CN213225398U - Automatic feeder of stopper mill for shaft machining - Google Patents

Abstract

The utility model relates to an axle type parts machining equipment field specifically is a plug grinds automatic feeder for axle type processing, include: the device comprises a rack, a raw material box, a positioning table, a distributor and a material moving mechanism; move material mechanism includes: the industrial robot is arranged on the rack; the grabbing manipulator is arranged at the output end of the industrial robot and used for grabbing the middle end of the shaft part; and the correcting manipulator is arranged at the output end of the industrial robot and used for abutting against two ends of the tight shaft part. Preferably, still including being used for receiving the off-the-shelf feed back mechanism that stopper ground equipment shifted out, feed back mechanism's output is provided with and is used for storing off-the-shelf finished product case, the utility model discloses can automatic feeding, feed back to axis position and the tip position that can automatic positioning axle class part.

Description

Automatic feeder of stopper mill for shaft machining

Technical Field

The utility model relates to an axle type parts machining equipment field specifically is a plug grinds automatic feeder for axle type processing.

Background

The axostylus axostyle need be sent into and fills in the mill and process, and current feeding mechanism structure is more complicated, and is with high costs, is unfavorable for the enterprise production.

SUMMERY OF THE UTILITY MODEL

For solving above-mentioned technical problem, provide an axle type processing is with stopper automatic feeder that grinds, the utility model discloses can automatic feeding, feed back to can the axis position and the tip position of automatic positioning axle class part.

In order to achieve the above purpose, the utility model adopts the technical scheme that:

the utility model provides an axle type processing is with stopper automatic feeder that grinds for automatically to stopper grinding equipment transport axle type part, include:

a frame;

the raw material box is arranged on the rack and used for storing the shaft parts to be processed;

the positioning table is arranged on the rack, is positioned beside the raw material box and is used for positioning the axis position of the shaft part;

the distributor is arranged on the rack and used for taking out one shaft part from the interior of the raw material box at a time and moving the shaft part to the working end of the positioning table;

the material moving mechanism is used for grabbing the shaft parts from the positioning table and then conveying the shaft parts to the working end of the plug grinding equipment;

move material mechanism includes:

the industrial robot is arranged on the rack;

the grabbing manipulator is arranged at the output end of the industrial robot and used for grabbing the middle end of the shaft part;

and the correcting manipulator is arranged at the output end of the industrial robot and used for abutting against two ends of the tight shaft part.

Preferably, the plug grinding device further comprises a return mechanism for receiving the finished products removed by the plug grinding device, and the output end of the return mechanism is provided with a finished product box for storing the finished products.

Preferably, the raw material tank includes:

the box body is arranged on the rack, the bottom surface of the inner wall of the box body is an inclined surface, and the inclined surface inclines towards the positioning table;

the pipeline sets up in the bottom of box body, and the bottom surface of pipeline inner wall and the bottom surface parallel and level of box body inner wall, the one end of pipeline and the inside intercommunication of box body, the pipeline can supply an axle type part level to roll into, and the output setting of tripper is at the other end of pipeline.

Preferably, the locating platform is rectangular shape, and the top of locating platform is provided with the recess, and the cross section of recess is the V font shape that the opening set up, and one side that the locating platform is close to the pipeline is provided with the inclined plane that extends to the recess edge from the top of locating platform, and one side that the pipeline was kept away from to the locating platform is provided with the baffle that upwards extends from the edge of recess is vertical.

Preferably, the dispenser comprises:

the pushing plate is arranged between the pipeline and the positioning table, one surface of the pushing plate is abutted against a discharge hole of the pipeline, the other surface of the pushing plate is abutted against the side wall of the positioning table, and the thickness of the pushing plate is larger than the diameter of the shaft part and is smaller than two times of the diameter of the shaft part;

and the first linear driver is arranged on the rack and used for driving the material pushing plate to move linearly, so that the top surface of the material pushing plate is flush with the bottom surface of the inner wall of the pipeline or flush with the inclined surface.

