Automatic stacking device for grinding tools

Abstract

The present invention provides an automatic stacking device for grinding tools, comprising a frame, a workbench fixed on the frame, a protective plate fixed on the outer wall of the frame, a pre-grinding stacking system and a post-grinding stacking system, wherein the workbench is divided into a first processing area, a second processing area and a temporary storage area in the transverse direction, wherein the first processing area and the second processing area are symmetrically arranged relative to the temporary storage area; the pre-grinding stacking system and the post-grinding stacking system are arranged in the first processing area and the second processing area, respectively. The automatic stacking device of the present invention can realize the automatic transfer and stacking of blades from a blade tray to a blade fixture tray by using a machine, thereby saving labor, reducing production costs, and improving production efficiency.

Description

Technical Field

[0001] The invention belongs to the field of grinding blade production equipment, and in particular relates to an automatic stacking device for grinding tools. Background Art

[0002] During the production process of metal grinding blades, the blades need to be transferred from a blade disc to a blade fixture disc, and then the blade fixture disc is placed in a corresponding grinder for grinding. The ground blades are then transferred from the blade fixture disc to the blade disc for storage. In the prior art, the transfer and stacking are generally performed manually using suction cups, which has low production efficiency and wastes manpower. Therefore, the present invention has developed an automatic stacking device for grinding tools, which automatically stacks the blades from the blade disc to the blade fixture disc, thereby saving labor and improving production efficiency. Summary of the invention

[0003] The problem to be solved by the present invention is to provide an automatic stacking device for grinding tools, which can realize the automatic transfer and stacking of blades from a blade tray to a blade fixture tray using a machine, thereby saving labor, reducing production costs and improving production efficiency.

[0004] In order to solve the above technical problems, the technical solution adopted by the present invention is: an automatic stacking device for grinding tools, comprising a frame, a workbench fixed on the frame, a protective plate fixed on the outer wall of the frame, a pre-grinding stacking system and a post-grinding stacking system, the workbench is divided into a first processing area, a second processing area and a temporary storage area in the transverse direction, the first processing area and the second processing area are symmetrically arranged relative to the temporary storage area; the pre-grinding stacking system and the post-grinding stacking system are respectively arranged in the first processing area and the second processing area.

[0005] In this technical solution, the frame is used to install the workbench, the pre-grinding stacking system and the pre-grinding stacking system. The pre-grinding stacking system and the pre-grinding stacking system B can realize the automatic transfer and stacking of the blades, thereby freeing up manpower and improving production efficiency.

[0006] Furthermore, the pre-grinding stacking system and the post-grinding stacking system have the same structure and are symmetrically arranged relative to the temporary storage area of ​​the workbench.

[0007] Furthermore, the stacking system before grinding and the stacking system after grinding both include a central control screen, a parallel arm robot, a visual center, an automatic loading and unloading device, a loading and unloading trolley, and a blade clamping mechanism;

[0008] The central control panel is fixedly mounted on the protective plate, the parallel arm robot is fixedly mounted on the top wall of the frame, and a blade clamping mechanism is fixedly connected to the bottom of the connecting arm of the parallel arm robot;

[0009] The automatic loading and unloading device is fixedly arranged on the frame, the automatic loading and unloading device is arranged through the workbench, and a plurality of square blade discs are vertically placed on the automatic loading and unloading device, and the square blade disc at the top is arranged flush with the workbench;

[0010] The loading and unloading trolley is arranged close to the edge of the workbench, and a plurality of support plates are vertically placed on the loading and unloading trolley, and two blade clamp discs are fixedly clamped in the support plate.

[0011] In this technical solution, the visual center is used to monitor the position of the blade clamping mechanism to facilitate control by the central control screen, thereby achieving precise positioning of automated transfer and stacking; the blade clamping mechanism is used to transfer and stack the blades, the automatic loading and unloading device is used to place the square blade tray and carry out loading and unloading, and the loading and unloading trolley is used to place the support plate and the blade clamp tray and carry out loading and unloading; the parallel arm robot is used to fix the blade clamping mechanism and transfer the position of the blade clamping mechanism, thereby assisting the blade clamping mechanism to transfer the blade.

[0012] Furthermore, in the stacking system before grinding, a plurality of grinding blades to be ground are loaded in the square blade plate, and a plurality of grinding blades to be ground are loaded in the blade fixture plate in the loading and unloading trolley;

[0013] In the post-grinding stacking system, the square blade tray is blank and is not loaded with grinding blades, and the blade fixture tray in the loading and unloading trolley is loaded with a plurality of grinding blades that have been ground.

[0014] Furthermore, the central control screen is a touch control screen and a controller is arranged inside the central control screen for controlling the operation of each component.

[0015] Furthermore, the visual center includes a plurality of cameras, which are fixed at different positions of the rack through brackets, and the cameras are arranged toward the workbench, and the cameras are electrically connected to the controller.

