CN209036209U - A kind of automatic loading and unloading system of cross workpiece grinding machine - Google Patents

Abstract

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

Description

A kind of automatic loading and unloading system of cross workpiece grinding machine

Technical field

The utility model relates to grinding machine equipment technical field more particularly to a kind of automatic loading/unloading systems of cross workpiece grinding machine System.

Background technique

The grinding machine equipment of cross workpiece, such as cross axle grinding machine are ground to the end of two axial directions of cross axle Process equipment for grinding, in the production line of existing grinding, by cross workpiece be placed into upper material process on grinding machine and The blanking procedure that the cross workpiece completed the process unloads is the crucial operating procedure of comparison.Wherein, in feeding, discharge process also Switching operation including cross workpiece is led to that is, after the completion of to two ends grinding on cross workpiece a axial direction It crosses manipulator to take out cross workpiece from grinding machine, be then placed on commutation platform, cross workpiece is rotated by 90 ° on commutation platform and changes Backward, the cross workpiece that manipulator passes through after clamping commutation again is placed on grinding machine, to another axial direction side of cross workpiece Two upward ends carry out grinding.

Such as application No. is the Chinese utility model patent of CN201520255889.8 (notification number CN204546288U) public affairs It has opened " a kind of feed mechanism of centerless grinding machine ", the feed mechanism of centerless grinding machine includes manipulator, the platform that commutates, set right block and fixation Hook, wherein manipulator is used to from a upper station clamp cross axle to be processed to commutation platform, then by the block that sets right to ten Word axis is moved flat, and stay hook triggers the cross axle after moving flat, and is resent at emery wheel and is carried out grinding, and the one of cross axle Cross axle is placed on commutation platform by stay hook again after the grinding of shaft end and is commutated, and repeats above-mentioned move flat, hook and take Step completes the grinding action of other shaft ends.

But the feed mechanism of the centerless grinding machine in above-mentioned patent also has certain deficiency, for example, this centerless grinding machine Feed mechanism be that feeding operation is successively carried out by a manipulator and a stay hook, i.e. the centerless grinding machine can only be After processing is completed, the grinding that just can be carried out next cross axle adds for the first axle of one cross axle and the successive continuous grinding of the second axis Work, wherein in the moving process of stay hook and in the commutation process of cross axle, the grinding station of grinding machine is located completely In idle state, this seriously affects the production efficiency of the grinding of cross axle.Secondly, the feed mechanism of the centerless grinding machine is to adopt Cross axle is transmitted with stay hook, stay hook is not fixed firmly cross axle, is easy to fall off, especially when stay hook hooks It takes when being sent to the top of grinding station after cross axle, is easy to cause biggish safety accident if falling off.

In addition, the indexing mechanism in the handling equipment of existing cross workpiece grinding machine, to the second axis of cross workpiece Levelling operation is to be realized by the linear movement for the block that sets right, but work as manipulator and take out cross workpiece from grinding machine, is put When setting on commutation platform, the second swingable axis of cross workpiece is likely to be at vertical state or close to vertical state, The block that sets right so is just difficult to that cross workpiece is carried out to being adjusted to horizontality, and leveling dead angle occurs.In the prior art, also some turn Position mechanism is that the top in grinding site is arranged in, that is to say, that its indexable process is carried out above high-speed rotating grinding wheel , if botching routines or breaking down (situations such as such as part is fallen) during indexing, it will result in safety accident, and During indexing, the cooling water in grinding site is always open state, therefore is located at the entire indexing mechanism above grinding wheel It is to be in water mist environment for a long time, the components such as cylinder therein, motor, detection switch are subject to damage, and break down, make Obtain the reliability decrease of whole system.

Therefore the automatic loading and unloading system of existing cross workpiece grinding machine also requires further improvement.

Utility model content

For the current state of the art, the technical problem to be solved by the utility model is to provide one kind can be realized quickly The automatic loading and unloading system of the cross workpiece grinding machine of loading and unloading.

Technical solution adopted by the utility model to solve the above technical problems is as follows: a kind of cross workpiece grinding machine it is automatic on Blanking system, comprising: loading bracket device, for placing cross workpiece to be processed；Blanking bracket system, for placing processing The cross workpiece of completion；Turn device, for driving the cross workpiece being placed on turn device rotation commutation；And it is automatically controlled Device, the electric control gear and the loading bracket device, blanking bracket system and turn device carry out signal communication；Wherein, institute Loading bracket device, blanking bracket system and turn device is stated to be close to add for the grinding for carrying out grinding to cross workpiece Work platform further includes the truss being set to above the grinding platform and can be laterally slidably arranged in upper on the truss Material manipulator and blanking mechanical hand, the truss extend to the loading bracket device, blanking bracket system and turn device Top, the feeding manipulator and blanking mechanical hand can also be moved up and down relative to the truss；Wherein, the feeding Manipulator can move between loading bracket device and grinding platform, and have and grab from the loading bracket device Cross workpiece to be processed is then placed into the first action state on the grinding platform；The feeding manipulator can also It is enough to be moved between turn device and grinding platform, and have and grab cross workpiece to be processed from the turn device The second action state being then placed on the grinding platform；The blanking mechanical hand can grinding platform with It is moved between turn device, and there is the be then placed on turn device from grinding platform crawl cross workpiece Three action states；The blanking mechanical hand can also move between grinding platform and blanking bracket system, and have from The cross workpiece of the grinding platform crawl after processing is completed is then placed into the 4th movement shape on blanking bracket system State.

As an improvement, further including the first driving assembly and the second driving assembly, wherein the first driving assembly can drive institute Feeding manipulator and the blanking mechanical hand horizontal sliding on the truss are stated, second driving assembly can drive the feeding Manipulator and the relatively described truss of blanking mechanical hand move up and down.Wherein, the feeding manipulator and blanking mechanical hand are first It is can be under the driving of driving assembly together along the truss horizontal sliding, it can also be individually along the truss horizontal sliding； The feeding manipulator and blanking mechanical hand can be under the driving of the second driving assembly the relatively described truss together on move down It is dynamic, it is also possible to the relatively described truss and individually moves up and down.

As an improvement, first driving assembly include the sliding rack that can be laterally slidably arranged on the truss and The first driving motor for driving the sliding rack mobile, wherein the feeding manipulator and blanking mechanical hand are arranged in the sliding On frame.Wherein, the feeding manipulator and blanking mechanical hand are to be arranged on the sliding rack together and can be with sliding rack edge The truss is slid laterally.

As an improvement, having the first sliding rail and the first driving rack being laterally arranged on the truss, the sliding rack is sliding It is dynamic to be arranged on first sliding rail；First driving motor is the servo motor being fixed on the sliding rack, servo electricity The output end of machine is drivingly connected first driving rack.Servo motor during driving the sliding rack horizontal sliding, Feeding manipulator or blanking mechanical hand accurately can be rested on into grinding platform, loading bracket device, blanking bracket The top of device and turn device.

As an improvement, second driving assembly is the second level propulsion device being arranged on the sliding rack, the second level Propulsion device includes can the cooperate first order propulsive mechanism and second level propulsive mechanism of movement, the first order pusher Structure is arranged on the sliding rack, and is drivingly connected the second level propulsive mechanism, and the second level propulsive mechanism is drivingly connected The feeding manipulator and blanking mechanical hand, and can drive the feeding manipulator or blanking mechanical hand each independently on Lower movement.The structure setting of this second level propulsion device enables feeding manipulator, blanking mechanical hand by first order pusher Structure drives jointly with second level propulsive mechanism, i.e., feeding, discharge manipulator moves up and down together under the driving of first order propulsive mechanism In the process, and secondary propulsion can be carried out under the action of the propulsive mechanism of the second level each independently, improves and moves up and down Speed, so that it is more flexible to move up and down process.

