CN216730974U - Cross workpiece grinding machine - Google Patents
Cross workpiece grinding machine Download PDFInfo
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- CN216730974U CN216730974U CN202122692090.3U CN202122692090U CN216730974U CN 216730974 U CN216730974 U CN 216730974U CN 202122692090 U CN202122692090 U CN 202122692090U CN 216730974 U CN216730974 U CN 216730974U
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Abstract
The utility model provides a cross workpiece grinding machine, includes last unloading action device, last unloading action device includes manipulator assembly, manipulator assembly includes first manipulator, first manipulator includes first die clamping cylinder, a clamping part, revolving cylinder, first die clamping cylinder can drive first clamping part is in the clamp tightly or unclamps the state, revolving cylinder can drive first die clamping cylinder reaches first clamping part is rotatory together, first manipulator has the follow the cross workpiece of half-processing is snatched to the work piece positioning seat, and rotatory 90 behind the lifting place the cross workpiece in the switching-over motion state of work piece positioning seat again. Like this, through setting up revolving cylinder, can carry out 90 rotations after snatching the cross work piece, realize the automatic switching-over of cross work piece.
Description
Technical Field
The utility model relates to a grinding processing technical device, in particular to a cross-shaped workpiece grinding machine.
Background
In the machining process of a cross workpiece, such as a differential spider, four end faces of the cross workpiece need to be machined respectively, and in the existing machining technology, only one group of end faces can be machined simultaneously, so that the other group of end faces need to be machined after manual transposition is carried out manually.
Along with the improvement of market demand on cross workpieces and the transformation development of the machining industry, the automation of cross workpiece production is gradually valued by people, and how to replace manual transposition in the cross workpiece machining process through mechanical design is a problem that the automatic machining of the cross workpiece needs to face.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a cross workpiece grinding machine.
In order to achieve the purpose of the utility model, the utility model provides the following technical scheme.
In a first aspect, a cross workpiece grinding machine comprises a grinding processing device and a feeding and discharging action device, wherein the grinding processing device comprises a grinding assembly, a walking seat and a guide rail seat, the walking seat comprises a workpiece positioning seat, the workpiece positioning seat is used for placing a cross workpiece, the walking seat is mounted on the guide rail seat, the walking seat can move relative to the guide rail seat and has a first motion state for moving the cross workpiece placed on the workpiece positioning seat from a processing preparation position to a processing position of the grinding assembly, and a second motion state for moving the cross workpiece placed on the workpiece positioning seat from the processing position of the grinding assembly to the processing preparation position; go up unloading action device includes the manipulator subassembly, the manipulator subassembly includes first manipulator, first manipulator includes first die clamping cylinder, first clamping part, revolving cylinder, first die clamping cylinder can drive first clamping part is in the clamp tightly or unclamps the state, revolving cylinder can drive first die clamping cylinder reaches first clamping part is rotatory together, first manipulator has the follow the work piece positioning seat snatchs the cross work piece of half-finished, and rotatory 90 after the lifting is placed the cross work piece again in the switching-over motion state of work piece positioning seat. Therefore, the rotary cylinder is arranged, so that the cross-shaped workpiece can be rotated by 90 degrees after being grabbed, and the automatic reversing of the cross-shaped workpiece is realized; in the research and development process, the applicant finds that two paths are selected for reversing the cross workpiece, one is to structurally design the workpiece positioning seat to drive the cross workpiece to be integrally reversed, and the other is to lift the cross workpiece away from the workpiece positioning seat and then perform reversing operation on the cross workpiece. The workpiece positioning seat drives the cross workpiece to carry out overall reversing, so that the defect is obvious, in the grinding process, the workpiece positioning seat plays a role in fixing the cross workpiece, the workpiece positioning seat plays an important role in the machining precision of the cross workpiece, and if the workpiece positioning seat drives the cross workpiece to carry out overall reversing, the workpiece positioning seat always has certain shaking in the long service life, so that the machining precision of the cross workpiece is reduced. And first snatch the back lifting switching-over of cross work piece by the manipulator, then do not have the risk that cross work piece machining precision descends to because first manipulator is more independent relatively grinding processing equipment, it is also easier whether maintenance or change to break down.
