A grinding apparatus with a gantry robot

Abstract

This application relates to a grinding equipment with a gantry manipulator, including a loading conveyor, an unloading conveyor, a centerless grinder, and a gantry manipulator. The centerless grinder is located between the loading and unloading conveyors. The clamping components include a drive unit, a fixed base, two clamping plates, and two rotating rods. The fixed base is mounted on a second movable base. The two clamping plates are positioned opposite each other and slidably connected to the fixed base along the X-axis. The drive unit drives the two clamping plates to slide. The two rotating rods correspond to the two clamping plates respectively and are rotatably connected to the corresponding clamping plates along the X-axis. The two rotating rods are located on both sides of the shaft-type workpiece, coaxially clamping the shaft-type workpiece. The shaft-type workpiece rotates under the action of the centerless grinder. When the clamping components clamp the ground shaft-type workpiece, the rotating shaft-type workpiece drives the rotating rods to rotate together. During subsequent transportation, the shaft-type workpiece continues to rotate, thereby accelerating the drying speed of the coolant on the shaft-type workpiece.

Description

Technical Field

[0001] This invention relates to the field of automated equipment, and in particular to a grinding processing equipment with a gantry robot. Background Technology

[0002] A centerless grinder is a grinding machine that grinds a workpiece without requiring workpiece axis positioning. A gantry robot is an industrial device based on a Cartesian X, Y, Z coordinate system, used for workpiece positioning and trajectory movement. Its control core is implemented through an industrial controller (such as a PLC, motion controller, or microcontroller). The controller analyzes and processes various input signals (from sensors, buttons, etc.), makes logical judgments, and then issues execution commands to various output components (relays, motor drivers, indicator lights, etc.) to complete the coordinated movement between the X, Y, and Z axes, thereby achieving a complete automated workflow.

[0003] Grinding equipment with gantry robots in related technologies, such as Figure 1 As shown, the system includes a loading conveyor 2, an unloading conveyor 3, a centerless grinder 4, and a gantry robot 5. The loading conveyor 2 includes a drive unit 22 and a loading conveyor belt 23. The drive unit 22 drives the loading conveyor belt 23 to transport the shaft workpiece 7 to a designated position. The gantry robot 5 is used to grab the shaft workpiece 7 at the designated position and move the workpiece to the centerless grinder 4. The centerless grinder 4 performs grinding on the shaft workpiece 7. The centerless grinder 4 is also equipped with a water cooling device to spray coolant onto the shaft workpiece 7 during grinding to cool it down. Then, the gantry robot 5 moves the ground workpiece to the unloading conveyor 3. The unloading conveyor 3 includes a drive unit 32 and an unloading conveyor belt 33. The drive unit 32 drives the unloading conveyor belt 33 to send the processed shaft workpiece 7 to an external collection container.

[0004] The above-mentioned technical solutions have the following drawbacks: because the water-cooling device sprays coolant to cool the shaft workpiece during the grinding process, coolant will remain on the surface of the shaft workpiece after processing, and it takes a long time for the coolant to air dry naturally. Summary of the Invention

[0005] To accelerate the drying speed of coolant on shaft-type workpieces, this application provides a grinding equipment with a gantry robot.

[0006] The grinding equipment with a gantry robot provided in this application adopts the following technical solution:

[0007] A grinding machine with a gantry robot includes a worktable and a loading conveyor, an unloading conveyor, a centerless grinder, and a gantry robot mounted on the worktable. The loading conveyor includes a first drive unit and a loading conveyor belt. The first drive unit drives the loading conveyor belt to transport shaft-type workpieces to a designated position. The gantry robot is used to clamp and move the shaft-type workpieces. The centerless grinder performs grinding on the shaft-type workpieces. The unloading conveyor includes a second drive unit and an unloading conveyor belt. The second drive unit drives the unloading conveyor belt to deliver the processed shaft-type workpieces to an external collection container. The gantry robot includes a support, a third drive unit, a fourth drive unit, a first moving seat, a second moving seat, and a clamping component. The support is mounted on the worktable, and the third drive unit drives the first moving seat. The moving seat is slidably connected to the bracket along the X-axis. The driving component four drives the second moving seat to be slidably connected to the first moving seat along the Z-axis. The feeding conveyor, the centerless grinder, and the unloading conveyor are distributed sequentially along the X-axis. The centerless grinder is located between the feeding conveyor belt and the unloading conveyor belt. The clamping component includes a driving component five, a fixed seat, two clamping plates, and two rotating rods. The fixed seat is set on the second moving seat. The two clamping plates are arranged opposite each other and slidably connected to the fixed seat along the X-axis. The driving component five drives the two clamping plates to slide towards one side that is closer to or farther from each other. The two rotating rods correspond to the two clamping plates respectively. The rotating rods are rotatably connected to the corresponding clamping plates along the X-axis. The two rotating rods are located on both sides of the shaft workpiece to coaxially clamp the shaft workpiece.