Preferably, the tripper still includes the loose mechanism that is used for loose former feed box internal shaft class part, and loose mechanism includes:

the bracket is arranged at the output end of the first linear driver;

the roller is rotatably arranged at the top end of the bracket; when the top surface of the material pushing plate is flush with the bottom surface of the inner wall of the pipeline, the roller is positioned right below the box body; when the top surface of scraping wings and inclined plane parallel and level, the gyro wheel is located the inside of box body, and the bottom of box body is provided with the opening of dodging that is used for dodging the gyro wheel.

Preferably, the grasping robot includes:

the clamping mechanism is arranged at the output end of the industrial robot and is provided with two output ends which can be close to or far away from each other;

the clamping jaw is provided with two clamping jaws, the two clamping jaws are symmetrically arranged at two output ends of the clamping mechanism, V-shaped grooves with openings arranged oppositely are formed in the clamping jaws, and an avoiding opening for avoiding the clamping jaws is formed in the positioning table.

Preferably, the straightening robot includes:

the positioning block is arranged at the output end of the industrial robot or on the rack;

the second linear driver is arranged at the output end of the industrial robot, the positioning block and the second linear driver are respectively arranged at two sides of the positioning table, and the output direction of the second linear driver is vertically arranged towards the positioning block;

and the push block is arranged at the output end of the second linear driver.

Preferably, the feed back mechanism comprises:

the sliding chute is arranged on the rack, is wide at the top and narrow at the bottom and is obliquely arranged, and the top end of the sliding chute is positioned right below the discharge end of the plug grinding equipment;

the conveyor is horizontally arranged on the rack, and the working surface of the conveyor is arranged right below the bottom end of the sliding chute;

the material blocking block is arranged on the rack, penetrates through the non-working part of the conveyor and stretches across the upper part of the working surface of the conveyor;

the guide plate is arranged at the side of the conveyor, the input end of the guide plate is arranged at the side of the material blocking block, and the output end of the guide plate is arranged inside the finished product box.

Compared with the prior art, the utility model beneficial effect who has is:

1. the utility model discloses a former workbin, location platform and tripper have realized automatic feeding and the function of the axis position of location axle type part, and concrete method is: a large number of shaft parts are placed in the box body, the shaft parts roll into the pipeline, the shaft parts at the discharge port of the pipeline roll onto the top surface of the material pushing plate, and the side wall of the positioning table and the subsequent shaft parts are clamped in the middle; the first linear driver drives the material pushing plate to ascend, so that the material pushing plate jacks up the shaft parts located at the discharge port of the pipeline to enable the shaft parts to move to the inclined plane, the shaft parts inside the pipeline are blocked by the material pushing plate and cannot move, and the shaft parts on the inclined plane roll into the grooves, so that the axis positions of the shaft parts are located.

2. The utility model discloses an industrial robot, snatch manipulator, mechanical hand of correction have realized that automatic snatching, moving material and the function of location axle type part tip position, and concrete method is: the industrial robot drives the correcting manipulator to move, so that the positioning block and the pushing block are positioned at the outer sides of the two ends of the shaft part, and the second linear driver drives the pushing block to be close to the positioning block, so that the positioning block and the pushing block clamp the two ends of the shaft part, and the positions of the two ends of the shaft part are positioned; clamping mechanism drive clamping jaw snatchs axle type part, and the second linear actuator drive ejector pad resets, and industrial robot drive snatchs the manipulator and removes to the work end of stopper grinding equipment, and stopper grinding equipment is fixed axle type part and begins to plug the mill.

3. The utility model discloses a feed back mechanism and finished product case have realized the function that the stopper ground the completion automatic feed back, and concrete method is: the shaft parts after being processed fall into the chute and then slide into the working face of the conveyor, the conveyor drives the shaft parts to move towards the material blocking block, the shaft parts are pushed down from the conveyor after contacting the material blocking block, and the shaft parts roll into the finished product box along the material guiding plate.