With reference to the first aspect, in a first possible embodiment of the first aspect, the feeding and discharging operation device includes a transfer component, the transfer component can drive the robot component to move, the robot component includes a fixing plate and a second robot, the fixing plate is fixed to the transfer component, the first robot and the second robot are fixed to the fixing plate, the second robot includes a second clamping cylinder and a second clamping portion, and the second clamping cylinder can drive the second clamping portion to be in a clamping or unclamping state. In this embodiment, the first robot and the second robot are fixed to the fixing plate, so that the transferring assembly can drive the first robot and the second robot to move together.
With reference to the first embodiment of the first aspect, in a second possible embodiment of the first aspect, the walking seat includes a workpiece fixing mechanism, and the workpiece fixing mechanism includes a press block assembly and a press block cylinder, and the press block cylinder acts to press or loosen the press block assembly on or off the cross workpiece placed in the workpiece positioning seat. In this embodiment, the briquetting subassembly can compress tightly the cross work piece of work piece positioning seat, makes the cross work piece have better stability in carrying out the abrasive machining process.
With reference to the first or second embodiment of the first aspect, in a third possible embodiment of the first aspect, the apparatus includes a feeding and discharging bracket device, where the feeding and discharging bracket device includes a bracket fixing frame, a feeding bracket mechanism, a discharging bracket mechanism, and a turning and lifting mechanism, the feeding bracket mechanism is located below the discharging bracket mechanism, and the turning and lifting mechanism can lift and turn over a cross workpiece to be processed on the feeding bracket mechanism; the cross-shaped workpiece grinding machine comprises a material taking site and a material placing site, wherein the distance between the material taking site and the material placing site is equal to the distance between the first manipulator and the second manipulator; when the first mechanical arm is used for placing the processed cross-shaped workpiece on the discharging site of the discharging bracket mechanism, the second mechanical arm is used for simultaneously grabbing the cross-shaped workpiece to be processed on the material taking site of the overturning and lifting mechanism. In this embodiment, the first manipulator and the second manipulator complete the material taking operation and the material placing operation at the same time, so that the material taking and placing time can be shortened, and the production efficiency can be improved.
With reference to the second embodiment of the first aspect, in a fourth possible embodiment of the first aspect, the apparatus includes a feeding and discharging bracket device, where the feeding and discharging bracket device includes a bracket fixing frame, a feeding bracket mechanism, a discharging bracket mechanism, and an overturning and lifting mechanism, the feeding bracket mechanism and the discharging bracket mechanism are mounted on the bracket fixing frame, and the feeding bracket mechanism is located below the discharging bracket mechanism; the feeding bracket mechanism comprises symmetrically arranged feeding conveying mechanisms, a feeding site is arranged on each feeding bracket mechanism, and a cross-shaped workpiece to be processed can move to the feeding site along with the feeding conveying mechanisms after being placed on the feeding conveying mechanisms; the processed cross-shaped workpiece can be placed on the blanking bracket mechanism; the turnover lifting mechanism comprises a falling turnover mechanism and a lifting mechanism, and the lifting mechanism acts to enable the falling turnover mechanism to integrally move up and down to a set position; when the lifting mechanism acts to enable the whole positioning turnover mechanism to move up and down, the positioning turnover mechanism can lift the cross-shaped workpiece positioned at the feeding position point; the falling turnover mechanism can drive the cross-shaped workpiece on the falling turnover mechanism to turn over together so that the cross-shaped workpiece faces upwards. In this embodiment, through setting up feeding bracket mechanism in the below of unloading bracket mechanism, realize the compact of feeding bracket device, simultaneously, set up upset lifting mechanism, by upset lifting mechanism with the cross work piece of treating processing on the feeding bracket mechanism lift to setting for the position and make the cross work piece be in suitable orientation, conveniently carry out getting of follow-up processing.