As an improvement, the first order propulsive mechanism includes the second driving motor and the energy by second driving motor driving The drive rod that enough relatively described sliding racks move up and down, the second level propulsive mechanism are fixed on drive rod；The second level Propulsive mechanism includes the first driving cylinder being disposed side by side on the drive rod and the second driving cylinder, wherein the feeding Manipulator can be moved up and down by the first driving cylinder driving, and the blanking mechanical hand is driven by the second driving cylinder And it can move up and down.This second level propulsive mechanism acts, on the one hand, improve while by driving motor with driving cylinder The movement speed of loading and unloading manipulator, improves the efficiency of loading and unloading, on the other hand, drives being swift in motion for cylinder, guarantees Loading and unloading manipulator has faster movement speed, and the setting of driving motor ensure that loading and unloading manipulator can be by pre- Setting program neatly rests on different height and positions, and the cooperation of the two not only increases the mobile speed of loading and unloading manipulator Degree, and it is in same level height without requiring Processing position, feeding site, blanking site and indexable site, thus may be used According to the actual situation and space requirement, to carry out reasonable Arrangement to the height of each device, reduce manufacture difficulty, greatly place Feeding, discharge manipulator upper and lower position alignment function.

Wherein, the second longitudinally disposed sliding rail is additionally provided between the sliding rack and the drive rod, the drive rod is logical Second sliding rail is crossed to be slidably arranged on the sliding rack；Second driving motor is servo motor, which fixes On the sliding rack, there is longitudinally arranged second driving rack on the drive rod, the output end of the servo motor drives It is dynamic to connect second driving rack.It is of course also possible to be arranged driving rack on sliding rack, servo motor is arranged described On drive rod, drive rod sliding up and down on the sliding rack is realized under the mating reaction of driving rack and servo motor.

As an improvement, the loading bracket device, blanking bracket system and turn device are flat set on the grinding The same side of platform；There is the Processing position for processing the cross workpiece, the loading bracket on the grinding platform There is the feeding site for grab for the feeding manipulator cross workpiece on device, have on the blanking bracket system There is the blanking site for place for the blanking mechanical hand cross workpiece, has on the turn device for feeding machinery Hand carry out crawl cross workpiece or blanking mechanical hand carry out place cross workpiece indexable site, wherein the Processing position, on Material position point, blanking site and indexable site be in in the consistent same vertical plane of the length direction of the truss.Wherein, Loading bracket device, blanking bracket system and turn device are set to the same side of the grinding platform, it is possible to reduce The time of feeding, discharge manipulator horizontal sliding, i.e. blanking mechanical hand, feeding manipulator was immediately when completing blanking therein operation Next cross workpiece can be grabbed at loading bracket device in the same side, then complete the feeding operation of the cross workpiece, Further improve production efficiency.

As an improvement, the loading bracket device includes feeding conveyer belt, the first power device and first sensor, In, the feeding conveyer belt is used to for cross workpiece to be processed being delivered to feeding site, and the first power device driving connects The feeding conveyer belt is connect, first sensor is able to detect at the feeding site whether be in vacant state.Wherein, to be processed Cross workpiece can be emitted on the feeding conveyer belt, when be placed on the feeding transmission belt positioned at the ten of feeding site After word workpiece is walked by feeding manipulator folder, first sensor can identify the state, and feed back to electric control gear, electric control gear control It is mobile to make remaining cross workpiece that first power device drives the feeding conveyer belt and is placed on it, so that next cross The automatic cover of workpiece is grabbed next time to feeding site, for feeding manipulator.

As an improvement, the blanking bracket system includes blanking conveyer belt, the second power device and second sensor, In, the blanking conveyer belt is used to be placed into the cross workpiece at blanking site and is delivered to the presetting of the separate blanking site Position, second power device are drivingly connected the blanking conveyer belt, and second sensor, which is able to detect the blanking site, is It is no to be in vacant state.Wherein, cross workpiece after processing is completed can be placed into the blanking transmission by blanking mechanical hand On the blanking site taken, after the completion of placement, second sensor can identify the state, and feed back to electric control gear, automatically controlled dress Setting the second power device of control drives the blanking conveyer belt and the cross workpiece being placed on it mobile, so that on the blanking conveyer belt Discharge station be in vacant state, so that blanking mechanical hand is placed next time.Second power device can drive for motor Dynamic or Mechanical Driven.

As an improvement, the turn device includes bracket component, reversing mechanism and levelling mechanism, wherein the bracket component The both ends of the first axle of cross workpiece are used to support, the reversing mechanism is drivingly connected the bracket component, and drives and be placed on Cross workpiece on the bracket component is rotated together with bracket component, and the levelling mechanism, which can drive, is placed on the bracket The cross workpiece of component around the first axle of the cross workpiece axis rotation to horizontality.Wherein, horizontality refers to cross Second axis of workpiece is in horizontality, in order to which both ends of the feeding manipulator to its second axis clamp.

Compared with prior art, the utility model has the advantage of the cross workpiece grinding machine in the utility model it is automatic on Blanking system includes feeding manipulator and blanking mechanical hand, wherein feeding manipulator only carries out from loading bracket device or turns Crawl cross workpiece is then placed into the movement of the feeding on grinding platform at the device of position, and blanking mechanical hand is only carried out from mill Cut and grab cross workpiece on processing platform and be then placed into blanking action on turn device or blanking bracket system, it is this from Feeding manipulator and the blanking mechanical hand division of labor of dynamic loading and unloading system are clear, and can reciprocal, greatly improve production Efficiency, that is to say, that blanking mechanical hand by the cross workpiece completed the process from the Processing position of grinding platform taking-up after, Feeding manipulator with another cross workpiece of crawl can be placed at Processing position carry out grinding, such grinding machine Grinding station may be at continuous duty, i.e., carries out horizontal sliding in feeding, discharge manipulator or carry out cross work When part switching operation, grinding platform is not at idle state, greatly improves the grinding of cross workpiece in this way Production efficiency.

Detailed description of the invention

Fig. 1 is the schematic perspective view of the automatic loading and unloading system of cross workpiece grinding machine in the utility model embodiment；

Fig. 2 is the front view of the automatic loading and unloading system of cross workpiece grinding machine in the utility model embodiment, wherein blanking Manipulator is located at the top of Processing position and in folding process, and feeding manipulator is in position state；

Fig. 3 is the schematic perspective view of the automatic loading and unloading system of cross workpiece grinding machine in the utility model embodiment, Wherein blanking mechanical hand is located at the top of Processing position and in the process that moves up, and feeding manipulator is in position state；

Fig. 4 is the schematic perspective view of the automatic loading and unloading system of cross workpiece grinding machine in the utility model embodiment, The top that wherein feeding manipulator is located at Processing position prepares to move down, and blanking mechanical hand is in position state；

Fig. 5 is the schematic perspective view of the automatic loading and unloading system of cross workpiece grinding machine in the utility model embodiment, Wherein feeding manipulator is located at the top of Processing position and in folding process, and blanking mechanical hand is in position state；

Fig. 6 is the schematic perspective view of the automatic loading and unloading system of cross workpiece grinding machine in the utility model embodiment, The top that wherein blanking mechanical hand is located at indexable site prepares to move down, and feeding manipulator is in position state；

Fig. 7 is the schematic perspective view of the automatic loading and unloading system of cross workpiece grinding machine in the utility model embodiment, Wherein blanking mechanical hand is located at the top in indexable site and is in folding process, and feeding manipulator is in position state；