[0016] Furthermore, the automatic loading and unloading device comprises a profile frame, a tray loading and unloading mechanism and a power mechanism; a bottom plate is fixedly installed at the bottom of the profile frame;

[0017] The tray loading and unloading mechanism comprises two groups of loading and unloading components arranged oppositely; the loading and unloading components comprise a first gear shaft, the first gear shaft is fixed to the profile frame through a first shaft mounting plate, two groups of first gears are fixedly connected to the first gear shaft, the first gear is connected to the second gear through a first chain, the second gear is fixedly mounted on the second gear shaft, the second gear shaft is rotatably connected to the first mounting seat, the first mounting seat is fixedly mounted on the bottom plate, a support ear is fixedly connected to the first chain, and a stop bar is fixedly mounted on the support ear; the stop bars on each group of loading and unloading components are arranged oppositely;

[0018] The power mechanism includes a motor, a first driving gear, a second driving gear, a first driven gear, a second driven gear, a third gear and a fourth gear; the motor is fixedly mounted on the base plate, the output shaft of the motor is fixedly connected to the third gear shaft, one end of the third gear shaft is mounted on the base plate through a second mounting seat, the first driving gear and the second driving gear are both fixedly mounted on the third gear shaft, and the first driving gear is connected to the first driven gear through a second chain, the first driven gear is fixedly mounted on the second gear shaft of one group of loading and unloading components, the second driving gear is meshedly connected with the second driven gear, the second driven gear and the third gear are mounted on the fourth gear shaft, the fourth gear shaft is mounted on the base plate through a third mounting seat, the third gear is connected to the fourth gear through a third chain, and the fourth gear is fixedly mounted on the second gear shaft of another group of loading and unloading components; the motor is electrically connected to the controller.

[0019] Furthermore, the baffle bars of the two groups of loading and unloading assemblies are arranged opposite to each other to form a group of fixed cavities, wherein a plurality of the square blade discs are placed in different fixed cavities in sequence from top to bottom.

[0020] Furthermore, the loading and unloading trolley includes a trolley shell, a universal wheel arranged at the bottom of the trolley shell, a push handle arranged on the trolley shell, and an automatic loading and unloading device fixedly arranged in the trolley shell, and the two groups of baffles of the loading and unloading components are arranged one by one to form a group of fixed cavities, wherein several of the support plates are placed in different fixed cavities in sequence from top to bottom.

[0021] Further, the blade clamping mechanism includes a support frame and a plurality of gripping components fixed on the support frame;

[0022] The grabbing assembly includes a grabbing servo motor, an electromagnetic suction cup and a positioning column. The electromagnetic suction cup includes an upper suction cup and a lower suction cup. The positioning column is fixedly arranged on the bottom wall of the upper suction cup. The positioning column penetrates the lower suction cup. A spring is sleeved on the positioning column. The two ends of the spring are respectively fixed on the bottom wall of the upper suction cup and the top wall of the lower suction cup. The upper suction cup is fixedly connected to the output shaft of the grabbing servo motor. The grabbing servo motor and the electromagnetic suction cup are both electrically connected to the controller.

[0023] The support frame includes a vertical plate and a horizontal plate, the horizontal plate is fixedly arranged on the top wall of the vertical plate, and the horizontal plate is vertically arranged and connected by reinforcing ribs; a plurality of the grabbing assemblies are symmetrically arranged on the vertical plate with the reinforcing ribs as the center, and the grabbing assemblies are fixedly connected to the vertical plate by bolts.

[0024] Furthermore, the temporary storage area is divided into a first area for temporarily storing the square blade disc and a second area for temporarily storing the support plate, the first area is located between two automatic loading and unloading devices, and the second area is located between the two loading and unloading trolleys.

[0025] The advantages and positive effects of the present invention are:

[0026] The automatic stacking device for grinding tools of the present invention realizes automatic transfer and stacking of blades through the pre-grinding stacking system and the post-grinding stacking system, thereby saving labor and improving the production efficiency of blades. The automatic stacking device for grinding tools of the present invention is provided with a pre-grinding stacking system and a post-grinding stacking system, and the two operate simultaneously; wherein the pre-grinding stacking system transfers the blades to be ground from the square blade disk to the blade fixture disk, and the post-grinding stacking system transfers the ground blades from the blade fixture disk to the square blade disk, so the pre-grinding stacking device of the device transfers the blades to be ground, and the post-grinding stacking device transfers the ground blades, and the two operate in coordination to realize the cycle operation of blade processing, which can speed up the processing efficiency. The pre-grinding stacking system and the post-grinding stacking system of the present invention are provided with an automatic loading and unloading device, a central control screen, a visual center, a parallel arm robot, a blade clamping mechanism and a loading and unloading trolley, wherein the visual center is used to detect the blade clamping mechanism and the position of the blade, and then the central control screen is used to control the operation of the blade clamping mechanism, the parallel arm robot and the automatic loading and unloading device, thereby facilitating the accurate transfer and stacking of the blades, thereby realizing the automatic stacking function. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a structural schematic diagram of an automatic stacking device for grinding tools of the present invention;

[0028] Figure 2 This is a front view of an automatic stacking device for grinding tools of the present invention;

[0029] Figure 3 It is a rear view of an automatic stacking device for grinding tools of the present invention;

[0030] Figure 4 It is a structural schematic diagram of a blade clamping mechanism in an automatic stacking device for grinding tools of the present invention;

[0031] Figure 5 It is a structural schematic diagram of a grabbing component in an automatic stacking device for grinding tools of the present invention;