With reference to the fourth embodiment of the first aspect, in a fifth possible embodiment of the first aspect, the feeding tray mechanism includes symmetrically arranged limiting components, each limiting component includes a supporting portion and a limiting portion, the supporting portion is located at the tail end of the feeding conveying mechanism, the supporting portion is connected with the feeding conveying mechanism so that the feeding conveying mechanism can convey a cross workpiece to be processed to the supporting portion, a connection position of the supporting portion and the limiting portion is defined as a limiting position, and a height of a top end of the limiting portion is greater than a height of the supporting portion at the limiting position; the falling position turnover mechanism comprises a falling position assembly, the falling position assembly comprises symmetrically arranged limiting falling position blocks, and the distance between the outer walls of the symmetrically arranged limiting falling position blocks is smaller than the distance between the symmetrically arranged limiting parts, so that the limiting falling position blocks can move up and down to enter the space between the symmetrically arranged limiting parts; the falling assembly comprises a first orientation state facing the feeding conveying mechanism and a second orientation state facing upwards, the limiting falling block is provided with a falling gap and comprises a blocking part, when the limiting falling block is positioned between the limiting parts, the falling assembly is in the first orientation state, a cross workpiece to be processed is positioned in the falling gap, and the blocking part extends towards the oblique upper part of one side of the feeding bracket mechanism; when the falling assembly is in a second orientation state and the cross-shaped workpiece to be processed is positioned on the falling assembly, the horizontal distance between the top of the blocking part and the center line of the shaft section of the cross-shaped workpiece to be processed, which falls on the falling notch of the limiting falling block corresponding to the blocking part, is greater than the radius length of the shaft section; the feeding bracket mechanism comprises feeding protection frames symmetrically arranged on the outer side of the feeding conveying mechanism, each feeding protection frame comprises a width limiting part, each width limiting part is positioned at the tail section of the feeding conveying mechanism, and the distance between each width limiting part and the center of the feeding conveying mechanism is gradually reduced along the conveying direction of the feeding conveying mechanism but is always greater than the axial length of a cross workpiece to be processed; the falling assembly comprises a balance falling block, the balance falling block is provided with a balance gap, and at least three shaft sections of the cross workpiece can be respectively located on the falling gap and the balance gap. In the embodiment, the feeding bracket mechanism is provided with a limiting part, the limiting part comprises a supporting part and a limiting part, the supporting part is connected with the feeding conveying mechanism, so that the cross-shaped workpiece to be processed can be conveyed to the supporting part and can be blocked by the limiting part, and meanwhile, the limiting position-falling block can move up and down to enter or move out of the limiting part which is symmetrically arranged, so that the position-falling turnover mechanism can conveniently drive the cross-shaped workpiece to be processed; the falling limiting block is provided with a falling notch, and the limiting falling block comprises a blocking part for limiting the cross-shaped workpiece to be processed in the falling notch, so that the situation that the side surface of the cross-shaped workpiece to be processed slips when the falling turnover mechanism drives the cross-shaped workpiece to be processed to move upwards can be effectively prevented; the horizontal distance between the top of the blocking part and the center line of the shaft section of the cross workpiece to be processed, which is located on the locating notch of the limiting locating block corresponding to the blocking part, is greater than the radius length of the shaft section, so that the blocking part can be prevented from blocking the cross workpiece in the subsequent material taking process; the width limiting part is arranged, so that the position of the cross workpiece to be processed at the tail section of the feeding and conveying mechanism can be limited, and the cross workpiece has a more matched position before entering the falling turnover mechanism.
With reference to the fifth embodiment of the first aspect, in a sixth possible embodiment of the first aspect, the lifting mechanism includes a lifting power device, a lifting plate, a guide rod, and a flange linear bearing, an output end of the lifting power device is fixed to the lifting plate, the falling-position turnover mechanism is fixed to the lifting plate, the flange linear bearing is disposed on the bracket fixing frame, one end of the guide rod is fixed to the lifting plate, the other end of the guide rod penetrates through the flange linear bearing, and the guide rods are symmetrically distributed on two sides of the lifting power device; the falling position turnover mechanism comprises a turnover cylinder, the turnover cylinder comprises a turnover plate, the falling position assembly comprises a falling position block mounting plate, the falling position mounting plate is fixed on the turnover plate, and the limiting falling position block and the balance falling position block are both mounted on the falling position block mounting plate.
Drawings
Fig. 1 is a schematic view of an embodiment of a cross-shaped workpiece grinding machine according to the present invention.
