SU1713426A3 - Grinding machine - Google Patents

Abstract

The invention relates to automatic grinding machines. The purpose of the invention is to increase grinding performance. The machine contains a container for grinding the part, mounted for rotation about its own central axis and containing an abrasive medium, two rotating shafts for holding and immersing the part in the abrasive medium, a conveyor for the parts moving in front of the grinding section, two manipulators in the form of robot arms mounted between the grinding section and the conveyor for parts, each of which is intended for receiving and transmitting parts between the conveyor and the grinding section, and the programmable controller for controlling the sequence of operations of the machine. Each arm holds two parts, one of which is machined and the second is unworked, and they alternately receive and transfer these parts from and to the conveyor. 13.' ffl, 16 il.sls

Description

The invention relates to grinding machines, in particular, to a fully automatic gyratory grinding machine, comprising a grinding container mounted rotatably about its own central axis.

The purpose of the invention is to increase the productivity of the grinding process of parts.

FIG. 1 shows a diagram of the device, front view without some elements; in fig. 2 - the view of FIG. 1 GZ plan; in fig. 3 gyro grinder front view with partial section on an enlarged scale; in fig. 4 - the same, side view; in fig. 5 section of the shaft holder parts used with gyro-grinding unit; in fig.

6 is a device for tilting the part, side view on an enlarged scale; in fig. 1 device for cleaning parts, plan view on an enlarged scale; in fig. 8 - then Ms., section; in fig. 9 is a typical sample of the part for machining in the specified machine, general view on an enlarged scale; in fig. 10 conveyor for parts, front view; in fig. 11, too, side view; in fig. 12-section elevator for manipulator in the form of a robot arm, front view on an enlarged scale; in fig. 13 is a device for rotating a robot arm in the form of a robot, front view on an enlarged scale; in fig. 14 gripper holder for manipulator in the form of a robot arm, front view on an enlarged scale; in fig. 15 - the same, side view; in fig. 16-flow chart of the machine operation.

The machine contains a gyro-grinding unit 1, a conveyor 2 for parts moving in front of the gyro-grinding unit 1, and two manipulators 3, 4 in the form of robot arms. The latter are designed to transfer the parts to be machined from conveyor 2 to gyro-grinding unit 1 and back. The grinding unit 1 comprises a vertical shaft 5 supporting the grinding container 6, the vertical shaft 5 is rigidly attached with the lower end to the base 7. The grinding container 6 containing the inner housing is mounted rotatably on the vertical shaft 5. The inner housing is integral with the container 6 and can rotate together with the inner casing 8. At the lower end of the inner casing 8 there is an asterisk 9, connected by a chain 10 with an asterisk 11 mounted on the shaft of the gearmotor 12. When the gearmotor is turned on 12 energy is transmitted through the sprocket 11 and the chain 10 to the sprocket 9. This allows the container 6 to rotate. Container 6 contains abrasive medium 13. Abrasive medium 13 is used for dry grinding, which may contain crushed nutshells or dried grains to which finely ground seeds may be added. solid particles or fine solid abrasive particles.

For wet grinding, an abrasive medium can be used, containing fine abrasive stones of a definite form, to which a solution of a substance is usually added.

The grit grinding process is a specific process of grinding the surface of a part, during which an abrasive medium acts on the part by rotating the container 6 with the concomitant interaction of the parts with the abrasive medium. The structure for holding the parts comprises two shaft-holders 14 extending, for example, downwards, and a box 15 in which the shafts 14 are attached. The box 15 is connected to the front end of the piston rod 16 of the hydraulic cylinder 17 located above the box 15. The box 15 is mounted vertically moved by the action of the cylinder 17. Thus, during the movement of the box 15 upwards or downwards, two shaft-holders 14 move with it. In this embodiment, two shaft 14 are used, but this is only one of the options. The invention provides for the use of any number of shafts. Nevertheless, the two-shaft construction proved to be the most preferable for the following reasons. When using a design with four or more shafts, no additional means are required to lift each pair of shafts or any other means to simultaneously lift all the shafts. However, these options are within the scope of this invention. The housing 18 mounted on the base 7 passes upwards behind the box 15. Box 15

0 is supported by body 18 slidably up and down along body 18. To facilitate movement of box 15 vertically, it is also supported by cables 19. The ends of the cables are connected to the box 15, and the cables pass through the corresponding pulleys 20 down to the body 18. At the other ends the cables hanging from the pulleys 20 fasten the load, which serves as a counterweight box 15.

