A cross-arm loading and unloading mechanical device for a bearing inner ring grinder

Abstract

The present invention is a cross double-arm loading and unloading mechanical device for a bearing inner ring grinder, comprising a base plate, a loading arm rotating shaft, a loading arm driving gear assembly, a swing arm buffer assembly, a lowering arm rotating shaft, a lowering arm driving gear, a top shaft, a top block, a swing arm cylinder, a pin shaft, a swing arm cylinder bracket, a double-arm moving frame, a linear guide rail assembly, a shifting arm cylinder, and a shifting arm buffer assembly. The cross swing of the loading and unloading manipulator is realized by using the principle that the gap adjustment gear and the lowering arm driving gear mesh and rotate inversely with each other; the rocker slider mechanism composed of the lowering arm driving gear, the top shaft, the top block, the swing arm cylinder, the pin shaft, and the swing arm cylinder bracket realizes the power variable speed transmission of the double-arm swing, and the linear guide rail assembly placed at the bottom of the double-arm moving frame realizes the double-arm translation movement. It has the advantages of simple structure, low cost, high efficiency, and easy installation and adjustment.

Description

Technical Field

[0001] The invention relates to the technical field of automatic loading and unloading devices for bearing grinders, in particular to a cross double-arm loading and unloading mechanical device for bearing inner ring grinders. Background Art

[0002] At present, in the design of automatic loading and unloading manipulators for fine grinding of the outer raceway of the inner ring of bearings, the actuators often adopt the more classic cross-arm loading and unloading structure, and the drive type is widely hydraulic. The basic transmission scheme is that a hydraulic cylinder drives a double-toothed rack and meshes with a pair of gears to drive the two cross-arms to rotate relative to the frame, and another hydraulic cylinder drives the two cross-arms to move the rotating shafts relative to the frame. However, as the requirements of related companies for the efficiency of inner ring fine grinding are getting higher and higher, the existing mechanical transmission scheme has shown the shortcomings of low loading and unloading efficiency, complex transmission structure, and high cost. The industry urgently needs to develop a transmission device for the cross-arm loading and unloading manipulator of the inner ring grinder of bearings with higher work efficiency, simpler transmission structure, low cost, reliability and durability. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a cross-double-arm loading and unloading mechanical device for a bearing inner ring grinder, which has the beneficial effects of simple structure, high efficiency and low cost.

[0004] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0005] The gear assembly of claim 1, wherein the gear assembly is configured to be coupled to the gear assembly and the gear unit is configured to move the gear assembly to the gear assembly's center of mass.

[0006] The upper material arm driving gear is meshed and transmission-connected with the lower material arm driving gear, the lower material arm rotating shaft is coaxially fixedly connected with the lower material arm driving gear, the lower material arm driving gear is rotatably connected with one end of the swing arm cylinder, and the other end of the swing arm cylinder is rotatably connected with the swing arm cylinder frame, and the connection between the lower material arm driving gear and one end of the swing arm cylinder is arranged on the end face of the lower material arm driving gear and is eccentrically arranged;

[0007] The upper material arm rotating shaft and the lower material arm rotating shaft are rotatably fixedly installed on the double-arm frame, and the central axis of the upper material arm rotating shaft and the central axis of the lower material arm rotating shaft are both perpendicular to the vertical plane where the double-arm frame is located; two sets of swing arm buffer assemblies and the swing arm cylinder frame are fixedly installed on the side wall of the double-arm frame, and the two sets of swing arm buffer assemblies and the swing arm cylinder frame are on the same side as the upper material arm driving gear and the lower material arm driving gear;

[0008] The double-arm frame is transmission connected with the arm driving cylinder assembly, and the double-arm frame can reciprocate under the drive of the arm driving cylinder assembly, and the movement direction of the double-arm frame is parallel to the axial direction of the loading arm rotating shaft and the unloading arm rotating shaft; the arm driving cylinder assembly is fixedly mounted on the upper surface of the base plate, and two groups of arm buffer assemblies are also fixedly mounted on the upper surface of the base plate, and the two groups of arm buffer assemblies are respectively arranged at the end points of the reciprocating motion of the double-arm frame, and the two groups of arm buffer assemblies are used to limit the reciprocating motion of the double-arm frame.