Fig. 2 is a partially enlarged view of fig. 1.
Fig. 3 is a schematic view of a loading and unloading operation device of the cross-shaped workpiece grinding machine shown in fig. 1.
Fig. 4 is a partially enlarged view of fig. 3.
Fig. 5 is a schematic view of a loading and unloading bracket device of the cross-shaped workpiece grinding machine shown in fig. 1.
Fig. 6 is a partially enlarged view of fig. 5.
Fig. 7 is another state diagram of the loading and unloading carriage device of the cross-shaped workpiece grinding machine shown in fig. 1.
Fig. 8 is a partially enlarged view of fig. 7.
Detailed Description
Specific embodiments will now be described in detail with reference to the accompanying drawings.
The cross workpiece herein includes three types: a cross-shaped workpiece to be machined, the cross-shaped workpiece being completely unmachined by the grinding assembly described herein below; a cross-shaped workpiece that is semi-machined, the cross-shaped workpiece having one set of end surfaces machined by a grinding assembly as described herein below and the other set of end surfaces not machined by the grinding assembly; a cross-shaped workpiece is a finished cross-shaped workpiece, and two groups of end surfaces of the cross-shaped workpiece are processed by a grinding component described below.
The cross workpiece herein comprises two axes perpendicular to each other, each axis comprising two axis segments, i.e. each cross workpiece comprises four axis segments.
Fig. 1 illustrates a cross-shaped workpiece grinder 10, which includes a grinding device 11, a loading and unloading actuator 12, and an loading and unloading bracket device 13.
Fig. 2 is a partially enlarged view of fig. 1. The grinding apparatus 11 includes a housing 111, a grinding assembly (the grinding assembly is located in the housing 111 and not shown), a traveling base 112, and a rail base 113. The traveling base 112 is mounted on the rail base 113, and the traveling base 112 is movable relative to the rail base 113. The traveling base 112 includes a workpiece positioning base 114 and a workpiece fixing mechanism 115. The workpiece positioning seat 114 is used for placing a cross workpiece, and the workpiece fixing mechanism 115 can press or release the cross workpiece placed on the workpiece positioning seat 114. The traveling base 112 moves relative to the rail base 113 so as to have a first motion state in which the cross workpiece placed on the workpiece positioning base 114 is moved from the machining preparation position to the machining position of the grinding assembly and a second motion state in which the cross workpiece placed on the workpiece positioning base 114 is moved from the machining position of the grinding assembly to the machining preparation position. The workpiece fixing mechanism 115 comprises a pressing block assembly 1151 and a pressing block cylinder 1152, and the pressing block cylinder 1152 acts to press or loosen the pressing block assembly 1151 on the cross-shaped workpiece placed on the workpiece positioning seat 114.
As shown in fig. 3, the loading/unloading operation device 12 includes a transfer unit 121 and a robot unit 122. The transfer unit 121 can move the robot unit 122.
Fig. 4 is a partially enlarged view of fig. 3. The robot assembly 122 includes a first robot 1221, a second robot 1222, and a fixing plate 1228, the first robot 1221 and the second robot 1222 are fixed to the fixing plate 1228, and the fixing plate 1228 is fixed to the transfer assembly 121. In the embodiment shown in fig. 1, the transfer unit 121 is a robot, and in another embodiment, the transfer unit may be a motor-controlled truss traversing structure or the like.
The first robot 1221 includes a first clamp cylinder 1223, a first clamp unit 1224, and a rotation cylinder 1225, the first clamp cylinder 1223 may drive the first clamp unit 1224 to be in a clamped or unclamped state, and the rotation cylinder 1225 may drive the first clamp cylinder 1223 and the first clamp unit 1224 to rotate together. The first robot 1221 has a reversing motion state in which it grasps the half-machined cross workpiece from the workpiece positioning seat 114, rotates 90 ° after being lifted, and places the cross workpiece in the workpiece positioning seat 114. The first clamping portion 1224 includes two oppositely disposed clamping fingers, and the spacing between the clamping fingers when the first clamping portion 1224 is in the clamped state is less than the spacing between the clamping fingers when the first clamping portion 1224 is in the unclamped state.
