A vertical needle bidirectional loading and unloading grinding equipment

Abstract

The present invention discloses a vertical needle bidirectional loading and unloading grinding processing equipment, comprising a loading and unloading device and a grinding device. A grinding track is provided above the grinding device. The loading and unloading device includes a first loading and unloading device and a second loading and unloading device. The first loading and unloading device and the second loading and unloading device are respectively provided on both sides of the grinding track and are mirror-imaged with the grinding device and the grinding track as axes. The first loading and unloading device and the second loading and unloading device work alternately to transfer the vertical needles to be processed to the grinding device. The grinding device grinds the vertical needles of the first loading and unloading device and the second loading and unloading device in turn, so that the grinding device and the loading and unloading device are in working state at the same time, thereby improving the utilization rate and production efficiency of the equipment. The entire production process of the vertical needle bidirectional loading and unloading grinding processing equipment does not require manual participation, and loading and unloading and grinding processing are automatically completed.

Description

Technical Field

[0001] The invention relates to the technical field of vertical probe processing equipment, and in particular to a vertical needle bidirectional loading and unloading grinding processing equipment. Background Art

[0002] The needle grinding machine is also called a punching needle grinding machine, a punching needle forming machine, a punching needle former, etc. The needle grinding machine is a machine tool accessory that uses a simple pressing roller structure on a grinding machine to precisely grind punching needles, thimbles, etc. The needle grinding machine includes a large needle grinder, a conventional needle grinder, a mini needle grinder, and an electric needle grinder.

[0003] In the new drill bit grinder disclosed in patent CN105081897A, the drill bit grinder includes a machine platform, a loading and unloading mechanism located on the machine platform, a material tray, a workbench, a grinding mechanism, a blade surface detection mechanism, and a cleaning mechanism. The material tray is one, and the drill bits to be processed and processed are placed on the material tray. The workbench is a single workstation, and the workbench drives the drill bit between the grinding mechanism, the blade surface detection mechanism, and the cleaning mechanism to complete the actions of grinding, blade surface detection, and cleaning the drill bit.

[0004] "When the drill bit processing is completed, the loading and unloading mechanism works, and the unloading mechanism puts the processed drill bit into the material tray. At the same time, the loading mechanism clamps the drill bit to be processed and transports it to other mechanisms for processing." Combined with the description and the drawings, it can be seen that the drill bit grinder is only equipped with one loading and unloading mechanism, material tray, workbench, grinding mechanism, blade surface detection mechanism, cleaning mechanism and other equipment. When the drill bit processing is completed, the equipment performs loading and unloading operations. At this time, the grinding mechanism is in an idle state; when the equipment is in operation, the idle state of the grinding mechanism reduces the utilization rate of the equipment and reduces production efficiency. Summary of the Invention

[0005] In view of this, it is necessary to provide a vertical needle bidirectional loading and unloading grinding processing equipment with a simple structure, in which the loading and unloading device and the grinding device can work simultaneously.

[0006] A vertical needle bidirectional loading and unloading grinding processing equipment includes a loading and unloading device and a grinding device, a grinding track is provided above the grinding device, the loading and unloading device includes a first loading and unloading device and a second loading and unloading device, the first loading and unloading device and the second loading and unloading device are respectively arranged on both sides of the grinding track, and are mirror-imaged with the grinding device and the grinding track as axes, the first loading and unloading device and the second loading and unloading device respectively include a feeding device and a gripping device, the two feeding devices respectively transmit the vertical needles to be processed to the corresponding gripping devices, the two gripping devices alternately enter the grinding track in turn, and the grinding device grinds the vertical needles placed on the gripping device on the grinding track.

[0007] Preferably, blocking members are provided at both ends of the grinding track, and the blocking members have liftable blocking arms, and the blocking arms are used to block the gripping device from entering the grinding track; when the gripping device is on the grinding track, the blocking arms rise so that the grinding track can only accommodate one gripping device at the same time.

[0008] Preferably, the feeding device is provided on one side of the gripping device.