[0032] Figure 6 It is a structural schematic diagram of an automatic feeding device in an automatic stacking device for grinding tools of the present invention;

[0033] Figure 7 It is a schematic diagram of the connection structure between the loading and unloading components and the power mechanism in an automatic stacking device for grinding tools of the present invention;

[0034] Figure 8 yes Figure 7 A magnified view of the structure in the middle;

[0035] Fig. 9 It is a structural schematic diagram of a power mechanism in an automatic stacking device for grinding tools of the present invention;

[0036] Fig.10 It is a control block diagram of an automatic stacking device for grinding tools of the present invention;

[0037] In the figure: 1-frame, 2-workbench, 21-first processing area, 22-second processing area, 23-temporary storage area, 3-protective plate;

[0038] A-stacking system before grinding, B-stacking system after grinding, 100-central control screen, 110-parallel arm robot;

[0039] 120-visual center, 1201-camera, 1202-bracket,

[0040] 130-automatic loading and unloading device, 1301-square blade disc, 131-profile frame, 132-loading and unloading assembly, 132-1, first gear shaft, 132-2, first gear, 132-3, first shaft mounting plate, 132-4, first chain, 132-5, support ear, 132-6, stop bar, 132-7, second gear, 132-8, second gear shaft, 132-9, first mounting seat, 133-power mechanism, 133-1, motor, 133-2, first driving gear, 133-3, second driving gear, 133-4, first driven gear, 133-5, second driven gear, 133-6, third gear, 133-7, fourth gear, 133-8, third gear shaft, 133-9, second mounting seat, 133-10, fourth gear shaft, 133-11, third mounting seat, 133-12, third chain, 134-bottom plate;

[0041] 140-loading and unloading trolley, 1401-support plate, 1402-blade clamp plate, 141-trolley housing, 142-universal wheel, 143-push handle;

[0042] 150-blade clamping mechanism, 151-support frame, 1511-vertical plate, 1512-horizontal plate, 1513-reinforcement rib, 152-grabbing assembly, 1521-grabbing servo motor, 1521-1, output shaft, 1522-electromagnetic suction cup, 1522-1, upper suction cup, 1522-2, lower suction cup, 1523-positioning column, 1524-spring. DETAILED DESCRIPTION

[0043] The specific implementation modes of the present invention are described in detail below with reference to the accompanying drawings.

[0044] Example:

[0045] like Figure 1 and Figure 2 As shown: an automatic stacking device for grinding tools, including a frame 1, a workbench 2 fixed on the frame 1, a protective plate 3 fixed on the outer wall of the frame 1, a pre-grinding stacking system A and a post-grinding stacking system B, the workbench 2 is divided into a first processing area 21, a second processing area 22 and a temporary storage area 23 in the horizontal direction, the first processing area 21 and the second processing area 22 are symmetrically arranged relative to the temporary storage area 23; the pre-grinding stacking system A and the post-grinding stacking system B are respectively arranged in the first processing area 21 and the second processing area 22. Among them, the frame 1 is used to install the workbench 2, the pre-grinding stacking system A and the pre-grinding stacking system B, and the pre-grinding stacking system A and the pre-grinding stacking system B can realize the automatic transfer and stacking of blades, thereby freeing up manpower and improving production efficiency.

[0046] The pre-grinding stacking system A and the post-grinding stacking system B have the same structure and are symmetrically arranged relative to the temporary storage area 23 of the workbench 2 .

[0047] Also refer to Figure 1 and Figure 3 In this embodiment, the pre-grinding stacking system A and the post-grinding stacking system B both include a central control panel 100, a parallel-arm robot 110, a visual center 120, an automatic loading and unloading device 130, a loading and unloading trolley 140, and a blade clamping mechanism 150; the central control panel 100 is fixedly mounted on the protective plate 3, the parallel-arm robot 110 is fixedly mounted on the top wall of the frame 1, and the bottom of the connecting arm of the parallel-arm robot 110 is fixedly connected to the blade clamping mechanism 150; the automatic loading and unloading device 130 is fixedly arranged on the frame 1, the automatic loading and unloading device 130 is arranged throughout the workbench 2, and the automatic loading and unloading device 130 is fixedly arranged on the frame 1, and the automatic loading and unloading device 130 is arranged on the workbench 2. A plurality of square blade discs 1301 are vertically placed on the device 130, and the topmost square blade disc 1301 is arranged flush with the workbench 2; the automatic loading and unloading device 130 is used to load and unload the square blade disc 1301 to store or take out the blades; the loading and unloading trolley 140 is arranged close to the edge of the workbench 2, and a plurality of support plates 1401 are vertically placed on the loading and unloading trolley 140, and two blade clamp discs 1402 are fixedly provided in the support plate 1401, and the loading and unloading trolley 140 is used to load and unload the blade clamp disc 1402 to store or take out the blades. Among them, the visual center 120 is used to monitor the position of the blade clamping mechanism 150, so as to facilitate the control of the central control screen 100, so as to realize the precise positioning of automatic transfer and stacking; the blade clamping mechanism 150 is used to transfer and stack the blades, the automatic loading and unloading device 130 is used to place the square blade tray 1301 and carry out loading and unloading, and the loading and unloading trolley 140 is used to place the support plate 1401 and the blade clamp tray 1402 and carry out loading and unloading; the parallel arm robot 110 is used to fix the blade clamping mechanism 150 and transfer the position of the blade clamping mechanism 150, so as to assist the blade clamping mechanism 150 to transfer the blade.