The second robot 1222 includes a second clamping cylinder 1226, a second clamping portion 1227, and the second clamping cylinder 1226 can drive the second clamping portion 1227 to be in a clamped or unclamped state. The second clamping portion 1227 includes two clamping fingers that are arranged opposite to each other, and the distance between the clamping fingers when the second clamping portion 1227 is in the clamping state is smaller than the distance between the clamping fingers when the second clamping portion 1227 is in the unclamping state.
As shown in fig. 5, the loading and unloading tray device 13 includes a tray fixing frame 130, a loading tray mechanism 131, a unloading tray mechanism 132, and a turning and lifting mechanism 133. The feeding bracket mechanism 131 and the discharging bracket mechanism 131 are fixed to the bracket fixing frame 130.
The feeding bracket mechanism 131 includes a feeding protective frame 1310, a feeding power device 1311, symmetrically arranged feeding conveying mechanisms 1312, and symmetrically arranged limiting members 1313. The feeding protection frames 1310 are symmetrically arranged outside the feeding conveying mechanism 1312.
The feeding protective frame 1310 comprises a width limiting part 1320, the width limiting part 1320 is located at the tail end of the feeding conveying mechanism 1312, and the distance from the width limiting part 1320 to the center of the feeding conveying mechanism 1312 gradually decreases along the conveying direction of the feeding conveying mechanism 1312 and is always larger than the axial length of the cross workpiece to be processed.
In the embodiment shown in fig. 1, the feeding conveyor 1312 includes a feeding drive sprocket 1315 and a feeding drive chain 1316. The feeding driving sprocket 1315 comprises a feeding driving wheel and a feeding driven wheel, and the feeding driving chain 1316 is matched with the feeding driving sprocket 1315. The feeding power device 1311 can drive the feeding driving wheel of the feeding transmission chain wheel 1315 to rotate, and the feeding driving wheel of the feeding transmission chain wheel 1315 can drive the feeding transmission chain 1315 to move. In this embodiment, the feeding power device 1311 is a motor.
As shown in fig. 6, the stopper 1313 includes a support portion 531 and a stopper portion 532. The supporting portion 531 is located at the end of the feeding and conveying mechanism 1312, the supporting portion 531 has a feeding position, and the supporting portion 531 is connected to the feeding and conveying mechanism 1312, so that the feeding and conveying mechanism 1312 can convey the cross workpiece to be processed to the feeding position of the supporting portion 531. Therefore, the cross workpiece to be processed can be moved to the loading position after being placed on the loading conveyor 1312 by the movement of the loading conveyor. The joint of the support part 531 and the limiting part 532 is defined as a limiting part, and the height of the top end of the limiting part 532 is greater than the height of the support part 531 at the limiting part.
As shown in fig. 5, the blanking bracket mechanism 132 includes a blanking power device 1321 and a blanking conveying mechanism 1322. The finished cross-shaped workpiece may be placed on the blanking bracket mechanism 132. The blanking transmission mechanism 1322 comprises a blanking transmission chain wheel 1323 and a blanking transmission chain 1324. The blanking transmission chain wheel 1323 comprises a blanking driving wheel and a blanking driven wheel, and the blanking transmission chain 1324 is matched with the blanking transmission chain wheel 1323. The blanking power equipment 1321 can drive the blanking driving wheel of the blanking transmission chain wheel 1323 to rotate, and the blanking driving wheel of the blanking transmission chain wheel 1323 can drive the blanking transmission chain 1324 to move. In this embodiment, the blanking power equipment 1321 is a motor. The processed cross-shaped workpiece is placed on the blanking transmission chain 1324 and can move along with the movement of the blanking transmission chain 1324.
The moving direction of the cross-shaped workpiece to be processed on the feeding bracket mechanism 131 is different from the moving direction of the processed cross-shaped workpiece on the discharging bracket mechanism 132. In the present embodiment, the movement direction of the cross-shaped workpiece to be processed on the feed tray mechanism 131 is opposite to the movement direction of the cross-shaped workpiece after the processing on the feed tray mechanism 132.