[0009] The feeding device includes a vertical needle throughput device and a loading and recovery robot device. The vertical needle throughput device is arranged on one side of the loading and recovery robot device. The vertical needle throughput device is used to place vertical needles to be processed and vertical needles that have been processed. The loading and recovery robot device is used to grab the vertical needles to be processed from the vertical needle throughput device and transfer them to the grasping device, and transfer the vertical needles that have been processed from the grasping device to the vertical needle throughput device.

[0010] The gripping device comprises a needle cylinder assembly, which is used to grip the vertical needle in the process.

[0011] Preferably, the vertical needle throughput device includes a loading rack device and a finished product recovery device; the loading rack device includes a material dividing mechanism, a transplanting mechanism and a material dropping mechanism, and the material dropping mechanism is arranged on one side of the material dividing mechanism; the finished product recovery device is arranged on one side of the loading rack device, and the finished product recovery device includes a finished product trough and a tilting component, and the tilting component is used to adjust the tilt angle of the finished product trough so that the vertical needles in the finished product trough converge on one side of the bottom of the finished product trough, which is convenient for collecting the vertical needles in the finished product trough.

[0012] Preferably, the material dividing mechanism includes a material storage trough, a material dividing piece and a material dividing cylinder, the material storage trough has an inclined inner side wall, the material dividing piece is arranged at the bottom of the material storage trough, the material dividing cylinder is arranged below the material dividing piece, and the material dividing cylinder is used to drive the material dividing piece to move up and down in the material storage trough; the material dividing piece has a trapezoidal ejection part, the ejection part has a first groove and a second groove arranged perpendicular to each other, the length direction of the first groove is the same as the length direction of the top surface of the ejection part, the width of the first groove corresponds to the diameter of the vertical needle to be separated, and the width of the top surface of the ejection part is the same as the width of the first groove; the second groove is arranged at the waist of the ejection part, and the second groove passes through the ejection part horizontally, so that the vertical needle in the first groove is in a suspended state above the second groove.

[0013] The transplanting mechanism includes a first displacement module and a material-picking robot. The first displacement module is used to drive the material-picking robot to move between the material-dividing mechanism and the material-dropping mechanism; the material-picking robot includes two pneumatic fingers arranged opposite to each other, and the two pneumatic fingers open and close under the drive of the first finger driving cylinder. There is a third groove on the opposite side walls of the two pneumatic fingers respectively, and the length direction of the third groove corresponds to the placement direction of the vertical needle. The third groove is used to grasp the separated vertical needle.

[0014] The blanking mechanism includes a blanking trough and a material stopper. The blanking trough adopts a V-shaped groove. The material stopper is arranged on one side of the top of the blanking trough, and the central position of the material stopper corresponds to the bottom of the blanking trough. The material stopper is used to adjust the placement position of the vertical needle; the length of the blanking trough is less than the length of the vertical needle.

[0015] Preferably, the loading and recycling robot device includes a second displacement module, a first rotating mechanism, a second rotating mechanism and a loading and recycling robot mechanism. The second displacement module is used to drive the first rotating mechanism, the second rotating mechanism and the loading and recycling robot mechanism to move. The loading and recycling robot mechanism is arranged at the output end of the first rotating mechanism. The loading and recycling robot mechanism includes a U-shaped support, and a loading clamp and a recovery clamp are respectively provided on the two side walls of the U-shaped support.

[0016] The first rotating mechanism includes a first rotating motor and a first angle limiting mechanism, and the first angle limiting mechanism is used to limit the rotation output angle of the first rotating mechanism, so that the loading and recycling robot rotates a preset angle.

[0017] The second rotating mechanism includes a second rotating motor and a second angle limiting mechanism. The second angle limiting mechanism is arranged at the output end of the second rotating motor. The first rotating mechanism is arranged at the output end of the second rotating mechanism. The second rotating mechanism is used to rotate the first rotating mechanism and the manipulator by a predetermined angle so that the loading and recycling manipulator points in different directions.