Fig. 8 is the schematic perspective view of the automatic loading and unloading system of cross workpiece grinding machine in the utility model embodiment, Wherein feeding manipulator is located at the top in indexable site and in the process that moves up, and blanking mechanical hand is in position state；

Fig. 9 is the partial structure diagram of the automatic loading and unloading system of cross workpiece grinding machine in the utility model embodiment；

Figure 10 is the partial structure diagram of the automatic loading and unloading system of cross workpiece grinding machine in the utility model embodiment；

Figure 11 be the utility model embodiment in cross workpiece grinding machine automatic loading and unloading system the first driving assembly with The schematic perspective view of truss cooperation；

Figure 12 is the second driving assembly of the automatic loading and unloading system of cross workpiece grinding machine in the utility model embodiment Schematic perspective view；

Figure 13 is the loading bracket device of the automatic loading and unloading system of cross workpiece grinding machine in the utility model embodiment Schematic perspective view；

Figure 14 is the blanking bracket system of the automatic loading and unloading system of cross workpiece grinding machine in the utility model embodiment Schematic perspective view；

Figure 15 is the schematic perspective view of turn device in the utility model embodiment, and wherein the turn device is in not Place the original state of cross workpiece；

Figure 16 is the schematic perspective view of turn device in the utility model embodiment, and wherein cross workpiece is in commutation Preceding leveling state, auxiliary levelling mechanism are in original state；

Figure 17 is the schematic perspective view of turn device in the utility model embodiment, and wherein cross workpiece is in commutation Preceding leveling state, and levelling mechanism top is assisted to hold at the both ends of the second axis of cross workpiece；

Figure 18 is the schematic perspective view of turn device in the utility model embodiment, and wherein cross workpiece is in commutation Leveling state after the completion.

Specific embodiment

The utility model is described in further detail below in conjunction with figure embodiment.

Referring to FIG. 1 to FIG. 8, the automatic loading and unloading system of cross workpiece grinding machine includes loading bracket device 10, blanking bracket Device 20, turn device 30 and electric control gear (not shown), wherein loading bracket device 10 is for placing and conveying to be processed Cross workpiece 100, blanking bracket system 20 for placing and conveying the cross workpiece 100 completed the process, use by turn device 30 In driving the rotation commutation of cross workpiece 100 being placed on the turn device 30, in the present embodiment, loading and unloading system can be set In the side of the cross workpiece grinding machine for processing cross workpiece 100, it is contemplated that on the lathe bed 41 of cross workpiece grinding machine Equipped with grinding platform 40, specifically, loading and unloading system further includes the truss 50 being set to above grinding platform 40 and can Feeding manipulator 51 and blanking mechanical hand 52 on truss 50 are laterally slidably set, and specifically, truss 50 passes through a column 42 are fixed on the lathe bed 41 of cross workpiece grinding machine, and the truss 50 extends to loading bracket device 10, blanking bracket system 20 and the top of turn device 30 specifically there is machining position for processing cross workpiece 100 on grinding platform 40 Point has the feeding site that crawl cross workpiece 100 is carried out for feeding manipulator 51, blanking bracket dress on loading bracket device 10 Setting has the blanking site for place for blanking mechanical hand 52 cross workpiece 100 on 20, have on turn device 30 for feeding Manipulator 51 carries out crawl cross workpiece 100 or blanking mechanical hand 52 place the indexable site of cross workpiece 100, feeder Tool hand 51 and blanking mechanical hand 52 can be along 50 horizontal slidings of truss to the top of each corresponding site, in addition, feeding manipulator 51 And blanking mechanical hand 52 can also be moved up and down relative to truss 50, and also be had positioned at upper in the process of moving up and down The initial position at end and final position positioned at lower end, feeding manipulator 51 and blanking mechanical hand 52 can at final position Cross workpiece 100 is grabbed from corresponding site or cross workpiece 100 is placed on corresponding site.Specifically, feeder Tool hand 51 and blanking mechanical hand 52 are to carry out horizontal sliding along truss 50 under the driving of the first driving assembly, and drive second Opposite truss 50 moves up and down under dynamic Component driver, more specifically, feeding manipulator 51 can be in loading bracket device 10 It is moved between grinding platform 40, and has and grab cross workpiece 100 to be processed from loading bracket device 10 then The first action state being placed on grinding platform 40；Feeding manipulator 51 can also be in turn device 30 and grinding It is moved between platform 40, and is then placed into grinding with cross workpiece 100 to be processed is grabbed from turn device 30 The second action state on platform 40；Blanking mechanical hand 52 can move between grinding platform 40 and turn device 30, And has from the crawl cross workpiece 100 of grinding platform 40 and be then placed into the third action state on turn device 30；Under Material manipulator 52 can also move between grinding platform 40 and blanking bracket system 20, and have flat from grinding The cross workpiece 100 of the crawl of platform 40 after processing is completed is then placed into the 4th action state on blanking bracket system 20.This four A action state can interact progress, guarantee that grinding platform 40 is at continuous duty, improve production efficiency.This Outside, it is contemplated that grinding platform 40 may include having grinding wheel component 44, guide wheel assembly 45, dresser 43, support The components such as frame 47 and guide wheel feeding slide unit (not shown).