The turnover and lifting mechanism 133 includes a drop turnover mechanism 1331 and a lifting mechanism 1332. The lifting mechanism 1332 can move to move the whole falling and overturning mechanism 1331 up and down to a set position. When the lifting mechanism 1332 acts to move the whole falling-position overturning mechanism 1331 up and down, the falling-position overturning mechanism 1331 can lift the cross-shaped workpiece at the feeding site. The falling-position turnover mechanism 1331 can drive the cross-shaped workpiece on the falling-position turnover mechanism to turn over the cross-shaped workpiece, so that the cross-shaped workpiece faces upwards.
The falling position overturning mechanism comprises a falling position assembly 1333 and an overturning air cylinder 1334. The placement assembly 1333 includes a first orientation facing the upper feeding transport mechanism 1312 and a second orientation facing upward. The orientation of drop assembly 1333 in fig. 6 is in a first orientation state, and the orientation of drop assembly 1333 in fig. 7 is in a second orientation state.
Fig. 8 is a partial enlarged view of fig. 7, and as shown in fig. 8, the seating assembly 1333 includes a position limiting seating block 1336, a balance seating block 1360, and a seating block mounting plate 1337, which are symmetrically disposed. The limiting falling block 1336 and the balancing falling block 1360 are mounted on the falling block mounting plate 1337. The limiting falling block 1336 and the balancing falling block 1360 respectively comprise a mounting part 1338, the mounting part 1338 is provided with a long strip-shaped adjusting groove 1339, and the adjusting groove 1339 can adjust the specific mounting position of the falling block 1336 on the falling block mounting plate 1337, so that the size range of the cross-shaped workpiece which can be applied to the falling assembly 1333 is larger.
The flipping cylinder 1334 includes a flipping plate 1330, and the drop block mounting plate 1332 is fixed to the flipping plate 1330 so that the drop block mounting plate 1332 can be flipped with the flipping plate 1330.
The distance between the outer walls of the symmetrically arranged limiting falling blocks 1336 is smaller than the distance between the symmetrically arranged limiting parts 1313, so that the limiting falling blocks can move up and down to enter the space between the symmetrically arranged limiting parts 1313. The position limiting and positioning block 1336 is provided with a positioning notch 1300.
When the position limiting and positioning block 1336 is positioned between the position limiting parts 1313, the positioning assembly 1333 is in the first orientation state, and the cross-shaped workpiece to be machined is positioned in the positioning notch 1300.
The limit landing block 1336 includes a stop 1301. When the positioning assembly 1333 is in the first orientation state, the blocking portion 1301 extends obliquely upward toward the loading tray mechanism 131. When the locating assembly 1333 is in the second orientation state and the cross-shaped workpiece to be machined is located in the locating assembly 1333, the horizontal distance D between the top of the blocking part 1301 and the central line of the shaft section of the cross-shaped workpiece to be machined, which is located in the locating notch of the limiting locating block corresponding to the blocking part 1301, is greater than the radius length of the shaft section.
The balance positioning block 1360 is provided with a balance notch 1370, and at least three shaft segments of the cross-shaped workpiece can be respectively positioned in the positioning notch 1300 and the balance notch 1370.
The lifting mechanism 1332 includes a lifting power device 1335, a lifting plate 2331, guide rods 2332, and flange linear bearings 2333. The output end of the lifting power device 1335 (when the lifting power device 1335 is an air cylinder, the output end is a piston rod) is fixed with the lifting plate 2331, and the falling-position overturning mechanism 1331 (overturning air cylinder 1334) is fixed on the lifting plate 2331, so that the lifting power device 1335 acts to drive the lifting plate 2331 to move up and down, and the falling-position overturning mechanism 1331 integrally moves up and down. The flange linear bearing 2333 is disposed on the bracket fixing frame 130, and one end of the guide bar 2332 is fixed to the lifting plate 2331 and the other end passes through the flange linear bearing 2333. The number of the guide bars 2332 is 2, and they are symmetrically distributed at both sides of the lifting power device 1335. The guide bar 2332 guides the up-and-down movement of the falling-position overturning mechanism 1331, reduces the shaking of the falling-position overturning mechanism 1331 in the up-and-down movement process, and improves the stability in the up-and-down movement. The flange linear bearing 2333 is provided to reduce friction during the guiding of the guide rod 2332.