[0048] Reference Figure 1In this embodiment, in the stacking system A before grinding, the square blade tray 1301 is loaded with a plurality of grinding blades to be ground, and the blade fixture tray 1402 in the loading and unloading trolley 140 is loaded with a plurality of grinding blades to be ground; in the stacking system B after grinding, the square blade tray 1301 is blank and is not loaded with grinding blades, and the blade fixture tray 1402 in the loading and unloading trolley 140 is loaded with a plurality of grinding blades that have been ground. The stacking system A before grinding is used to transfer and stack the blades to be ground from the square blade tray 1301 to the blade fixture tray 1402 for the next step of grinding, and the stacking system B after grinding is used to transfer the blades that have been ground from the blade fixture tray 1402 to the square blade tray 1301 for storage. This setting can realize the rapid and automatic stacking of blades, which is convenient for speeding up the processing process. Moreover, the stacking system A before grinding and the stacking system B after grinding are controlled by different controllers and do not affect each other. Their coordinated operation can realize the cycle operation of blade processing, thereby speeding up the production process.

[0049] In this embodiment, the central control screen 100 is a touch control screen and a controller is provided inside the central control screen for controlling the operation of each component. The controller is provided with a program for controlling the operation of the device, so that the entire device can be automatically controlled.

[0050] Reference Figure 1 The visual center 120 includes a plurality of cameras 1201, which are fixed at different positions of the frame 1 through a bracket 1202, and the cameras 1201 are arranged toward the workbench 2, and the cameras 1201 are electrically connected to the controller. There are a plurality of cameras 1201, and they are arranged in multiple directions, so that the position of the blade clamping mechanism 150 and the position of the blade can be monitored in multiple directions, and then transmitted to the controller, so that the controller can control the parallel arm robot 110 to drive the blade clamping mechanism 150 to move to the corresponding position so as to grab and transfer the blade, thereby achieving accurate transfer positioning.

[0051] Reference Figure 6 The automatic loading and unloading device 130 includes a profile frame 131, a tray loading and unloading mechanism and a power mechanism 133; a bottom plate 134 is fixedly installed at the bottom of the profile frame 131; Figure 5 and Figure 6The pallet loading and unloading mechanism includes two groups of loading and unloading components 132 arranged oppositely; the loading and unloading components include a first gear shaft 132-1, the first gear shaft 132-1 is fixed to the profile frame 131 through a first shaft mounting plate 132-3, two groups of first gears 132-2 are fixedly connected to the first gear shaft 132-1, the first gear 132-2 is connected to the second gear 132-7 through a first chain 132-4, the second gear 132-7 is fixedly mounted on the second gear shaft 132-8, and the second gear The wheel shaft 132-8 is rotatably connected to the first mounting seat 132-9, and the first mounting seat 132-9 is fixedly mounted on the bottom plate 134. The first chain 132-4 is fixedly connected with a support ear 132-5, and the support ear 132-5 is fixedly mounted with a stop bar 132-6; the stop bars 132-6 on each group of loading and unloading components are arranged oppositely; the stop bars 132-6 of the two groups of loading and unloading components are arranged one by one to form a group of fixed cavities, in which a plurality of square blade discs 1301 are placed in different fixed cavities from top to bottom. The power mechanism 133 is used to drive the second gear shaft 132-8 to rotate, and while rotating, the first chain 132-4 rotates accordingly, so that the stop bar 132-6 moves up or down with the first chain 132-4, so that the square blade disc 1301 can be moved up or down, thereby realizing loading.

[0052] Reference Figure 7 and Fig. 9The power mechanism 133 includes a motor 133-1, a first driving gear 133-2, a second driving gear 133-3, a first driven gear 133-4, a second driven gear 133-5, a third gear 133-6 and a fourth gear 133-7; the motor 133-1 is fixedly mounted on the bottom plate 134, the output shaft of the motor 133-1 is fixedly connected to the third gear shaft 133-8, one end of the third gear shaft 133-8 is mounted on the bottom plate 134 through a second mounting seat 133-9, the first driving gear 133-2 and the second driving gear 133-3 are both fixedly mounted on the third gear shaft 133-8, and the first driving gear 133-2 is connected to the first driven gear 133-4 through a second chain. The first driven gear 133-4 is connected, the first driven gear 133-4 is fixedly mounted on the second gear shaft 132-8 of one group of loading and unloading components, the second driving gear 133-3 is meshed and connected with the second driven gear 133-5, the second driven gear 133-5 and the third gear 133-6 are mounted on the fourth gear shaft 133-10, the fourth gear shaft 133-10 is mounted on the base plate 134 through the third mounting seat 133-11, the third gear 133-6 is connected to the fourth gear 133-7 through the third chain 133-12, and the fourth gear 133-7 is fixedly mounted on the second gear shaft 132-8 of another group of loading and unloading components; the motor 133-1 is electrically connected to the controller. When the motor 133-1 rotates, it drives the first driving gear 133-2 and the second driving gear 133-3 to rotate through the third gear shaft 133-8, and the first driving gear 133-2 drives the second gear shaft 132-8 in one group of loading and unloading components to rotate through the first driven gear 133-4 and the second chain; when the second driving gear 133-3 rotates, it drives the meshed second driven gear 133-5 to rotate, so that the second driven gear 133-5 drives the third gear 133-6 and the fourth wheel shaft 133-10 to rotate, and the third gear 133-6 drives the fourth gear 133-7 and the second gear shaft 132-8 in another group of loading and unloading components to rotate through the third chain 133-12; thus, this structure can realize the use of the same motor to control the movement of the first chain 132-4 in the two groups of loading and unloading devices, and can ensure that the moving direction and moving speed of each group of relative baffles 132-6 are consistent, thereby ensuring the stability of loading and unloading of the square blade disc 1301.