[0008] Preferably, the conveying directions of the feeding conveyor belt and the unloading conveyor belt are parallel to the Y-axis. The surface of the feeding conveyor belt is provided with a plurality of first arc-shaped grooves for placing shaft-type workpieces along the winding direction of the feeding conveyor belt. The length direction of the first arc-shaped groove is parallel to the X-axis direction. When the shaft-type workpiece is placed on the first arc-shaped groove, the axial direction of the shaft-type workpiece is parallel to the X-axis direction.

[0009] Preferably, there are two first movable seats, two second movable seats, two driving components, and two clamping components. The two first movable seats are fixedly arranged to each other, and the two second movable seats correspond to the two first movable seats respectively. The two clamping components correspond to the two second movable seats respectively. The centerless grinder is located in the middle of the loading conveyor belt and the unloading conveyor belt. When one of the clamping components clamps the shaft workpiece on the centerless grinder, the other clamping component is set facing the loading conveyor belt or the unloading conveyor belt.

[0010] Preferably, it also includes a V-belt, and the feeding conveyor also includes two second side plates, which face each other and are set on the worktable. The second driving component includes a second motor and two second rotating rollers, which are rotatably connected to the two second side plates along the X-axis. The feeding conveyor belt is wound around the two second rotating rollers. The second motor is fixed to one of the second side plates, and the output shaft of the second motor is coaxially fixed to one of the second rotating rollers.

[0011] The second side plate is provided with an extension frame, and a rotating shaft is rotatably connected to the extension frame along the axis parallel to the second rotating roller. The V-belt is wound around the rotating shaft and one of the second rotating rollers. Multiple fan blades are arranged sequentially along the circumferential direction on the outer circumferential wall of the rotating shaft. The fan blades are used to blow air onto the shaft-type workpieces that are moved by the centerless grinder to the unloading conveyor belt. The projection portion of the shaft-type workpiece along the X-axis direction on the clamping plate and rotating rod is located on the outside of the clamping plate and rotating rod.

[0012] Preferably, it also includes a speed reduction device, which is used to reduce the rotational speed of the rotating rod. The speed reduction device includes a deformable speed reduction head, which is fixed to the end of the rotating shaft near the centerless grinder. The rotating rod closer to the speed reduction head is designated as the speed reduction rod. The side of the speed reduction rod near the speed reduction head has a speed reduction groove that matches the speed reduction head. The rotation direction of the speed reduction rod is opposite to that of the rotating rod.

[0013] Preferably, the side of the deceleration rod near the deceleration head is provided with a clearance groove that communicates with the deceleration groove, and the clearance groove allows the deceleration head to move out of the deceleration rod along the Z-axis direction.

[0014] Preferably, the deceleration device further includes a driving component six and a deceleration block, wherein the deceleration block is slidably connected to a clamping plate corresponding to the deceleration rod along the side near the deceleration rod to the side away from the deceleration rod, and the driving component six drives the deceleration block to slide on the corresponding clamping plate.

[0015] Preferably, the driving component six includes a first rack, a gear, a second rack, a counterweight, and a moving block. The reduction block is slidably connected to the corresponding clamping plate along the Z-axis direction. The counterweight, the moving block, the first rack, and the second rack are slidably connected to the corresponding clamping plate along a sliding direction parallel to the reduction block. The gear is rotatably connected to the corresponding clamping plate along the Y-axis direction. The first rack and the second rack are respectively on both sides of the gear and mesh with the gear. When the reduction head extends into the reduction groove, the moving block is located directly above the reduction head and the rotating shaft. The moving block is fixedly connected to the second rack through the counterweight.

[0016] The deceleration block includes a first rod, a second rod, and a spring. The second rod is located directly below the first rod, and both the first and second rods are slidably connected to the corresponding clamping plates along the Z-axis. The two ends of the spring are fixed to the first and second rods, respectively. The first rack is fixed to the first rod. When the deceleration head is located in the deceleration groove, the second rod is positioned away from the deceleration rod. When the clamping member places the shaft-type workpiece on the unloading conveyor belt, the rotating shaft abuts against the moving block and drives the second rod to move until it abuts against the deceleration rod.

[0017] The main technical effects of this invention are reflected in the following aspects:

[0018] 1. This invention, by setting up a gantry robot, has strong practicality. Compared with complex articulated robots, the structural design is easy for personnel to understand, simple to operate, and convenient to maintain. It can automatically complete the handling and movement of shaft-type workpieces, thereby improving production efficiency.