[0009] The edge of the processing position is provided with a grinding wheel, the loading position is arranged at the lower edge of the outlet of the loading channel, and the unloading position is arranged at the upper edge of the unloading channel.

[0010] The double-arm frame and the base plate are slidably connected via a plurality of groups of linear guide rail assemblies, the axial direction of the linear guide rail assembly is parallel to the axial direction of the upper arm rotating shaft and the lower arm rotating shaft, the linear guide rail assembly comprises a track and a slider, the track is fixedly mounted on the upper surface of the base plate, the slider is fixedly mounted on the lower surface of the double-arm frame, the slider is embedded in the track, and the slider can slide relative to the track.

[0011] The arm-moving drive cylinder assembly comprises an arm-moving cylinder, which is fixedly mounted on the upper surface of the base plate through two groups of L brackets arranged front and back, and the cylinder shaft of the arm-moving cylinder is transmission-connected to the bottom edge of the double-arm frame through a floating joint.

[0012] The cylinder shaft of the swing arm cylinder is fixedly connected to the top block, the end of the top block is rotatably connected to the end face of the unloading arm driving gear through the top shaft, the end of the swing arm cylinder away from the cylinder shaft is fixedly installed with the swing arm cylinder seat, and the swing arm cylinder seat is rotatably connected to the swing arm cylinder frame through a pin shaft.

[0013] The end face of the loading arm driving gear is provided with a groove, and the groove is arranged along the radial direction of the loading arm driving gear. A convex strip is arranged on one side surface of the swing arm shift plate, and the convex strip can be embedded in the groove of the end face of the loading arm driving gear. The tail end of the swing arm shift plate is fixedly connected to the end face of the loading arm driving gear by screws.

[0014] The swing arm buffer assembly includes a first L-frame block, a first hydraulic buffer and a first limit screw. The first L-frame block is fixedly mounted on the side wall of the double-arm frame. The first L-frame block and the loading arm driving gear are located on the same side of the double-arm frame. The first hydraulic buffer and the first limit screw are fixedly mounted on the first L-frame block. The axial directions of the first hydraulic buffer and the first limit screw are parallel to each other. When the swing arm shift plate contacts the first limit screw, the central axes of the first hydraulic buffer and the first limit screw are perpendicular to the side wall of the swing arm shift plate.

[0015] The arm shifting buffer assembly includes a second L-frame block, a second limit screw and a second hydraulic buffer. The second L-frame block is fixedly mounted on the upper surface of the base plate. A second limit screw is installed in the middle of the second L-frame block. Second hydraulic buffers are arranged on both sides of the second limit screw. The central axes of the second limit screw and the second hydraulic buffer are parallel to each other. When the double-arm frame contacts the second limit screw, the central axes of the second limit screw and the two groups of second hydraulic buffers are perpendicular to the side walls of the double-arm frame.

[0016] The cross double-arm loading and unloading mechanical device of the bearing inner ring grinder can produce the following beneficial effects: first, it adopts pneumatic drive as the power source to drive the swing arm cylinder and the shift arm cylinder, which has the characteristics of low cost, fast drive, high efficiency and low pollution; second, a pair of meshing gears are driven by a power source, and the two gears drive the loading arm and the unloading arm to swing at the same time. By setting the positions of the loading position, the processing position and the unloading position, it is ensured that the loading arm reciprocates between the loading position and the processing position, and the unloading arm reciprocates between the processing position and the unloading position; third, by setting the shift arm driving cylinder assembly and the shift arm buffer assembly, the front and rear displacement of the device and the double-arm swing stroke are limited; third, the device is easy to assemble and can be manufactured and assembled as an independent module. The structure is easy to disassemble, there are no special-shaped parts, the parts are highly standardized, and most of them are general components that are easy to purchase and install. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a rear view of a cross double-arm loading and unloading mechanical device of a bearing inner ring grinder according to the present invention.

[0018] Figure 2 It is a front view of a cross double-arm loading and unloading mechanical device of a bearing inner ring grinder according to the present invention.

[0019] Figure 3 It is a structural schematic diagram of a swing arm shift plate of a cross double-arm loading and unloading mechanical device of a bearing inner ring grinder of the present invention.

[0020] Figure 4 It is a structural schematic diagram of a swing arm shift plate in a cross double-arm loading and unloading mechanical device of a bearing inner ring grinder according to the present invention.