Referring to Fig. 9~Figure 12, the first driving assembly includes the first driving motor 62 and is slidably arranged on truss 50 Sliding rack 61, feeding manipulator 51 and blanking mechanical hand 52 are arranged on sliding rack 61 and can be with sliding racks 61 along truss Horizontal sliding on 50 specifically referring to Figure 11, is horizontally arranged with the first sliding rail on truss 50, the setting of sliding rack 61 this first On sliding rail, in the present embodiment, the first sliding rail is the first slide bar 53 being horizontally installed on truss 50, correspondingly, sliding rack 61 On be provided with first sliding groove 611 compatible with the first slide bar 53, then specifically, the first driving motor 62 is fixed on sliding rack 61 It can move laterally together above and with sliding rack 61, the first driving rack 54, the first driving motor are laterally fixed on truss 50 62 output end is drivingly connected the first driving rack 54, wherein the first driving motor 62 can be servo motor, so that feeding Manipulator 51 or blanking mechanical hand 52 can accurately rest on the top of corresponding site.Second driving assembly is to be arranged in cunning Second level propulsion device in moving frame 61, second level propulsion device include the first order propulsive mechanism and of movement of capable of cooperating Second level propulsive mechanism, wherein first order propulsive mechanism is arranged on sliding rack 61, and is drivingly connected second level propulsive mechanism, and second Grade propulsive mechanism is drivingly connected feeding manipulator 51 and blanking mechanical hand 52, and can drive feeding manipulator 51 or blanking machine Tool hand 52 moves up and down each independently, and specifically, first order propulsive mechanism can drive second level propulsive mechanism and be connected to Feeding manipulator 51 and blanking mechanical hand 52 on the propulsive mechanism of the second level are moved up and down with respect to sliding rack 61 together.In this implementation In example, first order propulsive mechanism includes the second driving motor 711 and being capable of opposite sliding by second driving motor 711 driving The drive rod 712 that frame 61 moves up and down, second level propulsive mechanism are fixed on drive rod 712, wherein the second driving motor 711 For servo motor, which is fixed on sliding rack 61, and correspondingly, drive rod 712 is slided up and down by the second sliding rail and set It sets on sliding rack 61, specifically, the second sliding rail is the second slide bar 716 being arranged in its longitudinal direction in drive rod 712, phase Ying Di is additionally provided with second sliding slot 612 compatible with the second slide bar 716 on sliding rack 61, in addition, in its length on drive rod 712 Degree is additionally provided with the second driving rack 717 on direction, and the output end of servo motor is drivingly connected second driving rack 717, when So, it is contemplated that servo motor also can be set on drive rod 712, and with drive rod 712 together with respect to sliding rack 61 It moves up and down.Second level propulsive mechanism includes the first driving cylinder 721 being disposed side by side on drive rod 712 and the second driving Cylinder 722, wherein feeding manipulator 51 can be moved up and down by the first driving cylinder 721 driving, and blanking mechanical hand 52 is by the Two driving cylinders 722 drive and can move up and down, and specifically, referring to Figure 12, the lower end of drive rod 712 is fixed with a level and sets The fixed plate 713 set, the first driving cylinder 721 and the second driving cylinder 722 are fixed on side by side in the fixed plate 713, wherein when When drive rod 712 moves up and down, the two driving cylinders and the feeding manipulator 51, blanking mechanical hand 52 that are fixed in fixed plate 713 It can and then move up and down, wherein the first driving cylinder 721 and the second driving cylinder 722 all have the work for capableing of reciprocal telescopic Stopper rod 723, feeding manipulator 51 and blanking mechanical hand 52 are connected on piston rod 723 and can move back and forth with piston rod 723, In order to increase the stability of feeding manipulator 51 and blanking mechanical hand 52 in reciprocating movement, prevent it from moving up and down It shakes in journey, guarantees the accuracy of operation of feeding and discharging, be also respectively connected on feeding manipulator 51 and blanking mechanical hand 52 Two guide rods 715, two guide rods 715, which are symmetrically arranged at the two sides of piston rod 723 and can pass through, to be arranged in fixed plate Pilot hole (not shown) on 713, wherein the length direction of guide rod 715 is consistent with the length direction of piston rod 723, is It is vertically arranged.In order to further realize the smooth motion of two manipulators, the friction between guide rod 715 and pilot hole is reduced Power is additionally provided with linear bearing 714 in pilot hole, and guide rod 715 is threaded through in the linear bearing 714.Further, it is contemplated that It is that feeding manipulator 51 and blanking mechanical hand 52 also each have clamping part and clamp or release for driving clamping part to be in The clamping cylinder of state, wherein clamping part includes two grippers being oppositely arranged, and two grippers can be clamped in cross workpiece 100 First axle 101 or the second axis 102 both ends.In the present embodiment, feeding manipulator 51 and blanking mechanical hand 52 on move down Dynamic driven under the collective effect of first order propulsive mechanism and second level propulsive mechanism, i.e., feeding manipulator 51 or For blanking mechanical hand 52 under the driving of first order propulsive mechanism upwards or in folding process, second level propulsive mechanism can be simultaneously Movement drives feeding manipulator 51 or blanking mechanical hand 52 to move up or down, and specifically, in the present embodiment, first drives Cylinder 721 of taking offence can be operated alone feeding manipulator 51 and be moved up and down, and the second driving cylinder 722 can be operated alone down Material manipulator 52 is moved up and down.This second level propulsive mechanism acts, a side while by servo motor with driving cylinder Face improves the movement speed of loading and unloading manipulator 52, improves the efficiency of loading and unloading, on the other hand, drives the rapid of cylinder Movement ensure that loading and unloading manipulator 52 has faster movement speed, and the setting of servo motor ensure that loading and unloading machinery Hand 52 can neatly rest on different height and positions by presetting program, and the cooperation of the two not only increases charging & discharging machine The movement speed of tool hand 52, and same level is in without requiring Processing position, feeding site, blanking site and indexable site Highly, thus can reasonable Arrangement be carried out to the height of each device, reduce manufacture according to the actual situation and space requirement Difficulty greatly facilitates feeding, discharge manipulator in the alignment function of upper and lower position.

Referring to Fig. 1, in the present embodiment, loading bracket device 10, blanking bracket system 20 and turn device 30 In the same side of the lathe bed 41 of cross workpiece grinding machine, specifically, the side of lathe bed 41 is provided with a support supporting plate 46, loading bracket Device 10, blanking bracket system 20 and turn device 30 are arranged on the support supporting plate 46, and Processing position, feeding Site, blanking site and indexable site be in in the consistent same vertical plane of the length direction of truss 50, wherein will be upper Material torr rack device 10, blanking bracket system 20 and turn device 30 are set to the same side of grinding platform 40, it is possible to reduce The time of feeding, discharge manipulator horizontal sliding, i.e. blanking mechanical hand 52 complete blanking therein operation when, feeding manipulator 51 With next cross workpiece 100 can be grabbed at loading bracket device 10 in the same side, the cross workpiece 100 is then completed Feeding operation, further improve production efficiency.

Together referring to Figure 13, loading bracket device 10 includes feeding conveyer belt 11, the first power device 13 and the first sensing Device 12, wherein feeding conveyer belt 11 is drivingly connected feeding and passes for placing cross workpiece 100 to be processed, the first power device 13 Band 11 is sent, first sensor 12 is provided close to the side in feeding site by a support rod 14, and can identify at feeding site Whether cross workpiece 100 is in vacant state, and specifically, cross workpiece 100 to be processed can be emitted on feeding conveyer belt 11 On, after the cross workpiece 100 positioned at feeding site being placed on the feeding conveyer belt 11 is walked by the folder of feeding manipulator 51, the One sensor 12 can identify the state, and feed back to electric control gear, and electric control gear controls the first power device 13 and drives on this Material conveyer belt 11 and remaining cross workpiece 100 for being placed on it are mobile, so that the automatic cover of next cross workpiece 100 is to feeding Site is grabbed next time for feeding manipulator 51.Wherein, the first power device 13 can be motor driven or mechanical drive It is dynamic.

Referring to Figure 14, blanking bracket system 20 includes blanking conveyer belt 21, the second power device (not shown) and the second biography Sensor 22, wherein blanking conveyer belt 21 is drivingly connected blanking for placing the cross workpiece 100 completed the process, the second power device Conveyer belt 21, second sensor 22 is equipped with close to the side in blanking site, and can identify that cross workpiece 100 is at blanking site No to be in vacant state, specifically, cross workpiece 100 after processing is completed can be placed into blanking biography by blanking mechanical hand 52 It send on the blanking site on band 21, after the completion of placement, second sensor 22 can identify the state, and feed back to electric control gear, Electric control gear controls the second power device and drives the blanking conveyer belt 21 and the cross workpiece 100 being placed on it mobile, so that should Discharge station on blanking conveyer belt 21 is in vacant state, so that blanking mechanical hand 52 is placed next time.Wherein, second Power device can be motor driven or Mechanical Driven.