[0019] 2. This invention uses a clamping device with a rotating rod. When the shaft workpiece is ground on a centerless grinder, it will rotate under the action of the grinder. When the clamping device clamps the ground shaft workpiece, the rotating shaft workpiece will drive the rotating rod to rotate together. During the subsequent process of the clamping device transporting the shaft workpiece to the unloading conveyor belt, the shaft workpiece will continue to rotate, thereby accelerating the drying speed of the coolant on the shaft workpiece.

[0020] 3. By setting up a deceleration device, the present invention can make shaft-type workpieces stable on the unloading conveyor belt by decelerating the deceleration rod. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of the related technology.

[0022] Figure 2 This is a schematic diagram of the overall structure of the clamping component located on the feeding conveyor belt and the centerless grinder in an embodiment of this application.

[0023] Figure 3 This is a schematic diagram of the overall structure of the clamping component located between the centerless grinder and the unloading conveyor belt in an embodiment of this application.

[0024] Figure 4 This is a schematic diagram of the structure of the clamping component in an embodiment of this application.

[0025] Figure 5 This is a schematic diagram of the structure of the centerless grinder according to an embodiment of this application.

[0026] Figure 6 This is a schematic diagram of the structure of the deceleration head extending into the deceleration groove in an embodiment of this application.

[0027] Figure 7This is a schematic diagram of the structure when the rotating rod abuts against the moving block according to an embodiment of this application.

[0028] Figure 8 It is along Figure 7 A cross-sectional view along line AA in the middle.

[0029] Figure 9 yes Figure 8 Enlarged view of point B in the middle.

[0030] Explanation of reference numerals in the attached drawings: 1. Workbench; 11. Stand; 2. Feeding conveyor; 21. First side plate; 22. Drive component one; 221. First motor; 222. First rotating roller; 23. Feeding conveyor belt; 231. First arc groove; 3. Unloading conveyor; 31. Second side plate; 32. Drive component two; 321. Second motor; 322. Second rotating roller; 33. Unloading conveyor belt; 4. Centerless grinder; 41. Machine body; 42. Grinding wheel; 43. Adjusting wheel; 44. Workpiece top support; 45. Drive motor; 5. Gantry robot; 51. Support; 52. Drive component three; 521. Third motor; 53. First moving seat; 54. Drive component four; 541. Fourth motor; 542. Fourth lead screw; 55. Second moving seat; 5 6. Connecting plate; 6. Clamping component; 61. Drive component five; 611. Cylinder; 62. Fixed seat; 63. Clamping plate; 631. Vertical groove; 64. Rotating rod; 641. Deceleration rod; 642. Deceleration groove; 643. Clearance groove; 7. Shaft-type workpiece; 71. Conical groove; 81. Extension frame; 82. Rotating shaft; 821. Fan blade; 83. Rotating ring; 84. V-belt; 85. Deceleration device; 851. Deceleration head; 852. Frustum cone; 853. Drive bar; 86. Deceleration block; 861. First rod; 862. Second rod; 8621. Slide groove; 863. Spring; 9. Drive component six; 91. First rack; 92. Gear; 93. Second rack; 94. Counterweight; 95. Moving block; 951. Second arc groove; 96. Abutment rod. Implementation

[0031] The following is in conjunction with the appendix Figure 2-9 This application will be described in further detail to make the technical solution of this application easier to understand and master.

[0032] This application discloses a grinding processing equipment with a gantry robot arm.

[0033] Reference Figure 2 , Figure 3A grinding processing device with a gantry robot in this application embodiment includes a worktable and a loading conveyor 2, a unloading conveyor 3, a centerless grinder 4, and a gantry robot 5, all mounted on the worktable 1. The centerless grinder 4 is located between the loading conveyor 2 and the unloading conveyor 3. The loading conveyor 2 includes a drive component 22 and a loading conveyor belt 23. The drive component 22 drives the loading conveyor belt 23 to transport the shaft-type workpiece 7 to a designated position. The gantry robot 5 is used to clamp and move the shaft-type workpiece 7. The centerless grinder 4 is used to grind the shaft-type workpiece 7. The centerless grinder 4 is equipped with a water-cooling device (not shown in the figure) to cool the shaft-type workpiece 7 during grinding by spraying coolant. The unloading conveyor 3 includes a drive component 32 and an unloading conveyor belt 33. The drive component 32 drives the unloading conveyor belt 33 to send the processed shaft-type workpiece 7 to an external collection container. The gantry robot 5 first picks up the unground shaft workpiece 7 from the loading conveyor belt 23, sends it to the centerless grinder 4 for grinding, and then sends the ground shaft workpiece 7 to the unloading conveyor belt 33, so that the workpiece is transported to the external collection container via the unloading conveyor belt 33.

[0034] Reference Figure 4 The shaft workpiece 7 is cylindrical, and tapered grooves 71 are coaxially formed at both ends of the shaft workpiece 7.