0 FIG. Figures 5 and 6 show the two-shaft construction in detail. It also contains a bearing 21 for mounting the corresponding shaft-holder, and inside the box 15 are installed in a horizontal position

5 two bearings 22, allowing rotation of the bearing 21 at small angles (see Fig. 6). Each shaft-holder 14 is dual and comprises an outer 23 and an inner 24 shaft. The outer shaft 23 is pivotally mounted in a bearing 21 rotatably in this bearing. Under the outer shaft 23 is the cartridge 25, the upper end of which includes the lower end of this shaft. Thus, the upper cartridge

5 25 and the shaft 23 are connected and can interact with each other. The cartridge 25 comprises an outer 26 and an inner 27 case. The outer housing 26 is connected to the lower end of the outer shaft 23. The inner housing

0 is configured with a tapered portion extending toward the lower end. In addition, the cartridge 25 has a central hole and is divided along the axis with the formation of slots on the circumferential wall.

5 Therefore, in the closed position, the cartridge 25 can hold the part 28 and release it in the open position. When the chuck 25 is raised, its conical section rises, narrowing the central hole. So

0, part 28 is held by chuck 25. Lifting may be carried out by means of a spring 29 mounted between the upper end of the outer shaft 23 and the inner shaft 24. Release part 28 from

5 of the chuck 25 can be operated by means of hydraulic cylinders 30 connected to the respective carrier shafts 14.

The cylinders 30 are installed in the housing 18 and facing the corresponding shafts 14. In operation, the cylinders 30 are from the side

the pistons are supplied with pressurized fluid which displaces the piston rods down to the stop into the inner shafts 24 of the respective shaft-holders 14. With further movement of the piston rods down their lower ends 31 push the shafts downwards 24. Accordingly, the conical section 25 is lowered. Provides item 28.

The parts 28 held by the respective shafts 14 can be driven into rotation by means of a power transmission comprising a pulley 32 mounted above the outer shaft 23 and a motor 33 mounted on a bracket 34 protruding from the bearing 21 to the outside, a pulley 35 mounted on the shaft, and a belt 36 connecting the pulleys 32 and 35. The shafts 14 are driven from the engine 33 through a power transmission system. i

Machining of parts with right angles or asymmetrical sides is possible. Details of this shape are usually difficult to grind, and some areas of their surface, especially irregularly shaped areas, cannot be fully trimmed. This problem can be solved by tilting the carrier rolls 14. Special means are used for this. FIG. 8 and 6 shows the elements of this design. These include the flange 37, which protrudes from the bearing 21 to the outside, and the flange 38, which is made above the box. Hydraulic cylinders 39 are mounted between these flanges, which are located to the rear walls to each other, and the piston rods 40 of these cylinders protrude in opposite directions. When the flange 37 is raised and lowered, the bearing 21 rotates in the bearings 22, sets one of the holding shafts 14 into an inclined position. This occurs when the cylinders 39 are turned on, from which the corresponding piston rods 40 are pushed out. The presence of two cylinders allows to obtain two levels of tilt angles shaft 14.

When one of the piston rods 40 of the upper cylinder 39 advances and the other piston rod 40 of the lower cylinder 39 is retracted (similarly, when one piston rod 40 is retracted and the other piston rod 40 is advanced), the shaft 14 for holding the part is vertical as shown in FIG. 5. When both piston rods 40 are retracted, the shafts 14 rotate approximately clockwise IS, when both piston rods 40 are pushed forward, the shafts 14 rotate approximately 15 ° counterclockwise.

Thus, due to these inclinations, uneven polishing can be eliminated.