[0021] Figure 5 It is a schematic structural diagram of a loading arm driving gear in a cross double-arm loading and unloading mechanical device of a bearing inner ring grinder according to the present invention.

[0022] The drawings in the specification are marked as follows: 1. Base plate; 2. Linear guide assembly; 2.1. Track; 2.2. Slider; 3. Arm drive cylinder assembly; 3.1. L bracket; 3.2. Arm cylinder; 3.3. Floating joint; 4. Unloading arm drive gear; 5. Unloading arm shaft; 6. Swing arm buffer assembly; 6.1. First L bracket block; 6.2. First hydraulic buffer; 6.3. First limit screw; 7. Loading arm drive gear assembly; 7.1. Swing arm stop plate; 7.2. Loading arm drive gear Wheel; 8. Double-arm frame; 9. Loading arm shaft; 10. Top shaft; 11. Top block; 12. Swing arm cylinder; 13. Swing arm cylinder seat; 14. Pin shaft; 15. Swing arm cylinder frame; 16. Arm transfer buffer assembly; 16.1. Second L frame block; 16.2. Second limit screw; 16.3. Second hydraulic buffer; 17. Loading arm; 18. Unloading arm; 19. Loading channel; 20. Unloading channel; 21. Grinding wheel; 22. Loading position; 23. Processing position; 24. Unloading position. DETAILED DESCRIPTION

[0023] The present invention is further described below in conjunction with the accompanying drawings and specific preferred embodiments.

[0024] like Figure 1 , Figure 2 and Figure 3As shown, a cross double-arm loading and unloading mechanical device for a bearing inner ring grinder comprises a loading arm 17 and a unloading arm 18, wherein one end of the loading arm 17 is connected to the loading arm rotating shaft 9 by transmission, and the other end of the loading arm 17 is used for reciprocating between the loading position 22 and the processing position 23, and one end of the unloading arm 18 is connected to the unloading arm rotating shaft 5 by transmission, and the other end of the unloading arm 18 is used for reciprocating between the processing position 23 and the unloading position 24, characterized in that: the loading arm rotating shaft 9 is connected to the loading arm driving gear assembly 7 by transmission, and the loading arm driving gear assembly 7 comprises a swing arm shift plate 7. 1 and the loading arm driving gear 7.2, the loading arm rotating shaft 9 is coaxially fixedly connected with the loading arm driving gear 7.2, the swing arm shift plate 7.1 is fixedly installed on the end surface of the loading arm driving gear 7.2, the central axis of the swing arm shift plate 7.1 passes through the center of the loading arm driving gear 7.2, one end of the swing arm shift plate 7.1 extends outward and extends out of the outer edge of the loading arm driving gear 7.2, and the two ends of the stroke of the swing arm shift plate 7.1 are provided with swing arm buffer components 6, and the swing arm buffer components 6 are used to limit the reciprocating motion of the swing arm shift plate 7.1;

[0025] The upper material arm driving gear 7.2 is meshed and transmission-connected with the lower material arm driving gear 4, the lower material arm rotating shaft 5 is coaxially fixedly connected with the lower material arm driving gear 4, the lower material arm driving gear 4 is rotatably connected with one end of the swing arm cylinder 12, and the other end of the swing arm cylinder 12 is rotatably connected with the swing arm cylinder frame 15, and the connection between the lower material arm driving gear 4 and one end of the swing arm cylinder 12 is arranged on the end face of the lower material arm driving gear 4 and is eccentrically arranged;

[0026] The loading arm shaft 9 and the lowering arm shaft 5 are rotatably fixedly mounted on the double-arm frame 8, and the central axes of the loading arm shaft 9 and the lowering arm shaft 5 are both perpendicular to the vertical plane where the double-arm frame 8 is located; two sets of swing arm buffer assemblies 6 and the swing arm cylinder frame 15 are both fixedly mounted on the side wall of the double-arm frame 8, and the two sets of swing arm buffer assemblies 6 and the swing arm cylinder frame 15 are on the same side as the loading arm driving gear 7.2 and the lowering arm driving gear 4;

[0027] The double-arm frame 8 is transmission connected with the arm driving cylinder assembly 3, and the double-arm frame 8 can reciprocate under the drive of the arm driving cylinder assembly 3. The movement direction of the double-arm frame 8 is parallel to the axial direction of the loading arm rotating shaft 9 and the unloading arm rotating shaft 5; the arm driving cylinder assembly 3 is fixedly mounted on the upper surface of the base plate 1, and two groups of arm buffer assemblies 16 are also fixedly mounted on the upper surface of the base plate 1. The two groups of arm buffer assemblies 16 are respectively arranged at the end points of the reciprocating motion of the double-arm frame 8, and the two groups of arm buffer assemblies 16 are used to limit the reciprocating motion of the double-arm frame 8.