[0035] Reference Figure 2 , Figure 3 The feeding conveyor 2, the centerless grinder 4, and the unloading conveyor 3 are arranged sequentially along the X-axis. The feeding conveyor 2 also includes two first side plates 21, which face each other and are fixed on the worktable 1 in a direction parallel to the Y-axis. The driving component 22 includes a first motor 221 and two first rotating rollers 222. The two first rotating rollers 222 are rotatably connected to the two first side plates 21 in the X-axis direction. The two first rotating rollers 222 are located at the same horizontal height. The feeding conveyor belt 23 is wound around the two first rotating rollers 222. The first motor 221 is fixed to the outer wall of one of the first side plates 21, and the output shaft of the first motor 221 is coaxially fixed to one of the first rotating rollers 222. Multiple first arc-shaped grooves 231 for placing shaft-type workpieces 7 are evenly opened on the surface of the feeding conveyor belt 23 along the winding direction of the feeding conveyor belt 23. The length direction of the first arc-shaped groove 231 is parallel to the X-axis direction, and the vertical cross section of the first arc-shaped groove 231 along the Y-axis direction is set in an arc shape. When the shaft-type workpiece 7 is placed in the first arc-shaped groove 231, the axial direction of the shaft-type workpiece 7 is parallel to the X-axis direction, and the conical groove 71 of the shaft-type workpiece 7 is located above the feeding conveyor belt 23.

[0036] Reference Figure 2 , Figure 3The feeding conveyor 3 also includes two second side plates 31, which face each other and are fixed on the worktable 1 in a direction parallel to the Y-axis. The driving component 32 includes a second motor 321 and two second rotating rollers 322, which are rotatably connected to the two second side plates 31 in the X-axis direction. The two second rotating rollers 322 are located at the same horizontal height, and the feeding conveyor belt 33 is wound around the two second rotating rollers 322. The second motor 321 is fixed to the outer wall of one of the second side plates 31, and the output shaft of the second motor 321 is coaxially fixed to one of the second rotating rollers 322.

[0037] Reference Figure 2 , Figure 3 The gantry robot 5 includes a support 51, a third drive unit 52, a first movable seat 53, two fourth drive units 54, two second movable seats 55, and two clamping units 6. Two uprights 11 are fixed vertically on the worktable 1, and the two uprights 11 are respectively positioned near the loading conveyor belt 23 and the unloading conveyor belt 33. The two ends of the support 51 are fixed to the two uprights 11, and the length direction of the support 51 is parallel to the X-axis. The two first movable seats 53 are slidably connected to the support 51 along the X-axis. Each first movable seat 53 has a connecting plate 56, and the two first movable seats 53 are fixed together by the connecting plate 56. The third drive unit 52 drives the first movable seats 53 to slide along the X-axis and connect them to the support 51. The driving component 52 includes a transmission belt, a third motor 521, and a third lead screw. The third lead screw is rotatably connected to the bracket 51 in a direction parallel to the X-axis. The third lead screw passes through and is threadedly connected to two first movable seats 53. The third motor 521 is fixed to the bracket 51, and the axis of the output shaft of the third motor 521 is parallel to the X-axis. The transmission belt is wound around the output shaft of the third motor 521 and the third lead screw.

[0038] Reference Figures 2-4 Two second movable seats 55 correspond to two first movable seats 53 respectively, and two driving components 54 correspond to two second movable seats 55 respectively. The driving components 54 drive the second movable seats 55 to slide along the Z-axis and be connected to the corresponding first movable seats 53. The driving components 54 include a fourth motor 541 and a fourth lead screw 542. The fourth lead screw 542 is rotatably connected to the corresponding first movable seat 53 along the Z-axis. The fourth lead screw 542 passes through and is threadedly connected to the corresponding second movable seat 55. The fourth motor 541 is fixed on the first movable seat 53, and the output shaft of the fourth motor 541 is vertically downward and coaxially fixed on the corresponding fourth lead screw 542.