[0053] In this embodiment, the loading and unloading trolley 140 includes a trolley shell 141, a universal wheel 142 arranged at the bottom of the trolley shell 141, a push handle 143 arranged on the trolley shell 141, and an automatic loading and unloading device 130 fixedly arranged in the trolley shell 141. The two groups of loading and unloading components in the loading and unloading trolley 140 are arranged one by one to form a group of fixed cavities, and a plurality of support plates 1401 are placed in different fixed cavities from top to bottom. The automatic loading and unloading device 130 in the loading and unloading trolley 140 is used to load and unload the support plate 1401, and the motor 133-1 in the loading and unloading trolley 140 is controlled separately and is not connected to the controller, so that the loading and unloading trolley 140 can be moved and used in multiple ranges. When the loading and unloading trolley 140 is full or completely unloaded, it can be directly pushed away and replaced with a new loading and unloading trolley 140, which is convenient for use.

[0054] Reference Figure 4 In this embodiment, the blade clamping mechanism 150 includes a support frame 151 and a plurality of gripping components 152 fixed on the support frame 151; the support frame 151 includes a vertical plate 1511 and a horizontal plate 1512, the horizontal plate 1512 is fixedly arranged on the top wall of the vertical plate 1511, and the horizontal plate 1512 is vertically arranged with the vertical plate 1511 and is reinforced and connected by a reinforcing rib 1513; a plurality of gripping components 152 are symmetrically arranged on the vertical plate 1511 with the reinforcing rib 1513 as the center, and the gripping components 152 are fixedly connected to the vertical plate 1511 by bolts; wherein, the support frame 151 is used to fix the gripping components 152 and to install and fix the blade clamping mechanism 150 to the parallel arm robot 110. When in use, the bottom of the connecting arm of the parallel arm robot 110 can be directly fixed and installed with the horizontal plate 1512. At this time, the parallel arm robot 110 can drive the blade clamping mechanism 150 to move during the movement.

[0055] Reference Figure 5The grabbing assembly 152 includes a grabbing servo motor 1521, an electromagnetic suction cup 1522 and a positioning column 1523. The electromagnetic suction cup 1522 includes an upper suction cup 1522-1 and a lower suction cup 1522-2. The positioning column 1523 is fixedly arranged on the bottom wall of the upper suction cup 1522-1. The positioning column 1523 penetrates the lower suction cup 1522-2. A spring 1524 is sleeved on the positioning column 1523. The two ends of the spring 1524 are respectively fixed on the bottom wall of the upper suction cup 1522-1 and the top wall of the lower suction cup 1522-2. The upper suction cup 1522-1 is fixedly connected to the output shaft 1521-1 of the grabbing servo motor 1521; the grabbing servo motor 1521 and the electromagnetic suction cup 1522 are both electrically connected to the controller. When in use, the positioning column 1523 is used to be inserted into the knife hole at the center of the blade to facilitate positioning of the blade. After that, the electromagnetic suction cup 1522 is powered on to generate magnetic force, and the lower suction cup 1522-2 moves upward along the positioning column 1523, thereby sucking the blade and moving it upward. When the parallel arm robot 110 drives the entire blade clamping mechanism 150 to the corresponding position, according to the position of the storage hole in the blade clamping disk 1402, the corresponding grasping servo motor 1521 can be rotated to drive the blade to rotate to a position matching the placement hole of the blade clamping disk 1402. After that, it is only necessary to turn off the power of the electromagnetic suction cup 1522, and the blade can be accurately placed in the blade clamping disk 1402 along the positioning column 1523. The grasping component 152 can easily absorb and transfer the blade.

[0056] In addition, the temporary storage area 23 is divided into a first area for temporarily storing the square blade disc 1301 and a second area for temporarily storing the support plate 1401. The first area is located between the two automatic loading and unloading devices 130, and the second area is located between the two loading and unloading carts 140. In order to facilitate the placement of the square blade disc 1301 and the blade fixture disc 1402, the automatic loading and unloading devices 130 can be arranged in the first area and the second area to temporarily store the empty square blade disc 1301 generated by the stacking system B after grinding and the empty support plate 1401 generated by the stacking system A before grinding, so as to work.

[0057] When the automatic stacking device for grinding tools of the present invention is used:

[0058] A pre-grinding stacking system A and a post-grinding stacking system B are provided, and the two systems run simultaneously and are controlled by their own controllers without affecting each other.