[0028] In this embodiment, a grinding wheel 21 is provided at the edge of the processing position 23 , the loading position 22 is provided at the lower edge of the outlet of the loading channel 19 , and the unloading position 24 is provided at the upper edge of the unloading channel 20 .

[0029] In this embodiment, the double-arm frame 8 and the base plate 1 are slidably connected by a plurality of groups of linear guide rail assemblies 2. The axial direction of the linear guide rail assembly 2 is parallel to the axial direction of the upper arm rotating shaft 9 and the lower arm rotating shaft 5. The linear guide rail assembly 2 includes a track 2.1 and a slider 2.2. The track 2.1 is fixedly mounted on the upper surface of the base plate 1, and the slider 2.2 is fixedly mounted on the lower surface of the double-arm frame 8. The slider 2.2 is embedded in the track 2.1, and the slider 2.2 can slide relative to the track 2.1.

[0030] In this embodiment, the arm moving drive cylinder assembly 3 includes an arm moving cylinder 3.2, which is fixedly installed on the upper surface of the base plate 1 through two groups of L brackets 3.1 arranged in front and back, and the cylinder shaft of the arm moving cylinder 3.2 is transmission connected to the bottom edge of the double-arm frame 8 through a floating joint 3.3.

[0031] In this embodiment, the cylinder shaft of the swing arm cylinder 12 is fixedly connected to the top block 11, and the end of the top block 11 is rotatably connected to the end face of the unloading arm driving gear 4 through the top shaft 10. The swing arm cylinder 12 is fixedly installed with the swing arm cylinder seat 13 away from the end of the cylinder shaft, and the swing arm cylinder seat 13 is rotatably connected to the swing arm cylinder frame 15 through the pin shaft 14.

[0032] like Figure 4 and Figure 5 As shown, the end face of the loading arm driving gear 7.2 is provided with a groove, and the groove is arranged along the radial direction of the loading arm driving gear 7.2. A convex strip is arranged on one side surface of the swing arm shift plate 7.1, and the convex strip can be embedded in the groove of the end face of the loading arm driving gear 7.2. The tail end of the swing arm shift plate 7.1 is fixedly connected to the end face of the loading arm driving gear 7.2 by screws.

[0033] In this embodiment, the swing arm buffer assembly 6 includes a first L-frame block 6.1, a first hydraulic buffer 6.2 and a first limit screw 6.3. The first L-frame block 6.1 is fixedly mounted on the side wall of the double-arm frame 8. The first L-frame block 6.1 and the loading arm driving gear 7.2 are located on the same side of the double-arm frame 8. The first hydraulic buffer 6.2 and the first limit screw 6.3 are fixedly mounted on the first L-frame block 6.1. The axes of the first hydraulic buffer 6.2 and the first limit screw 6.3 are parallel to each other. When the swing arm shift plate 7.1 contacts the first limit screw 6.3, the central axes of the first hydraulic buffer 6.2 and the first limit screw 6.3 are perpendicular to the side wall of the swing arm shift plate 7.1.

[0034] In this embodiment, the arm shift buffer assembly 16 includes a second L-frame block 16.1, a second limit screw 16.2 and a second hydraulic buffer 16.3. The second L-frame block 16.1 is fixedly mounted on the upper surface of the base plate 1. A second limit screw 16.2 is installed in the middle of the second L-frame block 16.1. Second hydraulic buffers 16.3 are arranged on both sides of the second limit screw 16.2. The central axes of the second limit screw 16.2 and the second hydraulic buffer 16.3 are parallel to each other. When the double-arm frame 8 contacts the second limit screw 16.2, the central axes of the second limit screw 16.2 and the two groups of second hydraulic buffers 16.3 are perpendicular to the side walls of the double-arm frame 8.