At the end of the grinding operation, these parts should be cleaned. If necessary, cleaning can be carried out before grinding. It can be carried out over the grinding container 6, keeping the part in the chuck 25. When wet

After grinding, wash water is supplied to the container 6, which can serve as a solution during the grinding of the part. A device for cleaning parts installed above the biv container

5, the operation of the container may be retracted from this position in order to avoid interference with the grinding process. FIG. 7 and 8 show in detail such a cleaning device which contains two containers 41 connected by a transverse connecting plate 42. In each of the containers 41 there is an inlet 43 for water and an outlet 44 for water, respectively. Sliders 45 are mounted on the connecting plate 42, mounted slidably along the respective shafts 46 extending across the connecting plate 42 and the housing 18. The shafts 46 are connected by a plate 47 mounted with the possibility of vertical movement. On the housing 18 perpendicular fixed; The shafts 46 have guides along which the runner 48 with the plate 47 can slide vertically. A boss 49 is fastened to the upper part of the plate 47 in the center of the ear. The hydraulic bar 50 is mounted above the housing 18 and

leads the device to clean the parts in

vertical movement and the speaker

part of the piston rod 51 cylinder 50

0 is connected to the boss 49. The hydraulic cylinder 52 is rigidly fixed to the lower center of the center 53 of the plate 47. There is also a cylinder 54 which tells the device for cleaning the parts to reciprocate

5 movement in the direction across the container. The protruding portion of the piston rod of the cylinder 54 is connected to the connecting plate 42. A cover 55 is mounted on the piston rod 51. In operation mode, when

0 from the side of the piston rod into the hydraulic cylinder 54 is supplied with pressurized fluid, one of the containers 41-for cleaning is moved backwards (Fig. 7), respectively another container for cleaning

5 also moves back to the position corresponding to the position of the first container. After the cleaning containers 41 are in the same position, the grinding operation can continue without any interference from their side. In the initial position of the cleaning containers 41 (see Fig. 7), if pressurized fluid is supplied to the cylinder from the piston rod side, the containers 41 are moved upwards (see Fig. 8).

One of the typical parts for machining is shown in FIG. 9. This part should have a section, for example, in the form of a rod for gripping the cartridge. In addition, it has longitudinal slits and a bottom end, which are to be ground, but these areas must be ground by another appropriate machine. Between the rod and the body parts are areas with different diameters used for movement in transport. This machine can grind any part that can be clamped in the holder of the part of the grinding machine with a robot hand and which can be conveyed by conveyor means for the part.

Conveyor 2 moves in front of the gyro-grinding unit 1 (see Fig. 1 and 2), Conveyor 2 receives the parts to be ground and transfers them to the installation point of the manipulators 3 and 4 in the form of a robot arm. Manipulators 3 and 4 transfer the 2 parts removed from the conveyor and the next step. It is possible to simultaneously hold and transfer to the gyro-grinding unit with both handles 3 and 4 in one piece. In particular, the manipulator 4 must remove every second part from the conveyor 2, and the manipulator 3 must remove each next part.

The transport structure for transferring parts includes two guide plates 56 parallel to each other over the path of conveyor 2 (see Figs. 10 and 11). The distance between the plates 56 is significantly greater than the diameter of the core of the part and much smaller than the diameter of the cylindrical body. As a result, when the workpiece moves on the conveyor 2, its cylindrical body rests on the guides, and the rod is between them. A plate 57 with a round socket 58 can be installed at each station. This ensures proper and reliable installation of the part during its transfer. The guide plates 56 are supported by vertical posts 59 spaced at equal distances and mounted on the base 60 in the form of a plate. A frame 61 is vertically mounted between the base plate 60 and the guide plates 56. A hydraulic cylinder 62 is located below the base plate 60, the projecting part of the upwardly directed piston rod 63 of which

rigidly attached to the central part of the frame 61. On opposite sides of the base plate 60 are pivotally mounted in the vertical bearing legs 64 which are located on the base 60 of the base 60 and can be moved up and down in these bearings. They provide the ability to move the frame 61 vertically. A hydraulic cylinder 66 is arranged horizontally above the frame 61. Under the guide plates 56, a transverse carrier plate is parallel to them.

67.The mounting frame 68 is suspended from the supporting plate 67, extending downward from it, and the front end of the piston rod 69 of the cylinder 66 is attached to the mounting frame

68. The supporting parts of the plate 70 are mounted at an equal distance from each other on the base plate 67.

 Each of the supporting plates 70 has a flat shape and its width is less than the distance between the guide plates 56, with a through hole in the center of each plate. In it . the central hole includes the core part 28 (see Fig. 9). The number of such supporting plates 70 corresponds to the number of plates 57 with sockets for mounting the parts.