[0059] When the stacking system A before grinding is in operation: When the system is in operation, the blade to be ground is transferred from the square blade disk 1301 to the blade clamp disk 1402 of the support plate 1401 to facilitate the subsequent grinding process.

[0060] First, the motor 133-1 is manually controlled through the central control panel 100 to run, thereby driving the first chain 132-4 to move slowly, and then multiple square blade discs 1301 with blades to be ground are placed in turn into the fixed cavity formed by each group of baffles 132-6 of the automatic loading and unloading device 130, and the square blade discs 1301 are placed in the automatic loading and unloading device 130;

[0061] Secondly, place the support plate 1401 with the blank blade fixture plate 1402 installed on the workbench 2, and then control the central control screen 100 to perform the transfer and stacking work;

[0062] During transfer and stacking, the visual center 120 plays a role in monitoring and controlling positioning, wherein the multi-directional camera 1201 photographs and monitors the positions of the blade clamping mechanism 150, the square blade disk 1301 and the blade clamping disk 1402, and transmits their position information to the controller, and then the controller controls the parallel arm robot 110 to drive the blade clamping mechanism 150 to move above the square blade disk 1301, and then the parallel arm robot 110 moves downward, thereby driving the grasping assembly 152 to move downward until the positioning column 1523 is inserted into the knife hole of the corresponding blade, and then the electromagnetic suction cup 1522 is energized to move. The blade is adsorbed, and then the controller controls the parallel arm robot 110 to drive the grabbing assembly 152 to move to the top of the blade fixture disk 1402, and then positions it according to the various position information of the camera 1201, and moves the blade to the top of the placement hole of the corresponding blade fixture disk 1402, and then controls the corresponding grabbing servo motor 1521 to rotate as needed, and matches the grabbed blade with the placement hole at the bottom, and then cuts off the power to the electromagnetic suction cup 1522, so that the blade can be dropped from the positioning column 1523 to the corresponding blade fixture disk 1402. At this time, a blade transfer is completed, and then the above steps can be repeated.

[0063] Afterwards, when all the blades on the uppermost square blade disk 1301 have been transferred, the central control screen 100 is manually used to control the motor 133-1 to rotate, so that the square blade disk 1301 moves upward, and the upper square blade disk 1301 is removed and placed in the temporary storage area 23, so that the lower square blade disk 1301 can move up and down until it is flush with the workbench 2, and the blades can continue to be moved and stacked; when all the blades in the square blade disk 1301 in the automatic loading and unloading device 130 have been moved and stacked, the device is paused and a new square blade disk 1301 loaded with blades to be ground is placed in the automatic loading and unloading device 130 again, and work can continue;

[0064] When the blade clamp plate 1402 of the support plate 1401 on the workbench 2 is fully filled, the support plate 1401 is placed in the fixed cavity formed by the baffle 133-6 of the automatic loading and unloading device 130 in the loading and unloading trolley 140, and a new empty support plate 1401 is taken out and placed on the workbench 2 to continue the transfer and stacking; then the motor 133-1 in the automatic loading and unloading device 130 of the loading and unloading trolley 140 is manually controlled to operate, so that the first chain 132-4 moves downward, thereby driving the support plate 1401 to move downward, and then another support plate 1401 can be placed on its upper side; when the automatic loading and unloading device 130 in the entire loading and unloading trolley 140 is fully filled, the loading and unloading trolley 140 can be pushed to the grinding processing equipment to carry out the next step of processing on the blade, and a new empty loading and unloading trolley 140 is replaced here to continue working.

[0065] It can be seen that the pre-grinding stacking system A can greatly reduce the labor burden, thereby realizing automated stacking operations and improving production efficiency.

[0066] When the post-grinding stacking system B is in operation: When the system is in operation, it transfers the ground blades from the blade fixture disk 1402 to the square blade disk 1301 to facilitate the subsequent processing or packaging of the blades.

[0067] First, the motor 133-1 is manually controlled through the central control panel 100 to run, thereby driving the first chain 132-4 to move slowly, and then multiple blank square blade discs 1301 are placed in turn into the fixed cavity formed by each group of baffles 132-6 of the automatic loading and unloading device 130, and the square blade discs 1301 are placed in the automatic loading and unloading device 130;

[0068] Secondly, place the loading and unloading trolley 140 loaded with the ground blades next to the workbench 2, take the support plate 1401 of the top blade fixture plate 1402 and place it on the workbench 2, and then control the central control screen 100 to transfer and stack;

[0069] During the transfer and stacking, the visual center 120 plays the role of monitoring and controlling the positioning, wherein the multi-directional camera 1201 takes pictures and monitors the positions of the blade clamping mechanism 150, the square blade disk 1301 and the blade fixture disk 1402, and transmits their position information to the controller, and then the controller controls the parallel arm robot 110 to drive the blade clamping mechanism 150 to move above the blade fixture disk 1402, and then the parallel arm robot 110 moves downward, thereby driving the grasping assembly 152 to move downward until the positioning column 1523 is inserted into the corresponding blade hole, and then the electromagnetic suction cup 1522 is energized to move the blade After adsorption, the controller controls the parallel arm robot 110 to drive the grabbing assembly 152 to move to the top of the blank square blade tray 1301, and then positions it according to the position information of the camera 1201, and moves the blade to the top of the placement hole of the corresponding square blade tray 1301. Then, the corresponding grabbing servo motor 1521 is controlled to rotate as needed to match the grabbed blade with the placement hole at the bottom, and then the electromagnetic suction cup 1522 is powered off, and the blade can be dropped from the positioning column 1523 to the corresponding square blade tray 1301. At this time, a blade transfer is completed, and the above steps can be repeated.