Drawings

FIG. 1 is a perspective view of a part of the structure of the present invention;

fig. 2 is a rear view of the present invention;

FIG. 3 is a cross-sectional view at section A-A of FIG. 2;

FIG. 4 is a partial enlarged view of FIG. 3 at B;

fig. 5 is a perspective view of the present invention;

FIG. 6 is an enlarged view of a portion of FIG. 5 at C;

fig. 7 is a perspective view of the feed back mechanism and the finished product box of the present invention;

the reference numbers in the figures are:

1-raw material box; 1 a-a cartridge; 1 b-a pipe;

2-a positioning table; 2 a-a groove; 2 b-a bevel; 2 c-a baffle;

3-a distributor; 3 a-a material pushing plate; 3 b-a first linear driver; 3 c-a scaffold; 3 d-a roller;

4-an industrial robot;

5-a grabbing manipulator; 5 a-a clamping mechanism; 5 b-a jaw;

6-straightening mechanical arm; 6 a-a positioning block; 6 b-a second linear drive; 6 c-a push block;

7-a material returning mechanism; 7 a-a chute; 7 b-a conveyor; 7 c-a material blocking block; 7 d-a material guide plate;

8-finished product box.

Detailed Description

The following description is presented to disclose the invention so as to enable any person skilled in the art to practice the invention. The preferred embodiments in the following description are given by way of example only, and other obvious variations will occur to those skilled in the art.

As shown in fig. 1, an automatic feeder for plug grinding for shaft machining is used for automatically conveying shaft parts to plug grinding equipment, and comprises:

a frame;

the raw material box 1 is arranged on the rack and used for storing shaft parts to be processed;

the positioning table 2 is arranged on the rack, the positioning table 2 is positioned beside the raw material box 1, and the positioning table 2 is used for positioning the axis position of the shaft part;

the distributor 3 is arranged on the rack and used for taking out one shaft part from the interior of the raw material box 1 at a time and moving the shaft part to the working end of the positioning table 2;

the material moving mechanism is used for grabbing the shaft parts from the positioning table 2 and then conveying the shaft parts to the working end of the plug grinding equipment;

move material mechanism includes:

the industrial robot 4 is arranged on the frame;

the grabbing manipulator 5 is arranged at the output end of the industrial robot 4 and used for grabbing the middle end of the shaft part;

and the straightening manipulator 6 is arranged at the output end of the industrial robot 4 and used for abutting against two ends of the tight shaft part.

The utility model discloses a theory of operation: 1 inside storage of raw materials case has a large amount of parts of treating processing, 3 parts of once taking out of tripper are to location platform 2 to the axis position of location part, industrial robot 4 drive levelling manipulator 6 supports the both ends of tight axle type part, thereby the tip position of location part, snatch 5 tight parts of manipulator clamp afterwards, industrial robot 4 drive is snatched manipulator 5 and is driven the part and remove to the work end of stopper grinding equipment, not show in the stopper grinding equipment picture, the part is fixed and is processed by stopper grinding equipment.

As shown in fig. 1, the plug grinding device further comprises a feed-back mechanism 7 for receiving finished products removed by the plug grinding device, and a finished product box 8 for storing the finished products is arranged at the output end of the feed-back mechanism 7.

The working principle of the material returning mechanism 7 and the finished product box 8 is as follows: the stopper grinds equipment is fixed and processing axle type part, and the back is accomplished in the processing, and the processing to axle type part is relieved to the stopper grinds equipment, and under the effect of gravity, axle type part falls to the input of feed back mechanism 7, and feed back mechanism 7 keeps in transmitting axle type part to finished product case 8.

As shown in fig. 3 and 4, the raw material tank 1 includes:

the box body 1a is arranged on the rack, the bottom surface of the inner wall of the box body 1a is an inclined surface, and the inclined surface inclines towards the positioning table 2;

pipeline 1b sets up in the bottom of box body 1a, the bottom surface of pipeline 1b inner wall and the bottom surface parallel and level of box body 1a inner wall, and the one end of pipeline 1b and the inside intercommunication of box body 1a, pipeline 1b can supply a axle type part level to roll into, and the output setting of tripper 3 is at the other end of pipeline 1 b.