The cross workpiece grinding machine 10 shown in fig. 1 includes a material taking site and a material placing site. The distance between the material taking site and the material placing site is equal to the distance between the first manipulator and the second manipulator, when the first manipulator places the processed cross-shaped workpiece on the material placing site of the discharging bracket mechanism, the second manipulator simultaneously grabs the cross-shaped workpiece to be processed on the material taking site of the overturning and lifting mechanism.
Claims (7)
1. A cross workpiece grinding machine is characterized by comprising grinding equipment and a feeding and discharging action device, wherein the grinding equipment comprises a grinding assembly, a walking seat and a guide rail seat, the walking seat comprises a workpiece positioning seat, the workpiece positioning seat is used for placing a cross workpiece, the walking seat is installed on the guide rail seat, the walking seat can move relative to the guide rail seat and is provided with a first motion state for moving the cross workpiece placed on the workpiece positioning seat from a processing preparation position to a processing position of the grinding assembly and a second motion state for moving the cross workpiece placed on the workpiece positioning seat from the processing position of the grinding assembly to the processing preparation position; go up unloading action device includes the manipulator subassembly, the manipulator subassembly includes first manipulator, first manipulator includes first die clamping cylinder, first clamping part, revolving cylinder, first die clamping cylinder can drive first clamping part is in the clamp tightly or unclamps the state, revolving cylinder can drive first die clamping cylinder reaches first clamping part is rotatory together, first manipulator has the follow the work piece positioning seat snatchs the cross work piece of half-finished, and rotatory 90 after the lifting is placed the cross work piece again in the switching-over motion state of work piece positioning seat.
2. The cross workpiece grinding machine as claimed in claim 1, wherein the loading and unloading actuator comprises a transfer assembly, the transfer assembly can drive the robot assembly to move, the robot assembly comprises a fixed plate and a second robot, the fixed plate is fixed to the transfer assembly, the first robot and the second robot are fixed to the fixed plate, the second robot comprises a second clamping cylinder and a second clamping portion, and the second clamping cylinder can drive the second clamping portion to be in a clamping or unclamping state.
3. The cross-shaped workpiece grinding machine as claimed in claim 2, wherein the travelling base comprises a workpiece fixing mechanism, the workpiece fixing mechanism comprises a pressing block assembly and a pressing block air cylinder, and the pressing block air cylinder acts to enable the pressing block assembly to press or loosen the cross-shaped workpiece placed on the workpiece positioning base.
4. The cross workpiece grinding machine as claimed in claim 2 or 3, characterized by comprising a feeding and discharging bracket device, wherein the feeding and discharging bracket device comprises a bracket fixing frame, a feeding bracket mechanism, a discharging bracket mechanism and a turning and lifting mechanism, the feeding bracket mechanism is positioned below the discharging bracket mechanism, and the turning and lifting mechanism can lift and turn the cross workpiece to be machined on the feeding bracket mechanism; the cross-shaped workpiece grinding machine comprises a material taking site and a material placing site, wherein the distance between the material taking site and the material placing site is equal to the distance between the first manipulator and the second manipulator; when the first mechanical arm is used for placing the processed cross-shaped workpiece on the discharging site of the discharging bracket mechanism, the second mechanical arm is used for simultaneously grabbing the cross-shaped workpiece to be processed on the material taking site of the lifting turnover mechanism.
5. The cross workpiece grinding machine according to claim 3, characterized by comprising a loading and unloading bracket device, wherein the loading and unloading bracket device comprises a bracket fixing frame, a loading bracket mechanism, a blanking bracket mechanism and a turnover lifting mechanism, the loading bracket mechanism and the blanking bracket mechanism are arranged on the bracket fixing frame, and the loading bracket mechanism is positioned below the blanking bracket mechanism; the feeding bracket mechanism comprises symmetrically arranged feeding conveying mechanisms, a feeding site is arranged on each feeding bracket mechanism, and a cross-shaped workpiece to be processed can move to the feeding site along with the feeding conveying mechanisms after being placed on the feeding conveying mechanisms; the processed cross-shaped workpiece can be placed on the blanking bracket mechanism; the turnover lifting mechanism comprises a falling turnover mechanism and a lifting mechanism, and the lifting mechanism acts to enable the falling turnover mechanism to integrally move up and down to a set position; when the lifting mechanism acts to enable the whole positioning turnover mechanism to move up and down, the positioning turnover mechanism can lift the cross-shaped workpiece positioned at the feeding position point; the falling turnover mechanism can drive the cross-shaped workpiece on the falling turnover mechanism to turn over together so that the cross-shaped workpiece faces upwards.