After the completion of 101 grinding of first axle of cross workpiece 100, need the cross workpiece 100 being placed into indexing Indexable commutation is carried out on device 30, and the second axis 102 in free state of the cross workpiece 100 is ajusted to horizontal State keeps it parallel with the axis of the grinding wheel of grinding platform 40, in order to which feeding manipulator 51 carries out the cross workpiece 100 Crawl is then placed at Processing position and carries out grinding to its second axis 102.Referring to Figure 15~Figure 18, in the present embodiment In, turn device 30 is set to the side of lathe bed 41, and specifically, turn device 30 includes bracket component 31, reversing mechanism 32 and adjusts Flattening mechanism 33, wherein bracket component 31 is two first supports 311 being oppositely arranged, and two first supports 311 are used to support The both ends of the first axle 101 of cross workpiece 100 to indexing；Reversing mechanism 32 is fixedly connected on pedestal 37, specifically, commutation Mechanism 32 passes through rotation axis including rotary cylinder 321 and the rotation axis 322 driven by the rotary cylinder 321, rotary cylinder 321 322 are drivingly connected bracket component 31, to drive the cross workpiece 100 being placed on bracket component 31 with 31 turns of bracket component Dynamic, specifically, rotary cylinder 321 is fixed on pedestal 37, and two first supports 311 are fixed in rotation axis 322 and can be with Rotation axis 322 rotates, and specifically, two first supports 311 are fixedly connected on rotation by fixed frame 38 and the first connecting plate 312 On axis 322, wherein fixed frame 38 is fixed in rotation axis 322 and can rotate with rotation axis 322, and the first connecting plate 312 is fixed It is connected on fixed frame 38, levelling mechanism 33 can drive the cross workpiece 100 for being placed on bracket component 31 around the cross workpiece The axis rotation of 100 first axle 101 is to horizontality.Specifically, levelling mechanism 33 includes the flat component of homophony and close switch 34, wherein the flat component of homophony can rub with the outside wall surface of the first axle 101 for the cross workpiece 100 being placed in first support 311 Contact is wiped, and rubs and cross workpiece 100 is driven to be rotated around the axle center of its first axle 101, this can be identified close to switch 34 Whether the second axis 102 of cross workpiece 100 turns to horizontality, then specifically, and the flat component of homophony includes friction wheel assembly 332 And the third driving motor 331 for driving friction wheel assembly 332 to rotate, wherein outside the first axle 101 of cross workpiece 100 Wall surface and friction 332 CONTACT WITH FRICTION of wheel assembly, the rotation of friction wheel assembly 332 can drive cross workpiece 100 around first axle 101 axis rotation.Wherein, friction wheel assembly 332 includes that driving wheel 334 and two are sequentially connected with the driving wheel 334 respectively Friction pulley 333, the output shaft of third driving motor 331 is drivingly connected driving wheel 334, and two friction pulleys 333 can cooperate The two sides of the outside wall surface of the first axle 101 of cross workpiece 100, and then drive cross workpiece 100 around it in a manner of frictional drive The axis rotation of first axle 101.In the present embodiment, the surface that driving wheel 334 is used to contact with friction pulley 333, which can be selected, bullet Property and the higher material of coefficient of friction be made, such as nitrile rubber or fluorine glue, to meet the requirement of the frictional drive between them, and rub It wipes the 333 optional higher materials of coefficient of friction of wheel to be made, such as polyurethane, to meet the first axle 101 to cross workpiece 100 Outside wall surface frictional drive demand.In addition, passing through the outer of the first axle 101 that two friction pulleys 333 are arranged to cross workpiece 100 The two sides of wall surface form top and hold state, frictional force suffered by cross workpiece 100 are increased, so that cross workpiece 100 is around first The rotation process of axis 101 is more steady, avoids cross workpiece 100 because the frictional force being subject to is insufficient and leads to the problem of slippage, when So, the number of friction pulley 333 can also correspondingly be increased according to the quality of cross workpiece 100 or the coefficient of friction of friction pulley 333 Amount, so that cross workpiece 100 being capable of smooth rotation and then realization leveling purpose.The flat component of certain homophony can also be rubbed using removing Wipe other friction members outside wheel assembly 332, such as friction belt, as long as the friction member can be with the of cross workpiece 100 The outside wall surface CONTACT WITH FRICTION of one axis 101 simultaneously drives cross workpiece 100 around the axis rotation of first axle 101, realizes cross workpiece 100 Leveling.

The flat component of homophony can be two, be separately positioned on the upper end of two first supports 311, in the present embodiment, main Leveling component is one, is fixed therein in a first support 311 and can rotate with the first support 311, wherein homophony Two friction pulleys 333 of flat component are rotatably fixed therein a first support 311 by spring bearing 335 Upper end, correspondingly, fixed there are two can be freely rotated also by spring bearing 335 for the upper end of another first support 311 Auxiliary wheel 36, wherein auxiliary wheel 36 can be identical with 333 size of friction pulley, and in same level plane, so that cross work The both ends of the first axle 101 of part 100 are able to lie in a horizontal plane on two friction pulleys 333 and two auxiliary wheels 36.At this In embodiment, the setting of two auxiliary wheels 36, so that cross workpiece 100 need to carry out in an end of its first axle 101 Driving, correspondingly, the other end of the first axle 101 of cross workpiece 100 can also rotate with it on auxiliary wheel 36, in turn So that the rotation of the cross workpiece 100 is more flexible, the number of parts of the flat component of homophony is decreased.

Cross workpiece 100, may be because of the feedback close to switch 34 when carrying out leveling movement by the flat component of homophony Time delay and there is a problem of that the leveling of cross workpiece 100 is not in place or leveling is excessive, so in the present embodiment, indexing Device 30 further includes auxiliary levelling mechanism 35, which includes third power device 352 and moved by the third Two second supports 351 that power device 352 drives and can move up and down, specifically, the bottom of two second supports 351 are logical The connection of the second connecting plate 353 is crossed, which can be driven by third power device 352 and drive two second Frame 351 moves up and down, and two second supports 351, which can be stretched out upwards and be pushed up under the driving of third power device 352, holds ten The both ends of second axis 102 of word workpiece 100, make the cross workpiece 100 be maintained at horizontality, specifically, two second supports 351 equally can drive rotation by rotary cylinder 321, to guarantee that two second supports 351 of auxiliary levelling mechanism 35 can begin For final position in the underface of the second axis 102 of cross workpiece 100, the upper end of two second supports 351, which all has, is used to support cross The recess 3511 at the both ends of the second axis 102 of workpiece 100, wherein the recess 3511 of the upper end of second support 351 can Think V-type, camber or other shapes, as long as can satisfy the limit at the both ends to the second axis 102 of cross workpiece 100, In addition, third power device 352 can be able to be specifically slider cylinder for cylinder.The auxiliary levelling mechanism 35 is set, it can So that horizontality can be finely tuned and be maintained at by leveling cross workpiece 100 not in place, to facilitate feeding manipulator 51 to this The both ends of second axis 102 of cross workpiece 100 are grabbed.