The working principle of the raw material tank 1 is as follows: the box body 1a is used for storing the axle type part that the multilayer was stacked, and under the effect of gravity, the axle type part that is located the box body 1a bottom pushed each other and enters into inside the pipeline 1b, and one deck axle type part is stored to inside the pipeline 1b, and a axle type part at pipeline 1b end is blockked by the output of tripper 3.

As shown in fig. 4, the locating platform 2 is a strip shape, the top of the locating platform 2 is provided with a groove 2a, the cross section of the groove 2a is in a V shape with an upward opening, one side of the locating platform 2 close to the pipeline 1b is provided with an inclined plane 2b extending from the top end of the locating platform 2 to the edge of the groove 2a, and one side of the locating platform 2 far away from the pipeline 1b is provided with a baffle 2c extending vertically upwards from the edge of the groove 2 a.

The working principle of the positioning table 2 is as follows: the groove 2a is used for accommodating shaft parts, and after the cylindrical parts enter the groove 2a, the outer circumferential surfaces of the parts abut against the V-shaped side walls of the groove 2a and cannot move, so that the axis positions of the shaft parts are positioned; the inclined plane 2b is used for guiding the shaft parts to roll into the groove 2a under the action of gravity, and the baffle 2c is used for preventing the shaft parts from rolling out of the groove 2a under the action of inertia.

As shown in fig. 4, the dispenser 3 includes:

the pushing plate 3a is arranged between the pipeline 1b and the positioning table 2, one surface of the pushing plate 3a abuts against a discharge hole of the pipeline 1b, the other surface of the pushing plate 3a abuts against the side wall of the positioning table 2, and the thickness of the pushing plate 3a is larger than the diameter of the shaft part and is smaller than two times of the diameter of the shaft part;

and the first linear driver 3b is arranged on the rack and used for driving the material pushing plate 3a to linearly move, so that the top surface of the material pushing plate 3a is flush with the bottom surface of the inner wall of the pipeline 1b or flush with the inclined surface 2 b.

The working principle of the distributor 3 is as follows: the first linear driver 3b is a cylinder, the material pushing plate 3a is fixedly installed at the output end of the first linear driver 3b, firstly, the first linear driver 3b drives the material pushing plate 3a to descend to enable the top surface of the material pushing plate to be flush with the bottom surface of the pipeline 1b, a shaft part is rolled out from the inside of the pipeline 1b to abut against the side wall of the material distributor 3, the rest shaft part is blocked inside the pipeline 1b, then the first linear driver 3b drives the material pushing plate 3a to ascend to enable the top surface of the material pushing plate to be flush with the inclined surface 2b, and the shaft part at the top of the material pushing plate 3a slides into the groove 2a along the inclined surface 2 b.

As shown in fig. 4, the distributor 3 further includes a loosening mechanism for loosening the shaft parts inside the raw material box 1, and the loosening mechanism includes:

a holder 3c provided at an output end of the first linear driver 3 b;

the roller 3d is rotatably arranged at the top end of the bracket 3 c; when the top surface of the material pushing plate 3a is flush with the bottom surface of the inner wall of the pipeline 1b, the roller 3d is positioned right below the box body 1 a; when the top surface of the material pushing plate 3a is flush with the inclined surface 2b, the roller 3d is located inside the box body 1a, and an avoiding opening for avoiding the roller 3d is formed in the bottom of the box body 1 a.

The working principle of the loosening mechanism is as follows: support 3c and gyro wheel 3d move together along with scraping wings 3a, scraping wings 3a pushes away an axle type part at every turn to recess 2a when inside, gyro wheel 3d all inserts to box body 1a inside from bottom to top, the axle type part of box body 1a inside rolls towards both sides under gyro wheel 3 d's the pushing away, axle type part rolls by oneself and piles up under the effect of gravity after gyro wheel 3d descends, loose mechanism is loose the axle type part of box body 1a inside constantly, avoid partial axle type part because the problem card of angle problem at pipeline 1b entry.