6. The cross workpiece grinding machine as claimed in claim 5, wherein the feeding bracket mechanism comprises symmetrically arranged limiting parts, each limiting part comprises a supporting part and a limiting part, the supporting part is positioned at the tail end of the feeding conveying mechanism, the supporting part is connected with the feeding conveying mechanism so that the feeding conveying mechanism can convey a cross workpiece to be machined to the supporting part, the joint of the supporting part and the limiting part is defined as a limiting part, and the height of the top end of the limiting part is greater than that of the supporting part at the limiting part; the falling position turnover mechanism comprises a falling position assembly, the falling position assembly comprises symmetrically arranged limiting falling position blocks, and the distance between the outer walls of the symmetrically arranged limiting falling position blocks is smaller than the distance between the symmetrically arranged limiting parts, so that the limiting falling position blocks can move up and down to enter the space between the symmetrically arranged limiting parts; the falling assembly comprises a first orientation state facing the feeding conveying mechanism and a second orientation state facing upwards, the limiting falling block is provided with a falling gap and comprises a blocking part, when the limiting falling block is positioned between the limiting parts, the falling assembly is in the first orientation state, a cross workpiece to be processed is positioned in the falling gap, and the blocking part extends towards the oblique upper part of one side of the feeding bracket mechanism; when the falling assembly is in a second orientation state and the cross-shaped workpiece to be processed is positioned on the falling assembly, the horizontal distance between the top of the blocking part and the center line of the shaft section of the cross-shaped workpiece to be processed, which falls on the falling notch of the limiting falling block corresponding to the blocking part, is greater than the radius length of the shaft section; the feeding bracket mechanism comprises feeding protection frames symmetrically arranged on the outer side of the feeding conveying mechanism, each feeding protection frame comprises a width limiting part, each width limiting part is positioned at the tail section of the feeding conveying mechanism, and the distance between each width limiting part and the center of the feeding conveying mechanism is gradually reduced along the conveying direction of the feeding conveying mechanism but is always greater than the axial length of a cross workpiece to be processed; the falling assembly comprises a balance falling block, the balance falling block is provided with a balance gap, and at least three shaft sections of the cross workpiece can be respectively located on the falling gap and the balance gap.
7. The cross workpiece grinding machine according to claim 6, wherein the lifting mechanism comprises a lifting power device, a lifting plate, a guide rod and a flange linear bearing, the output end of the lifting power device is fixed with the lifting plate, the falling turnover mechanism is fixed on the lifting plate, the flange linear bearing is arranged on the bracket fixing frame, one end of the guide rod is fixed on the lifting plate, the other end of the guide rod penetrates through the flange linear bearing, and the guide rod is symmetrically distributed on two sides of the lifting power device; the falling position turnover mechanism comprises a turnover cylinder, the turnover cylinder comprises a turnover plate, the falling position assembly comprises a falling position block mounting plate, the falling position mounting plate is fixed on the turnover plate, and the limiting falling position block and the balance falling position block are both mounted on the falling position block mounting plate.
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CN202122692090.3U CN216730974U (en) | 2021-11-04 | 2021-11-04 | Cross workpiece grinding machine |
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Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
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CN114367884A (en) * | 2021-11-04 | 2022-04-19 | 杭州春源自动化科技有限公司 | Cross-shaped workpiece grinding machine and control method thereof |
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2021
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Publication number | Priority date | Publication date | Assignee | Title |
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CN114367884A (en) * | 2021-11-04 | 2022-04-19 | 杭州春源自动化科技有限公司 | Cross-shaped workpiece grinding machine and control method thereof |
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