In the present embodiment, the control process of turn device 30 includes commutation step, leveling step and reset process, In, commutation step is that electric control gear control reversing mechanism 32 drives first support 311 to rotate, and is placed on first support 311 On cross workpiece 100 to be ground can be rotated together with first support 311, complete switching operation；Leveling step is, automatically controlled The driving friction wheel assembly 332 of third driving motor 331 that device controls the flat component of homophony rotates, and then drives and the friction pulley group The cross workpiece 100 of 332 CONTACT WITH FRICTION of part is rotated around the axle center of the first axle 101 of the cross workpiece 100, works as cross Second axis 102 of workpiece 100 turns to horizontality or when close to horizontality, can identify the state close to switch 34, And the signal is fed back into electric control gear, electric control gear controls third driving motor 331 and closes, and completes the tune of cross workpiece 100 Flat operation；Reset process is, after cross workpiece 100 is crawled and is detached from first support 311, electric control gear controls reversing mechanism 32 drive first supports 311 turn to initial position, complete to reset operation.The indexable process of cross workpiece 100 can be according to First carry out leveling step, after carry out commutation step, finally carry out reset process program operated, that is, according to presetting journey Sequence, electric control gear first pass through the flat component of control homophony and complete to carry out the Levelling operation of cross workpiece 100, then changed again by control The switching operation of cross workpiece 100 is completed to mechanism 32, after cross workpiece 100 is crawled and is detached from first support 311, most Complete the reset operation of first support 311 by control reversing mechanism 32 again afterwards, to place next cross workpiece 100, In, since the turn device 30 is first to carry out Levelling operation, so can identify that the close of the leveling state of cross workpiece 100 is opened Close the second axis 102 of the cross workpiece 100 that 34 can be fixed on the base by a upright bar 341 and be capable of close initial placement One end.More specifically, the cross workpiece 100 being placed in first support 311, which first passes through the flat component completion of homophony, carries out leveling behaviour After work, electric control gear can control auxiliary levelling mechanism 35 and be acted, so that the top of second support 351 is held in cross workpiece 100 The second axis 102 both ends so that horizontality can be finely tuned and be maintained to leveling cross workpiece 100 not in place, In, the recess 3511 of the upper end of second support 351 can be held in the end of 100 second axis 102 of cross workpiece, in this way may be used Cause to have leveled due to its second axis 102 does not support when carrying out the switching operation of next step to avoid cross workpiece 100 Good cross workpiece 100, which rotates, becomes non-leveling state, influences next step feeding manipulator 51 and grabs to it.When After cross workpiece 100 is crawled and is detached from first support 311, the cylinder that electric control gear can control auxiliary levelling mechanism 35 is received Contracting, returns to original state, avoids the placement or leveling that influence next cross workpiece 100.Certainly, when the flat component of homophony and cross When the frictional force of the first axle 101 of workpiece 100 is larger, that is, carry out not will lead to the cross workpiece leveled when switching operation When 100 deviation horizontality, which can be saved, and to reduce number of parts and operating procedure, improve production Efficiency.Certainly, as another embodiment, the automatic transposition apparatus 30 of cross workpiece 100 can also be according to first commutating Step, afterwards progress leveling step, the program for finally carrying out reset process are operated.

In the present embodiment, the side of grinder bed 41 is arranged in turn device 30, separate grinding platform 40, turn Position process is more safe and reliable, and the turn device 30 is by the way of frictional drive to being placed in first support 311 Cross workpiece 100 leveled, applicability is more extensive, does not level dead angle, that is, cross workpiece 100 is placed on When on one bracket 311, regardless of whether the second axis 102 of the cross workpiece 100 is in a vertical state or close to vertical state, is somebody's turn to do The flat component of homophony of 100 automatic transposition apparatus 30 of cross workpiece can level it, and in electric control gear, reversing mechanism 32 and close under the cooperation of switch 34, the Levelling operation of cross workpiece 100, switching operation are automatically performed by presetting program and are answered Bit manipulation, high degree of automation are applied to the material process up and down of the grinding production line of cross workpiece 100 in which can be convenient In, the reliability of indexing is significantly improved, the degree of automation and production efficiency are greatly improved.

The control method of the automatic loading and unloading system of cross workpiece grinding machine include the first feeding step, the second feeding step, Indexing steps, the first blanking step and the second blanking step, specific as follows:

First feeding step: feeding manipulator 51 laterally moves to the top in feeding site along truss 50, then from initial Position is moved downward to final position, and cross workpiece 100 to be processed is grabbed from feeding site, and movement is reset to then up Initial position, then the top of Processing position is laterally moved to along truss 50, it then is moved downward to final position from initial position, The cross workpiece 100 is placed into Processing position, then feeding manipulator 51, which moves up, is reset to initial position, then along purlin Frame 50 is moved transversely out Processing position.

Second feeding step: feeding manipulator 51 laterally moves to the top in indexable site along truss 50, then from initial Position is moved downward to final position, and cross workpiece 100 to be processed is grabbed from indexable site, and movement is reset to then up Initial position, then the top of Processing position is laterally moved to along truss 50, it then is moved downward to final position from initial position, The cross workpiece 100 is placed into Processing position, then feeding manipulator 51, which moves up, is reset to initial position, then along purlin Frame 50 is moved transversely out Processing position.

Indexing steps: when blanking mechanical hand 52 is by after the cross workpiece 100 of indexing is placed into indexable site, starting is indexable Program carries out indexable commutation to the cross workpiece 100 for being placed into the indexing site, so that feeding manipulator 51 grabs the cross work Part 100, after the cross workpiece 100 is crawled disengaging indexing site, turn device 30 is reset to original state, so as to blanking machine Next cross workpiece 100 is placed after tool.

First blanking step: after the completion of 101 grinding of first axle of cross workpiece 100, it is located above Processing position Blanking mechanical hand 52 be moved downward to final position from initial position, grab the cross workpiece 100, Xiang Shangyi from Processing position It moves after being reset to initial position, the top in indexable site is laterally moved to along truss 50, is then moved down into from initial position The cross workpiece 100 is placed on indexable site by final position, and movement is reset to initial position then up, then along purlin Frame 50 is moved transversely out indexable site.

Second blanking step: after the completion of 102 grinding of the second axis of cross workpiece 100, blanking mechanical hand 52 is from first Beginning position is moved downward to final position, grabs the cross workpiece 100 from Processing position, moves up and be reset to initial position Afterwards, the top that blanking site is laterally moved to along truss 50, is then moved down into final position from initial position, by the cross Workpiece 100 is placed on blanking site, and movement is reset to initial position then up, is moved transversely out lower material position along truss 50 Point.

Wherein, first blanking step or the second blanking step are carried out to current cross workpiece 100 in blanking mechanical hand 52 During, feeding manipulator 51 carries out the first feeding step or the second feeding step of another workpiece simultaneously, so that grinding machine The Processing position of processing unit (plant) is in continuous duty.Specifically, when blanking mechanical hand 52 carries out upper cross workpiece 100 During second blanking step, feeding manipulator 51 can carry out the first feeding step of first cross workpiece 100 simultaneously, In when blanking mechanical hand 52 clamps upper cross workpiece 100 far from vertical direction where Processing position, feeding manipulator 51 The top for laterally moving to Processing position again is displaced downwardly to final position for first cross workpiece 100 and is placed into Processing position, so Grinding program starts afterwards, grinding is carried out to the both ends of the first axle 101 of the cross workpiece 100, in grinding Cheng Zhong, blanking mechanical hand 52 continue the second blanking step of upper cross workpiece 100, when blanking mechanical hand 52 completes second After blanking step, along 50 horizontal sliding of truss to the top of Processing position, it is ready under the first of first cross workpiece 100 Expect step, wherein blanking mechanical hand 52 is when carrying out the second blanking step, when the cross workpiece 100 that grinding is completed is placed After on blanking site on to blanking conveyer belt 21, second sensor 22 can identify the state, and feed back to electric control gear, electricity Control device controls the second power device and drives the blanking conveyer belt 21 and the cross workpiece 100 being placed on it mobile, so that under this Discharge station on material conveyer belt 21 is in vacant state, so that blanking mechanical hand 52 is placed next time, wherein blanking passes Sending the operating of band 21 can be controlled by setting the corresponding time；Feeding manipulator 51 when carrying out the first feeding step, After the cross workpiece 100 for being located at feeding site is walked by the folder of feeding manipulator 51, first sensor 12 can identify the state, and Feed back to electric control gear, electric control gear control the first power device 13 drive the feeding conveyer belt 11 and be placed on it remaining ten Word workpiece 100 is mobile, so that the automatic cover of next cross workpiece 100 carries out next to feeding site for feeding manipulator 51 Secondary crawl, wherein the operating of feeding conveyer belt 11 by setting the corresponding time to be controlled.