[0070] Afterwards, when the placement holes on the uppermost square blade tray 1301 are all filled, the central control screen 100 is manually controlled to rotate the motor 133-1, so that the square blade tray 1301 moves upward, and the upper square blade tray 1301 is removed, so that the lower square blade tray 1301 can move up and down until it is flush with the workbench 2, and the blades can continue to be moved and stacked; when the square blade trays 1301 in the automatic loading and unloading device 130 are all filled, the device is paused and a new blank square blade tray 1301 is placed in the automatic loading and unloading device 130 again to continue working;

[0071] When all the blade clamp plates 1402 of the support plate 1401 are removed, the blank support plate 1401 is placed in the temporary storage area 23 of the workbench 2, and then the support plate 1401 at the top of the loading and unloading trolley 140 is placed on the workbench, and the transfer and stacking can continue; then the motor 133-1 in the automatic loading and unloading device 130 of the loading and unloading trolley 140 is manually controlled to operate, so that the first chain 132-4 moves upward, thereby driving the support plate 1401 to move upward, and then the support plate 1401 at the bottom of the loading and unloading trolley 140 can be moved upward to facilitate continued removal; when all the support plates 1401 of the automatic loading and unloading device 130 in the entire loading and unloading trolley 140 are taken out, the loading and unloading trolley 140 can be pushed to the pre-grinding stacking system A for use, and the loading and unloading trolley 140 loaded with ground blades can be replaced here to continue working.

[0072] It can be seen from this that the pre-grinding stacking system B can greatly reduce the labor burden, thereby realizing automated stacking operations and improving production efficiency.

[0073] From the above experimental process, it can be known that the temporary storage area 23 can be used as an intermediate transition area to place the support plate 1401 and the square blade disk 1301 for a short time, so as to coordinate the work on both sides. At the same time, the empty square blade disk 1301 generated by the pre-grinding stacking system A can be directly applied to the post-grinding stacking system B, and the empty support plate 1401 generated by the post-grinding stacking system B can be directly placed in the pre-grinding stacking system A for use, thereby saving space and playing a good transition role.

[0074] The automatic stacking device for grinding tools of the present invention is provided with a pre-grinding stacking system and a post-grinding stacking system, which operate simultaneously and cooperate with each other to realize the cycle operation of blade processing and improve the processing efficiency.

[0075] The above is a detailed description of an embodiment of the present invention, but the content is only a preferred embodiment of the present invention and cannot be considered to limit the scope of implementation of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of the patent coverage of the present invention.

Claims

1. An automatic stacking device for grinding tools, characterized in that: The invention comprises a frame (1), a workbench (2) fixed on the frame (1), a protective plate (3) fixed on the outer wall of the frame (1), a pre-grinding stacking system (A) and a post-grinding stacking system (B), wherein the workbench (2) is divided into a first processing area (21), a second processing area (22) and a temporary storage area (23) in the transverse direction, and the first processing area (21) and the second processing area (22) are symmetrically arranged relative to the temporary storage area (23); The pre-grinding stacking system (A) and the post-grinding stacking system (B) are respectively arranged in a first processing area (21) and a second processing area (22); the pre-grinding stacking system (A) and the post-grinding stacking system (B) have the same structure and are symmetrically arranged relative to a temporary storage area (23) of a workbench (2); the pre-grinding stacking system (A) and the post-grinding stacking system (B) both include a central control screen (100), a parallel arm robot (110), a visual center (120), an automatic loading and unloading device (130), a loading and unloading trolley (140) and a blade clamping mechanism (150); The central control panel (100) is fixedly mounted on the protective plate (3), the parallel arm robot (110) is fixedly mounted on the top wall of the frame (1), and a blade clamping mechanism (150) is fixedly connected to the bottom of the connecting arm of the parallel arm robot (110); The automatic loading and unloading device (130) is fixedly arranged on the frame (1), the automatic loading and unloading device (130) is arranged through the workbench (2), and a plurality of square blade discs (1301) are vertically placed on the automatic loading and unloading device (130), and the topmost square blade disc (1301) is arranged flush with the workbench (2), and the automatic loading and unloading device (130) comprises a profile frame (131), a tray loading and unloading mechanism and a power mechanism (133); a bottom plate (134) is fixedly installed at the bottom of the profile frame (131); The tray loading and unloading mechanism comprises two groups of loading and unloading components (132) arranged opposite to each other; the loading and unloading components comprise a first gear shaft (132-1), the first gear shaft (132-1) is fixed to the profile frame (131) via a first shaft mounting plate (132-3), two groups of first gears (132-2) are fixedly connected to the first gear shaft (132-1), the first gear (132-2) is connected to the second gear (132-7) via a first chain (132-4), The second gear (132-7) is fixedly mounted on the second gear shaft (132-8), the second gear shaft (132-8) is rotatably connected to the first mounting seat (132-9), the first mounting seat (132-9) is fixedly mounted on the bottom plate (134), a support ear (132-5) is fixedly connected to the first chain (132-4), and a stop bar (132-6) is fixedly mounted on the support ear (132-5); the stop bars (132-6) on each group of loading and unloading components are arranged relative to each other; The loading and unloading trolley (140) is arranged close to the edge of the workbench (2), and a plurality of support plates (1401) are vertically placed on the loading and unloading trolley (140), and two blade clamping plates (1402) are fixedly provided inside the support plates (1401). In the pre-grinding stacking system (A), a plurality of grinding blades to be ground are loaded in the square blade disk (1301), and a plurality of grinding blades to be ground are loaded in the blade clamping plate (1402) in the loading and unloading trolley (140); In the post-grinding stacking system (B), the square blade disk (1301) is blank and is not loaded with grinding blades, and the blade clamp disk (1402) in the loading and unloading trolley (140) is loaded with a plurality of grinding blades that have been ground. The loading and unloading trolley (140) includes a trolley shell (141), a universal wheel (142) arranged at the bottom of the trolley shell (141), a push handle (143) arranged on the trolley shell (141), and an automatic loading and unloading device (130) fixedly arranged in the trolley shell (141), and the blocking bars (132-6) of the two groups of loading and unloading components are arranged one by one to form a group of fixed cavities, wherein a plurality of the support plates (1401) are placed in different fixed cavities in sequence from top to bottom.