[0018] Preferably, the first angle limiting mechanism includes a positioning block and an angle limiting member, the angle limiting member and the loading and recycling robot are respectively arranged at the two output ends of the first rotating motor, the angle limiting member is disc-shaped, and the outer edge of the angle limiting member has a fourth groove with a predetermined angle, and the positioning block is arranged between the two side walls of the fourth groove. When the angle limiting member rotates, the positioning block blocks the two side walls of the fourth groove to limit the rotation angle of the output of the first rotating motor.

[0019] The second angle limiting mechanism includes a rotating shaft and a plurality of limiting blocks, wherein the plurality of limiting blocks are arranged on the outside of the rotating shaft, and a blocking arm is provided on the outer side surface of the rotating shaft. The blocking arm rotates with the rotation of the rotating shaft and is blocked by the plurality of limiting blocks to limit the rotation angle of the output of the second rotating motor.

[0020] The loading clamp and the recovery clamp respectively have a pair of material picking fingers arranged opposite to each other, and the pair of material picking fingers move toward each other under the drive of the second finger driving cylinder. The opposite inner walls of the pair of material picking fingers have a sixth groove, and the length direction of the sixth groove corresponds to the length direction of the vertical needle.

[0021] Preferably, the gripping device also includes a third displacement module and a clamping mechanism, the clamping mechanism and the needle cylinder assembly are arranged at the output end of the third displacement module, the third displacement module is used to drive the clamping mechanism and the needle cylinder assembly to move, the clamping mechanism includes a flipping cylinder, a rotating grinding cylinder and an upper and lower grinding cylinder, the flipping cylinder is used to drive the needle cylinder assembly to flip 180 degrees up and down when loading and unloading, the rotating grinding cylinder and the upper and lower grinding cylinders are used to drive the needle cylinder assembly to rotate and move up and down, respectively, so that the vertical needle clamped in the needle cylinder assembly is ground by the grinding device.

[0022] Preferably, the needle clamping cylinder assembly includes a needle clamping cylinder and a needle clamping cylinder, the needle clamping cylinder is arranged on the outside of the needle clamping cylinder, and is used to enable the needle clamping cylinder to clamp the vertical needle to be processed; the needle clamping cylinder includes a syringe main body, a first movable part, a second movable part and a needle body fixing part, the syringe main body is a hollow cylinder, the needle body fixing part is arranged at the end of the syringe main body, and the vertical needle to be processed is passed through the needle body fixing part; the first movable part is arranged at the top of the syringe main body, and a support ring is provided at the waist of the syringe main body, and the support ring is passed through the second movable part, and the first movable part pushes the second movable part to rotate with the support ring as the fulcrum, so that the second movable part clamps or releases the vertical needle in the needle body fixing part.

[0023] Preferably, the grinding device includes a fourth displacement module and a grinding center, the grinding center is provided at the output end of the fourth displacement module, and the fourth displacement module is used for adjusting the position of the grinding center.

[0024] The grinding center includes at least one grinding wheel, at least one set of rotating motor and displacement motor. The grinding wheel is used for grinding vertical needles. The grinding wheel is arranged at the output end of the rotating motor. The rotating motor is used to drive the grinding wheel to rotate. The displacement motor is used to adjust the horizontal position of the grinding wheel to adjust the distance between the grinding wheel and the vertical needle.

[0025] In the aforementioned vertical needle bidirectional loading and unloading grinding and processing equipment, the first loading and unloading device and the second loading and unloading device operate alternately, transferring the vertical needles to be processed to the grinding device. The grinding device then grinds the vertical needles of the first and second loading and unloading devices in sequence, allowing the grinding and loading devices to be in operation simultaneously, thereby improving equipment utilization and production efficiency. The entire production process of the vertical needle bidirectional loading and unloading grinding and processing equipment requires no human intervention, and loading and unloading and grinding are completed automatically. The present invention has a simple structure, is easy to implement, is low-cost, and is easy to promote. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a structural schematic diagram of the vertical needle bidirectional loading and unloading grinding processing equipment according to an embodiment of the present invention.