[0035] Furthermore, the arm-moving cylinder 3.2 drives the double-arm frame 8 to reciprocate in the front and rear directions through the floating joint 3.3, thereby driving the loading arm 17 and the unloading arm 18 to axially feed in or out the bearings in the loading position 22, the processing position 23 and the unloading position 24. An arm-moving buffer assembly 16 is provided at the reciprocating motion ends of the double-arm frame 8. When the double-arm frame 8 triggers the second limit screw 16.2 on one side, the arm-moving cylinder 3.2 drives the double-arm frame 8 to move in the reverse direction, and the two ends of the floating joint 3.3 are fixedly connected to the bottom plate of the double-arm frame 8 and the piston rod of the arm-moving cylinder 3.2 through threaded connections.

[0036] Furthermore, one end of the swing arm cylinder 12 is driven eccentrically and fixed on the end face of the lower material arm driving gear 4, and the other end of the swing arm cylinder 12 is fastened to the swing arm cylinder seat 13 by screws. The swing arm cylinder seat 13 is rotatably connected with the swing arm cylinder frame 15 through the pin shaft 14. The rotatable connection at both ends of the swing arm cylinder 12 ensures that the position of the two ends of the swing arm cylinder 12 changes due to the continuous changes in height and position of the connection between the swing arm cylinder 12 and the lower material arm driving gear 4. The piston rod end of the swing arm cylinder 12 is fixedly connected to the top block 11 through a threaded connection. The position of the connection between the top block 11 and the end face of the lower material arm driving gear 4 and the piston movement stroke of the swing arm cylinder 12 jointly determine the maximum angle of the upper material arm 17 and the lower material arm 18 swing arms.

[0037] Furthermore, through the meshing transmission action of the lower arm driving gear 4 and the upper arm driving gear 7.2, the upper arm 17 and the lower arm 18 are driven to swing back and forth in opposite directions at the same time. By setting the length and shape of the upper arm 17 and the lower arm 18 and the positions of the loading position 22, the processing position 23 and the lowering position 24, it can be ensured that the end of the upper arm 17 reciprocates between the loading position 22 and the processing position 23, and the end of the lower arm 18 reciprocates between the processing position 23 and the lowering position 24.

[0038] Furthermore, both the lower material arm driving gear 4 and the upper material arm driving gear 7.2 are standard involute gears with the same specific specifications and dimensional parameters, and mesh with each other at a standard center distance.

[0039] Furthermore, the arm moving cylinder 3.2 is of model ACQS-40×40; the arm swing cylinder 12 is of model ACQS-40×60; the linear guide assembly 2 is of model HGH 20CA; the floating joint 3.3 is of model F-M14150F; the second hydraulic buffer 16.3 is of model BQC1604; and the first hydraulic buffer 6.2 is of model RBQC1604.

[0040] The working process of the cross double-arm loading and unloading mechanical device of this bearing inner ring grinder is as follows: when the piston rods of the swing arm cylinder 12 and the moving arm cylinder 3.2 are both in the retracted state, the end pin of the loading arm 17 has brought the bearing inner ring to the processing position 23, and at the same time, the end pin of the unloading arm 18 has brought the previously ground bearing inner ring to the unloading position 24.

[0041] The piston rod of the swing arm cylinder 12 continues to maintain the retracted position, and the piston rod of the arm transfer cylinder 3.2 extends to the limit position. At this time, the corresponding loading arm 17 and unloading arm 18 are integrally translated in the same direction as the piston rod of the arm transfer cylinder 3.2 under the guidance of the linear guide assembly 2, so that the loading arm 17 and the unloading arm 18 respectively produce a pin pulling action relative to the inner rings of the bearings at the processing position 23 and the unloading position 24. Finally, the pin at the end of the loading arm 17 is separated from the inner ring of the bearing to be processed, and at the same time, the inner ring of the previously ground bearing is also separated from the pin at the end of the unloading arm 18, and the inner ring of the bearing is transmitted out of the machine tool space along the unloading channel 20 by gravity.