2. The automatic stacking device for grinding tools according to claim 1, characterized in that: The central control screen (100) is a touch control screen and is internally provided with a controller for controlling the operation of each component.

3. The automatic stacking device for grinding tools according to claim 2, characterized in that: The visual center (120) includes a plurality of cameras (1201), which are fixed at different positions of the frame (1) via a bracket (1202), and the cameras (1201) are arranged toward the workbench (2), and the cameras (1201) are electrically connected to a controller.

4. The automatic stacking device for grinding tools according to claim 2, characterized in that: The power mechanism (133) comprises a motor (133-1), a first driving gear (133-2), a second driving gear (133-3), a first driven gear (133-4), a second driven gear (133-5), a third gear (133-6) and a fourth gear (133-7); the motor (133-1) is fixedly mounted on the base plate (134); the output shaft of the motor (133-1) is fixedly connected to a third gear shaft (133-8); one end of the third gear shaft (133-8) is mounted on the base plate (134) via a second mounting seat (133-9); the first driving gear (133-2) and the second driving gear (133-3) are both fixedly mounted on the third gear shaft (133-8); and the first driving gear (133-2) and the second driving gear (133-3) are fixedly mounted on the third gear shaft (133-8); ) is connected to the first driven gear (133-4) through a second chain, the first driven gear (133-4) is fixedly mounted on the second gear shaft (132-8) of one set of loading and unloading assemblies, the second driving gear (133-3) is meshedly connected with the second driven gear (133-5), the second driven gear (133-5) and the third gear (133-6) are mounted on the fourth gear shaft (133-10), the fourth gear shaft (133-10) is mounted on the bottom plate (134) through a third mounting seat (133-11), the third gear (133-6) is connected to the fourth gear (133-7) through a third chain (133-12), and the fourth gear (133-7) is fixedly mounted on the second gear shaft (132-8) of the other set of loading and unloading assemblies; The motor (133-1) is electrically connected to the controller.

5. The automatic stacking device for grinding tools according to claim 4, characterized in that: The two groups of blocking bars (132-6) of the loading and unloading assemblies are arranged opposite to each other to form a group of fixed cavities, wherein a plurality of the square blade discs (1301) are placed in different fixed cavities in sequence from top to bottom.

6. The automatic stacking device for grinding tools according to claim 2, characterized in that: The blade clamping mechanism (150) comprises a support frame (151) and a plurality of gripping components (152) fixed on the support frame (151); The grabbing assembly (152) comprises a grabbing servo motor (1521), an electromagnetic suction cup (1522) and a positioning column (1523). The electromagnetic suction cup (1522) comprises an upper suction cup (1522-1) and a lower suction cup (1522-2). The positioning column (1523) is fixedly arranged on the bottom wall of the upper suction cup (1522-1). The positioning column (1523) passes through the lower suction cup (1522-2). A spring (1524) is sleeved on the column (1523), and two ends of the spring (1524) are respectively fixed on the bottom wall of the upper suction cup (1522-1) and the top wall of the lower suction cup (1522-2); the upper suction cup (1522-1) is fixedly connected to the output shaft (1521-1) of the grabbing servo motor (1521); the grabbing servo motor (1521) and the electromagnetic suction cup (1522) are both electrically connected to the controller; The support frame (151) comprises a vertical plate (1511) and a horizontal plate (1512), wherein the horizontal plate (1512) is fixedly arranged on the top wall of the vertical plate (1511), and the horizontal plate (1512) and the vertical plate (1511) are arranged vertically and are reinforced and connected by reinforcing ribs (1513); a plurality of the grabbing assemblies (152) are symmetrically arranged on the vertical plate (1511) with the reinforcing ribs (1513) as the center, and the grabbing assemblies (152) are fixedly connected to the vertical plate (1511) by bolts.

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