: the side surface of the deceleration rod (641) close to the deceleration head (851) is provided with an avoiding groove (643) communicated with the deceleration groove (642), and the avoiding groove (643) is used for enabling the deceleration head (851) to move out of the deceleration rod (641) along the Z-axis direction.

7. An abrasive machining apparatus having a truss robot as defined in claim 4 wherein: the speed reducing device (85) further comprises a driving part six (9) and a speed reducing block (86), the speed reducing block (86) is connected to the clamping plate (63) corresponding to the speed reducing rod (641) in a sliding mode from one side close to the speed reducing rod (641) to one side far away from the speed reducing rod (641), and the driving part six (9) drives the speed reducing block (86) to slide on the corresponding clamping plate (63).

8. An abrasive machining apparatus having a truss robot as defined in claim 7 wherein: the driving part six (9) comprises a first rack (91), a gear (92), a second rack (93), a balancing weight (94) and a moving block (95), the speed reducing block (86) is connected to the corresponding clamping plate (63) in a sliding mode along the Z-axis direction, the balancing weight (94), the moving block (95), the first rack (91) and the second rack (93) are connected to the corresponding clamping plate (63) in a sliding mode along the sliding direction parallel to the speed reducing block (86), the gear (92) is connected to the corresponding clamping plate (63) in a rotating mode along the Y-axis direction, the first rack (91) and the second rack (93) are respectively arranged on two sides of the gear (92) and meshed with the gear (92), when the speed reducing head (851) extends into the speed reducing groove (642), the moving block (95) is located right above the speed reducing head (851) and the rotating shaft (82), and the moving block (95) is fixedly connected to the second rack (93) through the balancing weight (94);

the speed reducing block (86) comprises a first rod (861), a second rod (862) and a spring (863), wherein the second rod (862) is located under the first rod (861), the first rod (861) and the second rod (862) are connected to the corresponding clamping plate (63) in a sliding mode in the Z-axis direction, two ends of the spring (863) are fixed to the first rod (861) and the second rod (862) respectively, the first rack (91) is fixed to the first rod (861), when the speed reducing head (851) is located in the speed reducing groove (642), the second rod (862) is far away from the speed reducing rod (641) and is arranged, and when the shaft-type workpiece (7) is placed on the blanking conveying belt (33) through the clamping piece (6), the rotating shaft (82) abuts against the moving block (95) and drives the second rod (862) to move to the abutting speed reducing rod (641).