As shown in fig. 1, the industrial robot 4 includes:

the first linear driver is arranged on the rack, and the output end of the first linear driver is horizontally arranged;

the second linear driver is arranged at the output end of the first linear driver, and the output end of the second linear driver is vertically arranged downwards;

first, second linear actuator are the cylinder slip table, snatch manipulator 5 and correct manipulator 6 and install the output at second linear actuator.

As shown in fig. 6, the grasping robot 5 includes:

a clamping mechanism 5a provided at an output end of the industrial robot 4, the clamping mechanism 5a having two output ends which can be brought close to or away from each other;

the clamping jaws 5b are provided with two clamping jaws 5b which are symmetrically arranged at two output ends of the clamping mechanism 5a, the clamping jaws 5b are provided with V-shaped grooves with openings arranged opposite to each other, and the positioning table 2 is provided with an avoiding opening for avoiding the clamping jaws 5 b.

The working principle of the grabbing manipulator 5 is as follows: the clamping mechanism 5a is a finger cylinder and is used for driving the clamping jaws 5b to approach each other, the two clamping jaws 5b penetrate through the avoidance opening of the positioning table 2 to approach each other, and then the shaft parts are clamped through the V-shaped grooves.

As shown in fig. 6, the straightening robot 6 includes:

the positioning block 6a is arranged at the output end of the industrial robot 4 or on the rack;

the second linear driver 6b is arranged at the output end of the industrial robot 4, the positioning block 6a and the second linear driver 6b are respectively arranged at two sides of the positioning table 2, and the output direction of the second linear driver 6b is vertically arranged towards the positioning block 6 a;

and the push block 6c is arranged at the output end of the second linear driver 6 b.

The operating principle of the straightening manipulator 6 is as follows: the second linear driver 6b is a cylinder, the positioning block 6a is fixed, or the positioning block 6a moves along with the output end of the industrial robot 4, the second linear driver 6b is used for pushing the shaft part at the positioning axis position on the groove 2a to move towards the positioning block 6a until the positioning block 6a and the pushing block 6c clamp two ends of the shaft part, and then the mechanical hand 5 is grabbed to clamp the shaft part again.

In order to avoid the positioning block 6a from interfering with the material-moving mechanism to convey the shaft parts to the plug grinding device, the positioning block 6a is preferably fixedly mounted on the machine frame.

As shown in fig. 7, the feed-back mechanism 7 includes:

the sliding chute 7a is arranged on the rack, the sliding chute 7a is wide at the top and narrow at the bottom and is obliquely arranged, and the top end of the sliding chute 7a is positioned right below the discharge end of the plug grinding equipment;

the conveyor 7b is horizontally arranged on the rack, and the working surface of the conveyor 7b is arranged right below the bottom end of the sliding chute 7 a;

the material blocking block 7c is arranged on the rack, and the material blocking block 7c penetrates through the non-working part of the conveyor 7b and stretches across the upper part of the working surface of the conveyor 7 b;

the material guide plate 7d is arranged beside the conveyor 7b, the input end of the material guide plate 7d is arranged beside the material stop block 7c, and the output end of the material guide plate 7d is arranged inside the finished product box 8.

The working principle of the material returning mechanism 7 is as follows: chute 7a is narrow V-arrangement board under wide, the axle type part that the processing was accomplished drops inside chute 7a, then slide in on the working face of conveyer 7b, conveyer 7b is the belt conveyor that both sides were provided with the baffle, conveyer 7b drive axle type part moves towards material blocking block 7c, material blocking block 7c runs through conveyer 7 b's baffle and spanes directly over conveyer 7 b's transmission band, axle type part is pushed away from conveyer 7b by it after contacting material blocking block 7c, axle type part rolls into finished product case 8 inside along stock guide 7 d.