[0039] Reference Figures 2-4Two clamping components 6 correspond to two second movable seats 55 respectively. Each clamping component 6 includes a driving component 61, a fixed seat 62, two clamping plates 63, and two rotating rods 64. The fixed seat 62 is fixedly mounted on the second movable seat 55. The two clamping plates 63 are arranged opposite each other and slidably connected to the fixed seat 62 along the X-axis. The driving component 61 drives the two clamping plates 63 to slide towards each other or away from each other. The driving component 61 includes two cylinders 611, which are fixed on the fixed seat 62 and located between the two clamping plates 63. The piston rods of the cylinders 611 are arranged parallel to the X-axis. The two cylinders 611 correspond to the two clamping plates 63 respectively, and the piston rods of the two cylinders 611 extend in opposite directions and are fixed on the corresponding clamping plates 63. Two rotating rods 64 correspond to two clamping plates 63 respectively. The rotating rods 64 are rotatably connected to the corresponding clamping plates 63 along the X-axis. The two rotating rods 64 are located on both sides of the shaft-like workpiece 7, coaxially clamping the shaft-like workpiece 7. The ends of the two rotating rods 64 that are close to each other are set in a conical shape to match the conical groove 71. When the piston rods of the two cylinders 611 extend, the gap between the two rotating rods 64 is greater than the length of the shaft-like workpiece 7. When the piston rods of the two cylinders 611 retract, the two rotating rods 64 can clamp the shaft-like workpiece 7. The ends of the rotating rods 64 extend into and abut against the conical groove 71. At this time, the rotating rods 64 and the shaft-like workpiece 7 are coaxially set. At the same time, under the action of friction, the shaft-like workpiece 7 can rotate synchronously with the rotating rods 64. After the clamping member 6 clamps the shaft workpiece 7, both ends of the shaft workpiece 7 in the radial direction along the Y-axis are located outside the clamping plate 63 and the rotating rod 64, respectively, and the bottom end of the shaft workpiece 7 is located below the clamping plate 63 and the rotating rod 64, which can minimize the impact of the clamping member 6 on other equipment when handling the shaft workpiece 7.

[0040] Reference Figure 3 , Figure 5 The centerless grinder 4 is located between the loading conveyor belt 23 and the unloading conveyor belt 33. The centerless grinder 4 includes a machine body 41, a grinding wheel 42, an adjusting wheel 43, a workpiece top mount 44, and two drive motors 45. The machine body 41 is fixed to the worktable 1. The grinding wheel 42 is rotatably connected to the machine body 41 along the Y-axis. The adjusting wheel 43 is rotatably connected to the machine body 41 and can slightly adjust the direction of its rotation axis. The two drive motors 45 correspond to the grinding wheel 42 and the adjusting wheel 43 respectively, driving them to rotate. The workpiece top mount 44 is located between the grinding wheel 42 and the adjusting wheel 43 and is used to support the shaft-type workpiece 7 during grinding. The grinding wheel 42 mainly grinds the shaft-type workpiece 7. The adjusting wheel 43 can adjust its angle to achieve the feed of the shaft-type workpiece 7. The adjusting wheel 43 controls the rotation and feed of the shaft-type workpiece 7.

[0041] Reference Figures 2-3By setting two clamping members 6, when one clamping member 6 is clamping the shaft workpiece 7 on the centerless grinder 4, the other clamping member 6 is positioned directly opposite the loading conveyor belt 23 or the unloading conveyor belt 33, which can effectively shorten the processing time. When the shaft workpiece 7 is being ground, the shaft workpiece 7 on the centerless grinder 4 is located above the loading conveyor belt 23 and the unloading conveyor belt 33.

[0042] Reference Figure 2 , Figure 4 and Figure 5 As the shaft workpiece 7 rotates under the action of the centerless grinder 4 during grinding, when the clamping member 6 clamps the ground shaft workpiece 7, the rotating shaft workpiece 7 will drive the rotating rod 64 to rotate together. During the subsequent process of the clamping member 6 transporting the shaft workpiece 7 to the unloading conveyor belt 33, the shaft workpiece 7 will continue to rotate, thereby accelerating the drying speed of the coolant on the shaft workpiece 7.

[0043] Reference Figure 3 , Figure 6 To further improve the drying speed of the coolant on the surface of the shaft workpiece 7, an extension frame 81 is fixed on the outer wall of the second side plate 31. The extension frame 81 is located on the side of the unloading conveyor belt 33 away from the loading conveyor belt 23. A rotating shaft 82 is rotatably connected to the extension frame 81 along a direction parallel to the axis of the second rotating roller 322. A rotating ring 83 is coaxially fixed on the second rotating roller 322 near the support 51. The diameter of the rotating ring 83 is larger than the diameter of the rotating shaft 82. A V-belt 84 is connected to the rotating ring 83 and is wound around the rotating shaft 82 and the rotating ring 83. Multiple fan blades 821 are evenly fixed on the circumferential outer wall of the rotating shaft 82. The fan blades 821 are used to blow air onto the shaft workpiece 7 that has been moved from the centerless grinder 4 onto the unloading conveyor belt 33. The air blown out by the fan blades 821 can further accelerate the airflow speed around the shaft workpiece 7, thereby accelerating the drying speed of the coolant on the surface of the shaft workpiece 7.

[0044] Reference Figure 6 , Figure 7 A grinding equipment with a gantry robot in this application embodiment also includes a speed reduction device 85. The speed reduction device 85 is used to reduce the rotational speed of the rotating rod 64. The reduction in the rotational speed of the rotating rod 64 can synchronously reduce the rotational speed of the clamped shaft workpiece 7, so that the shaft workpiece 7 can be placed more stably on the unloading conveyor belt 33. In order to further improve the stability of the shaft workpiece 7 on the unloading conveyor belt 33, the surface of the unloading conveyor belt 33 is provided with anti-slip texture to ensure that the shaft workpiece 7 and the unloading conveyor belt 33 always move synchronously.