The machine works as follows.

Suppose that after the transfer by a manipulator (not shown) of the part from the previous stage to the first station 71, the carrier plate 67 is in the ready position for gyro-grinding, i .e. in the leftmost position. The presence of the part at the first station 71 can be detected by any optoelectronic sensor or microswitch that outputs a detection signal to the microprocessor (SRI) or the sequence controller. At this signal, the microprocessor issues the appropriate program command or command to supply pressurized fluid to the hydraulic cylinder 62 from the side of the piston. As a result, the carrier plate 67 moves upwards. The support plates 70 with the parts move upwards with it. The detection of this fact can be carried out using any optoelectronic sensor or another type of sensor capable of producing a detection signal. According to such a signal, the microprocessor issues a programmed command or a command for supplying pressurized fluid to the piston side of the hydraulic cylinder 66. As a result, the components mounted on the carrier plate 67 are moved one step up. Then cylinder 66 is reversed, resulting in

moving the carrier plate down, while the parts remain in a new position on the plates 57 with sockets. This completes the movement of parts by one step, i.e., the parts installed initially at station .71 have moved to station 72. At the same time, the next part should be installed at station 71 with the second manipulator. If there is no part or sludge at station 73 the already processed part is located, then the part installed at station 72 is moved one step to station 73 without the aid of a corresponding manipulator. If at station 73 there is a part to be machined, then the manipulator 4 is activated, which transfers the part to the gyro grinder. After the part is installed in a certain position on the gyro-grinding unit, the manipulator 4 returns to its original position, removes the finished part from the gyro-grinding unit and transfers it to station 72. In the normal mode, if there are parts on all stations, the finished parts are located at every second station, and machining details - on each following. If there are an even number of stations, those parts located at every second station between stations 72 and 74, i.e. the parts to be ground, can be fed into the gyro grinder at any time. Each part arriving at station 74 must be transmitted to station 75, since its processing is completed.

In this preferred embodiment, the design of station 75 may differ from the design of previous stations 72-74. The purpose of this station 75 is to transfer a fully machined part to a manipulator for transfer to the next processing stage. At station 75, instead of supporting parts plates 70, sickle-shaped support plates 76 are installed. This shape provides a shaft clearance for lifting the plates supported by the plates 76 upwards. Shaft 77 is driven by a hydraulic cylinder 78. A component raised by shaft 77 is gripped by a second manipulator, which transfers it to the next station.

The construction of manipulator tori 3 and 4 in the form of robot arms. The design of both manipulators is almost identical, with the exception that they are directed in opposite directions. The description below is only for the manipulator 4, although it also applies to the manipulator 3. The manipulator is equipped with two grippers that allow

manipulate two parts, i.e., in one operation, remove the finished part from the grinding unit and transfer the part to be machined into the grinding unit. FIG. 12 shows the carrier element 79 protruding upward from the base 80, and the lower cylindrical element 81 mounted slidably with respect to the carrier element 0 and 79. Such sliding is provided by an automatically switching cylindrical element 8lV A transverse carrier 82 is mounted above the cylindrical element 81 the end of which

5, a rotating actuator 83 is suspended. The rotating actuator 83 is provided with an upward spindle 84, a non-rotating gear 85. A cylindrical element 86 is mounted rotatably about the axis of the element 81 rotatable relative to the axis of the element 81. The rotating cylindrical element 86 includes a gear 87 engaging the gear 85 spindle 84; and pivotally mounted in the upper end 88 of the lower member 81. In addition, the rotating cylindrical member 86 has a bearing 89 located above it across the arm to support the robot arm. FIG. 14 and 15 in detail

0 shows the structure of a robot arm in which the lever arm 90 (see Fig. 11) is hingedly mounted in the bearing 89, and its end is connected to the rotating spindle of the rotary actuator 91 by a key or the like. The other end of the lever arm 90 is connected to two hydraulic cylinders 92. Each of said cylinders 92 has a piston rod 93 connected by a front end with a corresponding lever assembly 94 containing two levers rotatably mounted with the possibility of opening or closing, each lever being provided with two pairs of grippers 95 for gripping parts between them