[0042] The piston rod of the arm moving cylinder 3.2 remains in the extended limit position, and the piston rod of the swing arm cylinder 12 begins to extend, and the transmission of the top block 11, the top shaft 10, and the lower material arm driving gear 4 drives the lower material arm rotating shaft 5 to rotate. Due to the gear meshing transmission relationship, the upper material arm driving gear 7.2 rotates in the opposite direction at the same time, driving the swing arm shift plate 7.1 to swing until it touches the swing arm buffer assembly 6 on the right. At this time, the corresponding upper material arm end pin is in the loading position 22, and the inner ring of the bearing to be processed falls into the loading position 22 along the loading channel 19 by gravity, and the lower material arm end pin returns to the processing position 23.

[0043] The piston rod of the swing arm cylinder 12 maintains the same position, and the piston rod of the arm moving cylinder 3.2 retracts to the set position of the arm moving buffer assembly 16. At this time, the corresponding loading arm 17 and unloading arm 18 as a whole respectively generate a latching action relative to the bearing inner rings of the loading position 22 and the processing position 23, so that the end pins of the loading arm 17 and the unloading arm 18 are simultaneously inserted into the bearing inner ring of the loading position 22 and the ground bearing inner ring of the processing position 23. At this point, a working cycle of the device ends.

[0044] The above are only preferred embodiments of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should be regarded as the protection scope of the present invention.

Claims

1. A cross double-arm loading and unloading mechanical device for a bearing inner ring grinder, comprising a loading arm (17) and a unloading arm (18), wherein one end of the loading arm (17) is drivingly connected to a loading arm rotating shaft (9), and the other end of the loading arm (17) is used for reciprocating between a loading position (22) and a processing position (23), and one end of the unloading arm (18) is drivingly connected to a unloading arm rotating shaft (5), and the other end of the unloading arm (18) is used for reciprocating between a processing position (23) and a unloading position (24), characterized in that: The loading arm rotating shaft (9) is transmission-connected with the loading arm driving gear assembly (7), and the loading arm driving gear assembly (7) comprises a swing arm shift plate (7.1) and a loading arm driving gear (7.2). The loading arm rotating shaft (9) is coaxially fixedly connected with the loading arm driving gear (7.2), and the swing arm shift plate (7.1) is fixedly mounted on the end surface of the loading arm driving gear (7.2). The central axis of the swing arm shift plate (7.1) passes through the center of the loading arm driving gear (7.2), and one end of the swing arm shift plate (7.1) extends outward and extends out of the outer edge of the loading arm driving gear (7.2). Swing arm buffer assemblies (6) are provided at both ends of the stroke of the swing arm shift plate (7.1), and the swing arm buffer assembly (6) is used to limit the reciprocating motion of the swing arm shift plate (7.1); The loading arm driving gear (7.2) is meshed and transmission-connected with the loading arm driving gear (4); the loading arm rotating shaft (5) is coaxially fixedly connected with the loading arm driving gear (4); the loading arm driving gear (4) is rotatably connected to one end of the swing arm cylinder (12); the other end of the swing arm cylinder (12) is rotatably connected to the swing arm cylinder frame (15); the connection between the loading arm driving gear (4) and one end of the swing arm cylinder (12) is arranged on the end surface of the loading arm driving gear (4) and is eccentrically arranged; The loading arm rotating shaft (9) and the unloading arm rotating shaft (5) are rotatably fixedly mounted on the double-arm frame (8), and the central axis of the loading arm rotating shaft (9) and the central axis of the unloading arm rotating shaft (5) are both perpendicular to the vertical plane where the double-arm frame (8) is located; two sets of swing arm buffer assemblies (6) and the swing arm cylinder frame (15) are both fixedly mounted on the side wall of the double-arm frame (8), and the two sets of swing arm buffer assemblies (6) and the swing arm cylinder frame (15) are on the same side as the loading arm driving gear (7.2) and the unloading arm driving gear (4); The double-arm frame (8) is in driving connection with the arm-moving drive cylinder assembly (3); the double-arm frame (8) can reciprocate under the drive of the arm-moving drive cylinder assembly (3); the movement direction of the double-arm frame (8) is parallel to the axial direction of the upper arm rotating shaft (9) and the lower arm rotating shaft (5); the arm-moving drive cylinder assembly (3) is fixedly mounted on the upper surface of the base plate (1); two groups of arm-moving buffer assemblies (16) are also fixedly mounted on the upper surface of the base plate (1); the two groups of arm-moving buffer assemblies (16) are respectively arranged at the end points of the reciprocating motion of the double-arm frame (8); the two groups of arm-moving buffer assemblies (16) are used to limit the reciprocating motion of the double-arm frame (8); The double-arm frame (8) and the base plate (1) are slidably connected via a plurality of groups of linear guide rail assemblies (2); the axial direction of the linear guide rail assembly (2) is parallel to the axial direction of the upper material arm rotating shaft (9) and the lower material arm rotating shaft (5); the linear guide rail assembly (2) comprises a track (2.1) and a slider (2.2); the track (2.1) is fixedly mounted on the upper surface of the base plate (1); the slider (2.2) is fixedly mounted on the lower surface of the double-arm frame (8); the slider (2.2) is embedded in the track (2.1); and the slider (2.2) can slide relative to the track (2.1); The arm-moving drive cylinder assembly (3) comprises an arm-moving cylinder (3.2), the arm-moving cylinder (3.2) being fixedly mounted on the upper surface of the base plate (1) via two groups of L brackets (3.1) arranged at the front and rear, and the cylinder shaft of the arm-moving cylinder (3.2) being drivingly connected to the bottom edge of the double-arm frame (8) via a floating joint (3.3).