[0045] Reference Figures 6-9The speed reduction device 85 includes a deformable speed reduction head 851. Extension frames 81 extend from both ends of the rotating shaft 82. The speed reduction head 851 is fixed to the end of the rotating shaft 82 near the unloading conveyor belt 33, while the fan blade 821 is located on the side of the extension frame 81 away from the unloading conveyor belt 33. The speed reduction head 851 includes a truncated cone 852 and multiple drive bars 853. Both the truncated cone 852 and the drive bars 853 are made of silicone or rubber. The truncated cone 852 is coaxially fixed to the rotating shaft 82. The truncated cone 852 tapers from the end near the rotating shaft 82 to the end away from the rotating shaft 82. The multiple drive bars 853 are evenly fixed to the truncated cone 852 along the circumferential direction of its outer wall. Let the rotating rod 64 closest to the reduction head 851 among the four rotating rods 64 be the reduction rod 641. The side of the reduction rod 641 closest to the reduction head 851 has a reduction groove 642 that matches the reduction head 851. The rotation direction of the reduction rod 641 is opposite to that of the rotating rod 64.

[0046] Reference Figures 6-9 During the process of the clamping member 6 holding the ground shaft workpiece 7 and moving it to the top of the unloading conveyor belt 33, the deceleration head 851 is directly facing the deceleration groove 642. When the clamping member 6 holds the shaft workpiece 7 and moves it to the top of the unloading conveyor belt 33, the deceleration head 851 extends into the deceleration groove 642. Since the deceleration rod 641 and the rotating rod 64 rotate in opposite directions, the deceleration head 851 can decelerate the deceleration rod 641.

[0047] Reference Figures 6-9 The deceleration lever 641 has a clearance groove 643 on its side near the deceleration head 851, which communicates with the deceleration groove 642. The vertical cross-section of the clearance groove 643 is semi-circular, allowing the deceleration head 851 to move out of the deceleration lever 641 along the Z-axis. Since the clamping member 6 also needs to place the workpiece on the unloading conveyor belt 33, the clamping member 6 needs to have a downward movement process. The clearance groove 643 provides a relatively large space so that when the deceleration lever 641 rotates to the corresponding angle, the deceleration head 851 on the rotating rod 64 can move out of the deceleration lever 641 through the clearance groove 643.

[0048] Reference Figures 6-9 The deceleration device 85 also includes a drive member 69 and a deceleration block 86. The deceleration block 86 is slidably connected to the clamping plate 63 that is connected and cooperates with the deceleration rod 641 along the side close to the deceleration rod 641 to the side away from the deceleration rod 641. The drive member 69 drives the deceleration block 86 to slide on the corresponding clamping plate 63.

[0049] Reference Figures 6-9The driving component 69 includes a first rack 91, a gear 92, a second rack 93, a counterweight 94, and a moving block 95. The reduction block 86, the counterweight 94, the moving block 95, the first rack 91, and the second rack 93 are all slidably connected to the corresponding clamping plate 63 along a sliding direction parallel to the reduction block 86. The first rack 91 and the second rack 93 are slidably connected inside the corresponding clamping plate 63. The gear 92 is rotatably connected to the corresponding clamping plate 63 along the Y-axis. The first rack 91 and the second rack 93 are on both sides of the gear 92 and mesh with the gear 92. The movable block 95 is slidably connected to the outside of the corresponding clamping plate 63 near the rotating rod 64. A vertical groove 631 is provided on the outer wall of the corresponding clamping plate 63 facing the rotating rod 64. The counterweight block 94 is slidably connected to the vertical groove 631. The two ends of the counterweight block 94 are respectively fixed to the movable block 95 and the second rack 93. The deceleration block 86 is fixed to the bottom end of the first rack 91 and is used to abut against the deceleration rod 641 to decelerate the deceleration rod 641.

[0050] Reference Figures 6-9 The deceleration block 86 includes a first rod 861, a second rod 862, and a spring 863. The first rod 861 is fixed to the bottom end of the first rack 91. The second rod 862 is located directly below the first rod 861, and its top end has a groove 8621 that matches the first rod 861. The bottom end of the first rod 861 passes through and slides along the Z-axis in the groove 8621. Both the first rod 861 and the second rod 862 are slidably connected to the corresponding clamping plate 63 along the Z-axis. The spring 863 is located in the groove 8621, and its two ends are fixed to the bottom wall of the groove 8621 and the bottom surface of the first rod 861, respectively.