The utility model discloses a theory of operation:

step one, a large number of shaft parts are placed in a box body 1a, the shaft parts roll into a pipeline 1b, the shaft parts at a discharge port of the pipeline 1b roll onto the top surface of a material pushing plate 3a, and the side wall of a positioning table 2 and the subsequent shaft parts are clamped in the middle;

secondly, the first linear driver 3b drives the material pushing plate 3a to ascend to jack the shaft parts at the discharge port of the pipeline 1b to move to the inclined plane 2b, the shaft parts in the pipeline 1b are blocked by the material pushing plate 3a and cannot move, and the shaft parts on the inclined plane 2b roll into the groove 2a, so that the axis positions of the shaft parts are positioned;

thirdly, the industrial robot 4 drives the straightening manipulator 6 to move, so that the positioning block 6a and the pushing block 6c are positioned at the outer sides of the two ends of the shaft part, and the second linear driver 6b drives the pushing block 6c to be close to the positioning block 6a, so that the positioning block 6a and the pushing block 6c clamp the two ends of the shaft part, and the two ends of the shaft part are positioned;

fourthly, the clamping mechanism 5a drives the clamping jaw 5b to grab the shaft part, the second linear driver 6b drives the push block 6c to reset, the industrial robot 4 drives the grabbing manipulator 5 to move to the working end of the plug grinding equipment, and the plug grinding equipment fixes the shaft part and starts to plug grind;

step five, the processed shaft parts fall into the chute 7a and then slide into the working surface of the conveyor 7b, the conveyor 7b drives the shaft parts to move towards the material blocking block 7c, the shaft parts are pushed down from the conveyor 7b after contacting the material blocking block 7c, and the shaft parts roll into the finished product box 8 along the material guide plate 7 d.

The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the above embodiments, and that the principles of the present invention may be applied to any other embodiment without departing from the spirit and scope of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims (9)

1. The utility model provides an axle type processing is with stopper automatic feeder that grinds for automatically to stopper grinding equipment transport axle type part, include:

a frame;

the raw material box (1) is arranged on the rack and used for storing shaft parts to be processed;

the positioning table (2) is arranged on the rack, the positioning table (2) is positioned beside the raw material box (1), and the positioning table (2) is used for positioning the axis position of the shaft part;

the distributor (3) is arranged on the rack and used for taking out one shaft part at a time from the interior of the raw material box (1) and moving the shaft part to the working end of the positioning table (2);

the material moving mechanism is used for grabbing the shaft parts from the positioning table (2) and then conveying the shaft parts to the working end of the plug grinding equipment;

it is characterized in that the material moving mechanism comprises:

the industrial robot (4) is arranged on the rack;

the grabbing manipulator (5) is arranged at the output end of the industrial robot (4) and is used for grabbing the middle end of the shaft part;

and the correcting manipulator (6) is arranged at the output end of the industrial robot (4) and used for abutting against two ends of the shaft part.

2. The automatic feeder of the plug mill for the shaft processing as claimed in claim 1, further comprising a material returning mechanism (7) for receiving the finished product removed by the plug mill device, wherein the output end of the material returning mechanism (7) is provided with a finished product box (8) for storing the finished product.

3. The automatic feeding machine for plug grinding in shaft machining is characterized in that the raw material box (1) comprises:

the box body (1a) is arranged on the rack, the bottom surface of the inner wall of the box body (1a) is an inclined surface, and the inclined surface inclines towards the positioning table (2);

pipeline (1b), the setting is in the bottom of box body (1a), the bottom surface of pipeline (1b) inner wall and the bottom surface parallel and level of box body (1a) inner wall, the one end of pipeline (1b) and the inside intercommunication of box body (1a), and pipeline (1b) can supply a axle type part level to roll into, and the output setting of tripper (3) is at the other end of pipeline (1 b).