2. The cross double-arm loading and unloading mechanical device of a bearing inner ring grinder according to claim 1, characterized in that: A grinding wheel (21) is arranged at the edge of the processing position (23), the loading position (22) is arranged at the lower edge of the outlet of the loading channel (19), and the unloading position (24) is arranged at the upper edge of the unloading channel (20).

3. The cross double-arm loading and unloading mechanical device of a bearing inner ring grinder according to claim 1, characterized in that: The cylinder shaft of the swing arm cylinder (12) is fixedly connected to the top block (11), and the end of the top block (11) is connected to the top shaft. (10) is rotatably connected to the end face of the unloading arm driving gear (4); the end of the swing arm cylinder (12) away from the cylinder shaft is fixedly installed with the swing arm cylinder seat (13); and the swing arm cylinder seat (13) is rotatably connected to the swing arm cylinder frame (15) via a pin shaft (14).

4. The cross double-arm loading and unloading mechanical device of a bearing inner ring grinder according to claim 1, characterized in that: The end surface of the loading arm driving gear (7.2) is provided with a groove, and the groove is arranged along the radial direction of the loading arm driving gear (7.2); a convex strip is arranged on one side surface of the swing arm shift plate (7.1), and the convex strip can be embedded in the groove of the end surface of the loading arm driving gear (7.2); the rear end of the swing arm shift plate (7.1) is fixedly connected to the end surface of the loading arm driving gear (7.2) by screws.

5. The cross double-arm loading and unloading mechanical device of a bearing inner ring grinder according to claim 1, characterized in that: The swing arm buffer assembly (6) comprises a first L-frame block (6.1), a first hydraulic buffer (6.2) and a first limit screw (6.3); the first L-frame block (6.1) is fixedly mounted on the side wall of the double-arm frame (8); the first L-frame block (6.1) and the loading arm driving gear (7.2) are located on the same side of the double-arm frame (8); the first hydraulic buffer (6.2) and the first limit screw (6.3) are fixedly mounted on the first L-frame block (6.1); the axes of the first hydraulic buffer (6.2) and the first limit screw (6.3) are parallel to each other; when the swing arm stop plate (7.1) contacts the first limit screw (6.3), the central axes of the first hydraulic buffer (6.2) and the first limit screw (6.3) are perpendicular to the side wall of the swing arm stop plate (7.1).

6. The cross double-arm loading and unloading mechanical device of a bearing inner ring grinder according to claim 1, characterized in that: The arm-moving buffer assembly (16) comprises a second L-frame block (16.1), a second limit screw (16.2) and a second hydraulic buffer (16.3); the second L-frame block (16.1) is fixedly mounted on the upper surface of the base plate (1); a second limit screw (16.2) is mounted in the middle of the second L-frame block (16.1); second hydraulic buffers (16.3) are arranged on both sides of the second limit screw (16.2); the central axes of the second limit screw (16.2) and the second hydraulic buffer (16.3) are parallel to each other; when the double-arm frame (8) contacts the second limit screw (16.2), the central axes of the second limit screw (16.2) and the two sets of second hydraulic buffers (16.3) are perpendicular to the side walls of the double-arm frame (8).

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