After feeding manipulator 51 completes the first feeding step of first cross workpiece 100, along 50 transverse shifting of truss The top of supreme material position point is ready for the first feeding step of second cross workpiece 100, when first cross workpiece 100 First axle 101 both ends grinding after the completion of, blanking mechanical hand 52 to the cross workpiece 100 carry out the first blanking step, During carrying out the first blanking step, feeding manipulator 51 carries out the first feeding step of second cross workpiece 100 simultaneously Suddenly, wherein being reset to initial position when the first cross workpiece 100 of clamping of blanking mechanical hand 52 moves up, and machining position is left When point, feeding manipulator 51 is moved to the top of Processing position, is displaced downwardly to final position and is placed into second cross workpiece 100 Processing position, then grinding program starts, and carries out grinding to the both ends of the first axle 101 of the cross workpiece 100, In Grinding Process, blanking mechanical hand 52 continues the first blanking step of first cross workpiece 100, wherein working as blanking After first cross workpiece 100 is placed into indexable site by manipulator 52, indexable program starting, during carrying out indexing, under Material manipulator 52 is moved upward to initial position, then leaves indexable site along 50 horizontal sliding of truss, is ready for second First blanking step of cross workpiece 100.

After feeding manipulator 51 completes the first feeding step of second cross workpiece 100, along 50 transverse shifting of truss To the top in indexable site, it is ready for the second feeding step of first cross workpiece 100, when first cross workpiece 100 After the completion of indexing commutation, feeding manipulator 51 carries out the second feeding step of first cross workpiece 100.

In the first blanking step process that blanking mechanical hand 52 carries out second cross workpiece 100, feeding manipulator 51 The second feeding step of first cross workpiece 100 is carried out simultaneously, wherein when the first axle 101 of second cross workpiece 100 After the completion of grinding, blanking mechanical hand 52 is displaced downwardly to final position, moves upwardly away from after clamping second cross workpiece 100 Vertical direction where Processing position, then feeding manipulator 51 is moved to the top of Processing position, is displaced downwardly to final position, will First cross workpiece 100 is placed into Processing position, and then grinding program starts, to the second axis of the cross workpiece 100 102 both ends carry out grinding, and in Grinding Process, blanking mechanical hand 52 continues second cross workpiece 100 The first blanking step, wherein after second cross workpiece 100 is placed into indexable site by blanking mechanical hand 52, indexable journey Sequence starting, carry out indexing during, blanking mechanical hand 52 is moved upward to initial position, then along 50 horizontal sliding of truss from Indexable site is opened, the second blanking step of first cross workpiece 100 is ready for.

After feeding manipulator 51 completes the second feeding step of first cross workpiece 100, along 50 transverse shifting of truss, It is ready for the second feeding step of second cross workpiece 100, after first 100 indexing commutation of cross workpiece, feeder Tool hand 51 carries out the second feeding step of second cross workpiece 100.

After the completion of the both ends grinding of the second axis 102 of first cross workpiece 100, blanking mechanical hand 52 is to first A cross workpiece 100 carry out the second blanking step, during carrying out the second blanking step, feeding manipulator 51 and meanwhile into The second feeding step of second cross workpiece 100 of row, wherein when blanking mechanical hand 52 clamps first cross workpiece 100 upwards When moving and be reset to initial position, and leaving Processing position, feeding manipulator 51 is moved to the top of Processing position, is displaced downwardly to end Second cross workpiece 100 is placed into Processing position by point position, and then grinding program starts, to second cross workpiece The both ends of 100 the second axis 102 carry out grinding, and in Grinding Process, blanking mechanical hand 52 continues and completes Second blanking step of first cross workpiece 100, then laterally moves to the top of Processing position again, is ready for second Second blanking step of cross workpiece 100.

After the completion of the both ends grinding of the second axis 102 of second cross workpiece 100, feeding manipulator 51 prepare into First feeding step of row third cross workpiece 100, while blanking mechanical hand 52 is ready for second cross workpiece simultaneously 100 the second blanking step, forms a process-cycle, recycles progress with this.

In the present embodiment, the loading and unloading system of the grinding machine of cross workpiece 100 include can on truss 50 horizontal sliding Sliding rack 61, be connected with second level propulsion device on sliding rack 61, wherein second level propulsion device include first order propulsive mechanism with And second level propulsive mechanism, first order propulsive mechanism is arranged on sliding rack 61, and is drivingly connected second level propulsive mechanism, and second Grade propulsive mechanism, which is drivingly connected feeding manipulator 51 and blanking mechanical hand 52, first order propulsive mechanism, to drive the second level to promote Mechanism and the feeding manipulator 51 being connected on the propulsive mechanism of the second level and blanking mechanical hand 52 are together with respect to about 61 sliding rack Mobile, under the driving of second level propulsive mechanism, feeding manipulator 51, blanking mechanical hand 52 can be moved up and down independently.Institute With in the Grinding Process of cross workpiece 100, feeding manipulator 51 and blanking mechanical hand 52 can be together with sliding racks 61 transverse shiftings, when feeding manipulator 51 or blanking mechanical hand 52 laterally move to the top of corresponding site, in the first order Under the driving of propulsive mechanism, feeding manipulator 51 and blanking mechanical hand 52 move down together, wherein in folding process, on Expect a manipulator in manipulator 51 and 52 the two of blanking mechanical hand simultaneously downward two under the driving of second level propulsive mechanism Secondary propulsion, position of reaching home carries out the crawl of cross workpiece 100 or placement movement, another manipulator are in and do not carry out two Secondary propulsion to position state；After the crawl or placement of completing cross workpiece 100 act, the second propulsive mechanism drives feeder Tool hand 51 or blanking mechanical hand 52 move up reset, and in reseting procedure, first order propulsive mechanism drives feeder simultaneously Tool hand 51 and blanking mechanical hand 52 are moved upward to initial position together.

The automatic loading and unloading system of cross workpiece grinding machine in the utility model has many advantages, such as, specific as follows, firstly, The loading and unloading system of cross workpiece grinding machine includes feeding manipulator 51 and blanking mechanical hand 52, wherein feeding manipulator 51 and under Expect that the division of labor of manipulator 52 is clear, and can reciprocal, greatly improve production efficiency, wherein blanking mechanical hand 52 will The cross workpiece 100 completed the process from the Processing position of grinding platform 40 taking-up after, feeding manipulator 51 with can will Another cross workpiece 100 of crawl is placed into progress grinding, the grinding of such cross workpiece grinding machine at Processing position Station may be at continuous duty, i.e., one of cross workpiece 100 is during blanking or indexing, another cross work Part 100 will not leave unused still in grinding state, grinding platform 40, improve production efficiency so significantly.Secondly, The process that moves up and down of the feeding, discharge manipulator of the cross grinding machine is completed by second level propulsive mechanism, this second level Propulsive mechanism acts, on the one hand, improve the mobile speed of loading and unloading manipulator 52 while by servo motor with driving cylinder Degree, has correspondingly improved the efficiency of loading and unloading, on the other hand, drives being swift in motion for cylinder, ensure that loading and unloading manipulator 52 With faster movement speed, and the setting of servo motor ensure that loading and unloading manipulator 52 can be flexible by presetting program Ground rests on different height and positions, and the cooperation of the two not only increases the movement speed of loading and unloading manipulator 52, and need not It is required that feeding site, blanking site, indexable site and Processing position are in same level height, it thus can be according to practical feelings Condition and space requirement carry out reasonable Arrangement to the height of each device, reduce manufacture difficulty, facilitate feeding, discharge manipulator Alignment function in upper and lower position.For another example, turn device 30 is the second axis by way of frictional drive to cross workpiece 100 102 are leveled, and this leveling mode does not level dead angle, and adaptability is more extensive, and the turn device 30 is that setting exists The side of grinder bed 41, rather than the top of grinding platform 40 is set, it avoids during indexing because movement is lost It accidentally or breaks down (situations such as such as part is fallen), causes safety accident, improve safety；Turn device is also avoided simultaneously The components such as 30 cylinder, motor, detection switch break down due to sustaining damage because being chronically in water mist environment, mention significantly The high reliability of whole system.Finally, the automatic loading and unloading system of cross workpiece grinding machine energy under the control of electric control gear It is enough successively to be acted according to presetting program, high degree of automation, wherein cross workpiece 100 is discharged to feeding and passed by operator It send on band 11, starts processing program, so that it may realize the automatic process of cross workpiece 100, wherein the cross work processed Part 100 is placed into self-emptying on blanking conveyer belt 21 by blanking mechanical hand 52, and in normal process, operator is only It needs for cross workpiece 100 to be processed to be put on feeding conveyer belt 11, by the cross workpiece 100 processed from blanking conveyer belt Taken off on 21, one man operation multiple devices thus may be implemented, to improve the degree of automation, reduce manually at This.