A box-shaped frame 96 is located in front of the cylinders 92, and the shaft 97 is attached to the frame 96. The shaft 97 supports the upper and

0 lower assemblies 94 rotatably with two respective levers in an open or closed position under the action of corresponding piston rods 93. Each of the grippers 95 is connected with a corresponding lever by a rod 98 extending from the gripper into an elongated hole in the lever. Each grip contains a metal plate 99 installed, for example, on the side opposite to the other grip, whose curvature corresponds to the shape

round body details. Thus, the body of the part is held by the grippers 95. That is, when the piston rod 93 of the hydraulic cylinder 92 moves forward or backward, the lever assembly 94 also moves forward or retracts, the grippers 95 rotate around the shaft 97 and the part is clamped in the cartridge and release parts from the cartridge. The box frame 96 has an intermediate partition 100 parallel to the lever assemblies 94. This partition is located between the upper and lower lever assemblies 94 to hold the two parts in a position that allows the corresponding pair of grippers 95 to hold the central part of its body.

To remove this finished part from the gyro grinding unit or to remove it from the carrier shaft 14, the corresponding manipulator holds the part and the shaft holder 14 is held in the cartridge 25. This creates the possibility of vibrations or deviations from the axis causing stress and the threat of damage to the part. Therefore, a partition 100 is provided, which allows the manipulator to hold the part after it is removed from the grinding block or when the holder is removed from the shaft with its transfer to the partition 100.

After complete machining of the parts in the gyro-grinding unit, i.e., after a period of time specified by the timer has expired, the timer switches off the gear motor 12 and the drive motor 33, which stop. Thereafter, a pressurized fluid is supplied to the side of the piston rod of the hydraulic cylinder 17, with concomitant lifting of the holding shaft. If at this point the shaft-holder 14 is in an inclined position, then the pressurized fluid is supplied from the side of the piston rods of the hydraulic cylinders 39. As a result, the shaft-holder returns to the vertical position. Then the manipulators are moved from the lower to the intermediate position, i.e. the manipulator 4 is above station 72, and the manipulator 3 is above station 73, and the corresponding grippers of each of them are in the open position. From the position above stations 72 and 73, the corresponding manipulators are again lowered to the initial position, in which their lower grippers 95 are closed to hold the parts to be machined. The retaining parts of the arms are again moved to an intermediate position, after which they are rotated 90 ° under the action of the actuator 83.

FIG. 2 shows that the manipulator 3 rotates clockwise, and the manipulator 4 turns counterclockwise. Then the corresponding upper open

The grippers of the manipulators are installed directly under the finished parts inside the gyro grinding unit 1. After that, liquid is supplied from the piston rod side to the hydraulic cylinder 92

0 under pressure to close the upper grippers 95 while retaining the corresponding parts in the position retracted from the gyro grinder. Then into the hydraulic cylinders 30 from the side of the piston

5, the fluid is supplied, which pushes the shaft-holder 14 downward with the release of the cartridge 25, allowing the parts to be transferred to the respective manipulators. After that, the manipulators return to an intermediate position, and the corresponding arms of the levers 90 rotate 180 °. As a result, the finished parts are at the bottom, and the parts to be machined are at the top. Sequence of operations

5 above the parts to be machined may be the reverse of the indicated sequence for finished parts. Such a sequence may include lifting the manipulators, grasping the holder 25 with the chuck 25, opening the upper grippers, re-lowering the manipulators to an intermediate position and, finally, transferring new parts to the gyro grinder.

5 On the other hand, the manipulators holding the finished parts are rotated by 90 °, after which they are moved down to the lower position, from which the parts should be mounted on the corresponding plates 57 with sockets at stations 73 and 74, respectively. In this position, the grippers 95 are opened, allowing parts to be transferred to the conveyor 2. Then, the arms are again raised to an intermediate position, after which the conveyor moves forward one step. As a result, the parts to be processed turn out to be at stations 72 and 74, respectively. Then the sequence

0 operations are repeated for these details.