4. The automatic feeding machine of claim 3, characterized in that the positioning table (2) is in a long strip shape, a groove (2a) is formed in the top of the positioning table (2), the cross section of the groove (2a) is in a V shape with an upward opening, an inclined surface (2b) extending from the top end of the positioning table (2) to the edge of the groove (2a) is arranged on one side of the positioning table (2) close to the pipeline (1b), and a baffle (2c) extending vertically and upwardly from the edge of the groove (2a) is arranged on one side of the positioning table (2) far away from the pipeline (1 b).

5. The automatic feeder of plug mill for shaft processing as claimed in claim 4, wherein the distributor (3) comprises:

the pushing plate (3a) is arranged between the pipeline (1b) and the positioning table (2), one surface of the pushing plate (3a) abuts against a discharge hole of the pipeline (1b), the other surface of the pushing plate (3a) abuts against the side wall of the positioning table (2), and the thickness of the pushing plate (3a) is larger than the diameter of the shaft part and is smaller than twice of the diameter of the shaft part;

and the first linear driver (3b) is arranged on the rack and used for driving the material pushing plate (3a) to linearly move, so that the top surface of the material pushing plate (3a) is flush with the bottom surface of the inner wall of the pipeline (1b) or flush with the inclined surface (2 b).

6. The automatic feeding machine for plug grinding in shaft machining according to claim 5, wherein the distributor (3) further comprises a loosening mechanism for loosening shaft parts inside the raw material box (1), and the loosening mechanism comprises:

a support (3c) arranged at the output end of the first linear driver (3 b);

the roller (3d) is rotatably arranged at the top end of the bracket (3 c); when the top surface of the material pushing plate (3a) is flush with the bottom surface of the inner wall of the pipeline (1b), the roller (3d) is positioned right below the box body (1 a); when the top surface of the material pushing plate (3a) is flush with the inclined surface (2b), the roller (3d) is located inside the box body (1a), and an avoiding opening for avoiding the roller (3d) is formed in the bottom of the box body (1 a).

7. The automatic feeding machine of the plug mill for shaft machining as claimed in claim 1, wherein the grabbing mechanical arm (5) comprises:

the clamping mechanism (5a) is arranged at the output end of the industrial robot (4), and the clamping mechanism (5a) is provided with two output ends which can be close to or far away from each other;

the clamping jaws (5b) are provided with two clamping jaws (5b), the two clamping jaws (5b) are symmetrically arranged at two output ends of the clamping mechanism (5a), the clamping jaws (5b) are provided with V-shaped grooves with openings arranged opposite to each other, and the positioning table (2) is provided with an avoiding opening used for avoiding the clamping jaws (5 b).

8. The automatic feeder of claim 1, wherein the straightening manipulator (6) comprises:

the positioning block (6a) is arranged at the output end of the industrial robot (4) or on the rack;

the second linear driver (6b) is arranged at the output end of the industrial robot (4), the positioning block (6a) and the second linear driver (6b) are respectively arranged at two sides of the positioning table (2), and the output direction of the second linear driver (6b) is vertically arranged towards the positioning block (6 a);

and the pushing block (6c) is arranged at the output end of the second linear driver (6 b).

9. The automatic feeding machine for plug grinding in shaft machining is characterized in that the material returning mechanism (7) comprises:

the sliding chute (7a) is arranged on the rack, the sliding chute (7a) is wide at the top and narrow at the bottom and is obliquely arranged, and the top end of the sliding chute (7a) is positioned right below the discharge end of the plug grinding equipment;

the conveyor (7b) is horizontally arranged on the rack, and the working surface of the conveyor (7b) is arranged right below the bottom end of the sliding chute (7 a);

the material blocking block (7c) is arranged on the rack, and the material blocking block (7c) penetrates through the non-working part of the conveyor (7b) and stretches across the upper part of the working surface of the conveyor (7 b);

the material guide plate (7d) is arranged at the side of the conveyor (7b), the input end of the material guide plate (7d) is arranged at the side of the material stop block (7c), and the output end of the material guide plate (7d) is arranged inside the finished product box (8).

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