Claims (10)

1. a kind of automatic loading and unloading system of cross workpiece grinding machine, comprising:

Loading bracket device (10), for placing cross workpiece (100) to be processed；

Blanking bracket system (20), for placing the cross workpiece (100) completed the process；

Turn device (30), for driving the cross workpiece (100) being placed on turn device rotation commutation；And

Electric control gear, the electric control gear and the loading bracket device (10), blanking bracket system (20) and turn device (30) Carry out signal communication；Wherein, the loading bracket device (10), blanking bracket system (20) and turn device (30) are close to use In the grinding platform (40) that cross workpiece (100) are carried out with grinding, it is characterised in that: further include being set to the grinding Truss (50) above processing platform (40) and the feeding manipulator (51) that can be laterally slidably arranged on the truss (50) And blanking mechanical hand (52), the truss (50) extend to the loading bracket device (10), blanking bracket system (20) and turn The top of position device (30), the feeding manipulator (51) and blanking mechanical hand (52) can also relative to the truss (50) into Row moves up and down；

Wherein, the feeding manipulator (51) can move between loading bracket device (10) and grinding platform (40), And the grinding is then placed into cross workpiece (100) to be processed is grabbed from the loading bracket device (10) The first action state on platform (40)；The feeding manipulator (51) can also be in turn device (30) and grinding platform (40) it is moved between, and is then placed into institute with cross workpiece (100) to be processed is grabbed from the turn device (30) State the second action state on grinding platform (40)；

The blanking mechanical hand (52) can move between grinding platform (40) and turn device (30), and have from institute State the third action state that grinding platform (40) crawl cross workpiece (100) is then placed on turn device (30)；Institute Stating blanking mechanical hand (52) can also move between grinding platform (40) and blanking bracket system (20), and have from institute The cross workpiece (100) of grinding platform (40) crawl after processing is completed is stated to be then placed on blanking bracket system (20) 4th action state.

2. the automatic loading and unloading system of cross workpiece grinding machine according to claim 1, it is characterised in that: further include the first drive Dynamic component and the second driving assembly, wherein the first driving assembly can drive the feeding manipulator (51) and blanking mechanical hand (52) horizontal sliding on the truss (50), second driving assembly can drive the feeding manipulator (51) and blanking The relatively described truss (50) of manipulator (52) moves up and down.

3. the automatic loading and unloading system of cross workpiece grinding machine according to claim 2, it is characterised in that: first driving Component includes the sliding rack (61) that can be laterally slidably arranged on the truss (50) and drives the sliding rack (61) mobile The first driving motor (62), wherein the feeding manipulator (51) and blanking mechanical hand (52) are arranged in the sliding rack (61) on.

4. the automatic loading and unloading system of cross workpiece grinding machine according to claim 3, it is characterised in that: the truss (50) Upper to have the first sliding rail and the first driving rack (54) being laterally arranged, it is sliding that the sliding rack (61) is slidably arranged in described first On rail；First driving motor (62) is the servo motor being fixed on the sliding rack (61), the output end of servo motor It is drivingly connected first driving rack (54).

5. the automatic loading and unloading system of cross workpiece grinding machine according to claim 3, it is characterised in that: second driving Component is the second level propulsion device being arranged on the sliding rack (61), and the second level propulsion device is dynamic including that can cooperate The first order propulsive mechanism and second level propulsive mechanism of work, the first order propulsive mechanism are arranged on the sliding rack (61), And be drivingly connected the second level propulsive mechanism, the second level propulsive mechanism be drivingly connected the feeding manipulator (51) and under Expect manipulator (52), and the feeding manipulator (51) or blanking mechanical hand (52) can be driven respectively independently to move up and down.

6. the automatic loading and unloading system of cross workpiece grinding machine according to claim 5, it is characterised in that: the first order pushes away Into mechanism include the second driving motor (711) and by second driving motor (711) driving and being capable of the relatively described sliding rack (61) drive rod (712) moved up and down, the second level propulsive mechanism are fixed on drive rod (712)；

The second level propulsive mechanism includes the first driving cylinder (721) and the being disposed side by side on the drive rod (712) Two driving cylinder (722), wherein the feeding manipulator (51) by it is described first driving cylinder (721) driving and can on move down Dynamic, the blanking mechanical hand (52) can be moved up and down by the second driving cylinder (722) driving.

7. the automatic loading and unloading system of described in any item cross workpiece grinding machines according to claim 1~6, it is characterised in that: institute Loading bracket device (10), blanking bracket system (20) and turn device (30) are stated set on the grinding platform (40) The same side；

There is the Processing position for processing the cross workpiece (100), the upper material torr on the grinding platform (40) There is the feeding site for grab for the feeding manipulator (51) the cross workpiece (100) on rack device (10), it is described There is the lower material position for place for the blanking mechanical hand (52) the cross workpiece (100) on blanking bracket system (20) Point has on the turn device (30) and carries out crawl cross workpiece (100) or blanking mechanical hand for feeding manipulator (51) (52) carry out place cross workpiece (100) indexable site, wherein the Processing position, feeding site, blanking site and turn Position site be in in the consistent same vertical plane of length direction of the truss (50).

8. the automatic loading and unloading system of cross workpiece grinding machine according to claim 7, it is characterised in that: the loading bracket Device (10) includes feeding conveyer belt (11), the first power device (13) and first sensor (12), wherein the feeding passes Band (11) is sent to be used to for cross workpiece (100) to be processed being delivered to feeding site, the first power device (13) driving connects The feeding conveyer belt (11) is connect, first sensor (12) is able to detect at the feeding site whether be in vacant state.

9. the automatic loading and unloading system of cross workpiece grinding machine according to claim 7, it is characterised in that: the blanking bracket Device (20) includes blanking conveyer belt (21), the second power device and second sensor (22), wherein the blanking conveyer belt (21) the presetting position far from the blanking site, institute are delivered to for the cross workpiece (100) at blanking site will to be placed into It states the second power device and is drivingly connected the blanking conveyer belt (21), second sensor (22), which is able to detect the blanking site, is It is no to be in vacant state.

10. the automatic loading and unloading system of cross workpiece grinding machine according to claim 7, it is characterised in that: the indexing dress Setting (30) includes bracket component (31), reversing mechanism (32) and levelling mechanism (33), wherein the bracket component (31) is for branch The both ends of the first axle of cross workpiece (100) are supportted, the reversing mechanism (32) is drivingly connected the bracket component (31), and drives The cross workpiece (100) being placed on the bracket component (31) is rotated together with bracket component (31), the levelling mechanism (33) first axle for being placed on the cross workpiece (100) of the bracket component (31) around the cross workpiece (100) can be driven Axis rotation is to horizontality.