The entire sequence of operations is programmed and entered into a sequence controller or microprocessor (SRI). 16 shows such a sequence of operations. All hydraulic cylinders are equipped with optoelectronic sensors or microswitches installed at the extreme points of movement of the corresponding piston rods. Upon reaching the appropriate piston

By using one of the extreme positions, such optoelectronic sensors or microswitches provide termination signals for the microprocessor. Using these signals, the microprocessor issues the corresponding programmed command or control command to perform the following operations. Any programmable sequence controller, such as T-500, issued by the microprocessor can be used as the microprocessor firm Tateisi Denki. A sequence controller of this type is used as a microprocessor.

The machine can also finish a different kind than described as a typical example of surface grinding.

The invention can find application in a gyro grinder with two or more shaft-holders, and in the preferred embodiment, with two shafts that can work simultaneously with the simultaneous realization of the removal and gripping of parts by shaft-holders. For this purpose, manipulators in the form of robot arms can be used, each of which is provided with lower and upper grippers-holders. Since the operations of taking and gripping can be carried out simultaneously in a single cycle, the efficiency of work increases.

Fo rmu l and 3 o n ries 1. A machine for grinding parts, including a block for grinding parts, containing a container with an abrasive medium, mounted around a vertical shaft rotatably about a vertical axis, two shafts holder for workpieces, while the surface of the workpiece is ground by mutual contact

grindable workpieces and abrasive media in a container, conveyor for transporting workpieces, located in front of the grinding unit of workpieces, robot arm in the form of a robot with two grippers mounted on levers, located between the grinding unit of workpieces and a conveyor belt and designed to transfer workpieces from the conveyor to the grinding unit and back, that is, with the fact that, in order to increase productivity, the machine is equipped with an additional with a robot arm and means for supporting shaft-holders adapted for rotation and reciprocation in the vertical direction, each shaft shaft having one cartridge, one manipulator mounted at the beginning of the conveyor to transfer one machined parts of two grindable workpieces, and a second manipulator at the end of the conveyor to transfer another workpiece of two grinded workpieces, both of which are transversely mounted on the grinding unit of parts with the possibility of moving and fixing in three positions from the additionally introduced means of movement, the manipulators are provided with additional driving two grippers mounted on the additional levers, the grippers being installed rotatably about the horizontal axis, and the manipulators and the conveyor equipped with a programmable controller to control the sequence of operations, 2.. The machine according to claim, 1, 1 and 2, so that the grips of the hand are supplied once dividing them as an intermediate element.

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Claims (2)

Claim 1. A machine for grinding parts, including a block for grinding parts, containing a container with an abrasive medium mounted around a vertical shaft with the possibility of rotation relative to the vertical axis, two holder shafts for the machined parts, while the surface of the machined parts is ground by mutual contact of the machined parts to be grinded and abrasive medium in the container, a conveyor for transporting workpieces, located in front of the block for grinding workpieces, mani a robot arm remover with two grippers mounted on levers, located between the grinding block of the workpieces and the conveyor and designed to transfer the workpieces from the conveyor to the grinding block and vice versa, with the exception of that, in order to increase productivity, the machine is equipped with an additional manipulator in the form of a robot arm and means for supporting the shaft-holders, adapted for rotation and reciprocating movement in the vertical direction each holder shaft is equipped with one cartridge, with one manipulator installed at the beginning of the conveyor to transfer one workpiece from two grindable workpiece, and the second manipulator at the end of the conveyor to transfer another workpiece from two grindable workpiece, both manipulators are installed across block grinding parts with the ability to move and fix in three positions from additionally introduced means of movement, and the manipulators are equipped with additional Water two grippers mounted on the additional levers, the jaws are mounted rotatably about a horizontal axis, and a conveyor equipped with paddles and a programmable controller for controlling the sequence of operations 2 .. The machine according to claim 1, with the fact that the hand grips are equipped with an intermediate element separating them. 15 1713426 16 »· U ”· 'Π” ...... <u ! G - 7 _____, —L - 1 μ i I> 4 I ~ I— 1 1 1 1 -4 ο_-1 — L c-T-i 1 —-Ί —1 r = I I figure 1 figure 2 i '55 Fig. 3 φυε. 12 -IN- L R - 4 from 1 _ FIG. i6