[0051] Reference Figures 6-9 When the deceleration head 851 is located in the deceleration groove 642, the moving block 95 is located directly above the rotating rod 64 and the deceleration head 851. A second arc-shaped groove 951 matching the outer wall of the rotating shaft 82 is opened on the bottom surface of the moving block 95. An abutment rod 96 is rotatably connected in the moving block 95 along the X-axis direction. The bottom end of the abutment rod 96 is located in the second arc-shaped groove 951.

[0052] Reference Figures 6-9When the deceleration head 851 is located in the deceleration groove 642, under the action of the counterweight 94, the first rack 91 and the moving block 95 will move down, thereby driving the second rack 93 and the deceleration block 86 to move up. At this time, the deceleration block 86 does not contact the rotating rod 64 and does not affect the rotation of the rotating rod 64. When the clamping member 6 moves down to place the shaft workpiece 7 on the unloading conveyor belt 33, the rotating shaft 82 will gradually abut against the abutment rod 96. The rotating shaft 82 drives the abutment rod 96 to rotate while driving the moving block 95 to move up on the clamping plate 63. Through a series of linkages of the driving member 69, the deceleration block 86 moves down to abut against the deceleration rod 641. As the clamping member 6 moves down continuously, under the action of the spring 863, the force of the bottom end of the second rod 862 abutting against the rotating rod 64 continuously increases, eventually driving the rotating rod 64 and the shaft workpiece 7 to stop rotating, so that the shaft workpiece 7 can be placed stably on the unloading conveyor belt 33.

[0053] Reference Figures 6-9 Space is provided between the extension frame 81, the moving block 95, and the rotating rod 64 for the rotating rod 64 to detach from the loose shaft workpiece 7. There is no interference between the two devices during the entire operation.

[0054] Of course, the above are just typical examples of the present invention. In addition, the present invention may have many other specific embodiments. All technical solutions formed by equivalent substitution or equivalent transformation fall within the scope of protection claimed by the present invention.

Claims

1. A grinding processing equipment with a gantry manipulator, comprising a worktable and a loading conveyor (2), a unloading conveyor (3), a centerless grinder (4), and a gantry manipulator (5) disposed on the worktable (1), wherein the loading conveyor (2) comprises a drive component (22) and a loading conveyor belt (23), the drive component (22) drives the loading conveyor belt (23) to convey shaft-type workpieces (7) to a designated position, the gantry manipulator (5) is used to clamp and move shaft-type workpieces (7), the centerless grinder (4) performs grinding processing on shaft-type workpieces (7), the centerless grinder (4) is provided with a water-cooling device for spraying coolant to cool the shaft-type workpieces (7) during grinding, the unloading conveyor (3) comprises a drive component (32) and an unloading conveyor belt (33), the drive component (32) drives the unloading conveyor belt (33) to send the processed shaft-type workpieces (7) into an external collection container, characterized in that: The gantry manipulator (5) includes a support (51), a third drive component (52), a fourth drive component (54), a first movable seat (53), a second movable seat (55), and a clamping component (6). The support (51) is mounted on the workbench (1). The third drive component (52) drives the first movable seat (53) to slide along the X-axis and connect it to the support (51). The fourth drive component (54) drives the second movable seat (55) to slide along the Z-axis and connect it to the first movable seat (53). The loading conveyor (2), the centerless grinder (4), and the unloading conveyor (3) are distributed sequentially along the X-axis. The centerless grinder (4) is located on the loading conveyor belt (23) and the unloading conveyor belt (3). 3) Between, the clamping member (6) includes a driving member (61), a fixed seat (62), two clamping plates (63) and two rotating rods (64). The fixed seat (62) is set on the second moving seat (55). The two clamping plates (63) are arranged opposite each other and are slidably connected to the fixed seat (62) along the X-axis. The driving member (61) drives the two clamping plates (63) to slide toward the side that is closer to each other or further away from each other. The two rotating rods (64) correspond to the two clamping plates (63) respectively. The rotating rods (64) are rotatably connected to the corresponding clamping plates (63) along the X-axis. The two rotating rods (64) are located on both sides of the shaft workpiece (7) to coaxially clamp the shaft workpiece (7). The conveying directions of the feeding conveyor belt (23) and the unloading conveyor belt (33) are parallel to the Y-axis; a V-belt (84) is also included. The unloading conveyor device (3) also includes two second side plates (31), which face each other and are set on the workbench (1). The second driving component (32) includes a second motor (321) and two second rotating rollers (322). The two second rotating rollers (322) are rotatably connected to the two second side plates (31) along the X-axis. The unloading conveyor belt (33) is wound around the two second rotating rollers (322). The second motor (321) is fixed on one of the second side plates (31). The output shaft of the second motor (321) is coaxially fixedly connected to one of the second rotating rollers (322). The second side plate (31) is provided with an extension frame (81), and the extension frame (81) is rotatably connected to a rotating shaft (82) in a direction parallel to the axis of the second rotating roller (322). The triangular belt (84) is wound around the rotating shaft (82) and one of the second rotating rollers (322). Multiple fan blades (821) are arranged in sequence along the circumferential direction on the outer circumferential wall of the rotating shaft (82). The fan blades (821) are used to blow air onto the shaft workpiece (7) that the centerless grinder (4) moves to the unloading conveyor belt (33). It also includes a speed reduction device (85), which includes a deformable speed reduction head (851). The speed reduction head (851) is fixed to the end of the rotating shaft (82) near the centerless grinder (4). The rotating rod (64) near the speed reduction head (851) of the two rotating rods (64) is a speed reduction rod (641). The side of the speed reduction rod (641) near the speed reduction head (851) is provided with a speed reduction groove (642) that matches the speed reduction head (851). The rotation direction of the speed reduction rod (641) is opposite to that of the rotating rod (64). The deceleration device (85) further includes a driving component six (9) and a deceleration block (86). The deceleration block (86) is slidably connected to the clamping plate (63) corresponding to the deceleration rod (641) along the side close to the deceleration rod (641) to the side away from the deceleration rod (641). The driving component six (9) drives the deceleration block (86) to slide on the corresponding clamping plate (63).

2. The grinding equipment with a gantry robot according to claim 1, characterized in that: The surface of the feeding conveyor belt (23) is provided with a plurality of first arc-shaped grooves (231) for placing shaft-type workpieces (7) along the winding direction of the feeding conveyor belt (23). The length direction of the first arc-shaped groove (231) is parallel to the X-axis direction. When the shaft-type workpiece (7) is placed on the first arc-shaped groove (231), the axial direction of the shaft-type workpiece (7) is parallel to the X-axis direction.

3. A grinding processing equipment with a gantry robot according to claim 2, characterized in that: There are two of each of the first movable seat (53), the second movable seat (55), the driving component (54), and the clamping component (6). The two first movable seats (53) are fixedly arranged to each other, and the two second movable seats (55) correspond to the two first movable seats (53) respectively. The two clamping components (6) correspond to the two second movable seats (55) respectively. The centerless grinder (4) is located in the middle of the loading conveyor belt (23) and the unloading conveyor belt (33). When one of the clamping components (6) clamps the shaft workpiece (7) on the centerless grinder (4), the other clamping component (6) is set facing the loading conveyor belt (23) or the unloading conveyor belt (33).

4. A grinding processing equipment with a gantry robot according to claim 2, characterized in that: The projection of the shaft workpiece (7) along the X-axis on the clamping plate (63) and the rotating rod (64) is located on the outside of the clamping plate (63) and the rotating rod (64).

5. A grinding processing equipment with a gantry robot according to claim 4, characterized in that: The speed reduction device (85) is used to reduce the rotational speed of the rotating rod (64).

6. A grinding processing equipment with a gantry robot according to claim 5, characterized in that: The deceleration lever (641) has a clearance groove (643) on the side near the deceleration head (851) that communicates with the deceleration groove (642). The clearance groove (643) allows the deceleration head (851) to move out of the deceleration lever (641) along the Z-axis direction.

7. A grinding processing equipment with a gantry robot according to claim 1, characterized in that: The drive component six (9) includes a first rack (91), a gear (92), a second rack (93), a counterweight (94), and a moving block (95). The deceleration block (86) is slidably connected to the corresponding clamping plate (63) along the Z-axis direction. The counterweight (94), the moving block (95), the first rack (91), and the second rack (93) are slidably connected to the corresponding clamping plate (63) along a sliding direction parallel to the deceleration block (86). The gear (92) is rotatably connected to the corresponding clamping plate (63) along the Y-axis direction. The first rack (91) and the second rack (93) are on opposite sides of the gear (92) and mesh with the gear (92). When the deceleration head (851) extends into the deceleration groove (642), the moving block (95) is located directly above the deceleration head (851) and the rotating shaft (82). The moving block (95) is fixedly connected to the second rack (93) through the counterweight (94). The deceleration block (86) includes a first rod (861), a second rod (862), and a spring (863). The second rod (862) is located directly below the first rod (861), and both the first rod (861) and the second rod (862) are slidably connected to the corresponding clamping plate (63) along the Z-axis. The two ends of the spring (863) are respectively fixed to the first rod (861) and the second rod (862). The first rack (91) is fixed to the first rod (861). When the deceleration head (851) is located in the deceleration groove (642), the second rod (862) is set away from the deceleration rod (641). When the clamping member (6) places the shaft workpiece (7) on the unloading conveyor belt (33), the rotating shaft (82) abuts against the moving block (95) and drives the second rod (862) to move to abut against the deceleration rod (641).

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