[0027] Figure 2 It is a structural schematic diagram of the first loading and unloading device of the vertical needle bidirectional loading and unloading grinding processing equipment according to an embodiment of the present invention.

[0028] Figure 3 It is a structural schematic diagram of the loading rack equipment of the vertical needle bidirectional loading and unloading grinding processing equipment according to an embodiment of the present invention.

[0029] Figure 4 It is an enlarged structural diagram of the material dividing mechanism of the vertical needle bidirectional loading and unloading grinding processing equipment according to an embodiment of the present invention.

[0030] Figure 5 This is an enlarged structural diagram of the blanking mechanism of the vertical needle bidirectional loading and unloading grinding processing equipment according to an embodiment of the present invention.

[0031] Figure 6 It is a structural schematic diagram of a finished product recovery device of a vertical needle bidirectional loading and unloading grinding processing equipment according to an embodiment of the present invention.

[0032] Figure 7 It is a structural schematic diagram of the loading and recovery robot device of the vertical needle bidirectional loading and unloading grinding processing equipment according to an embodiment of the present invention.

[0033] Figure 8 It is a structural schematic diagram of the first rotating mechanism of the vertical needle bidirectional loading and unloading grinding processing equipment according to an embodiment of the present invention.

[0034] Figure 9 It is a structural schematic diagram of the second rotating mechanism of the vertical needle bidirectional loading and unloading grinding processing equipment according to an embodiment of the present invention.

[0035] Figure 10 It is a structural schematic diagram of the gripping device of the vertical needle bidirectional loading and unloading grinding processing equipment according to an embodiment of the present invention.

[0036] Figure 11It is a structural schematic diagram of the clamping mechanism and needle clamping cylinder assembly of the vertical needle bidirectional loading and unloading grinding processing equipment according to an embodiment of the present invention.

[0037] Figure 12 This is a schematic diagram of the structure of the needle clamping cylinder of the vertical needle bidirectional loading and unloading grinding processing equipment according to the embodiment of the present invention. Figure 1 .

[0038] Figure 13 This is a schematic diagram of the structure of the needle clamping cylinder of the vertical needle bidirectional loading and unloading grinding processing equipment according to the embodiment of the present invention. Figure 2 .

[0039] Figure 14 It is a structural schematic diagram of the alignment mechanism of the vertical needle bidirectional loading and unloading grinding processing equipment according to an embodiment of the present invention.

[0040] Figure 15 This is a schematic diagram of the structure of the grinding device of the vertical needle bidirectional loading and unloading grinding processing equipment according to the embodiment of the present invention. Figure 1 .

[0041] Figure 16 This is a schematic diagram of the structure of the grinding device of the vertical needle bidirectional loading and unloading grinding processing equipment according to the embodiment of the present invention. Figure 2 (Remove grinding center housing). DETAILED DESCRIPTION

[0042] This embodiment takes a vertical needle bidirectional loading and unloading grinding processing equipment as an example, and the present invention will be described in detail below in conjunction with specific embodiments and drawings.

[0043] See also Figure 1 and Figure 2 , showing a vertical needle bidirectional loading and unloading grinding processing equipment 1000 provided by an embodiment of the present invention, including a loading and unloading device and a grinding device 400, a grinding track 300 is provided above the grinding device 400, the loading and unloading device includes a first loading and unloading device 100 and a second loading and unloading device 200, the first loading and unloading device 100 and the second loading and unloading device 200 are respectively arranged on both sides of the grinding track 300, and are mirror-imaged with the grinding device 400 and the grinding track 300 as axes, the first loading and unloading device 100 and the second loading and unloading device 200 respectively include a feeding device 10 and a gripping device 60, the two feeding devices 10 respectively transmit the vertical needles to be processed to the corresponding gripping devices 60, the two gripping devices 60 enter the grinding track 300 alternately in turn, and the grinding device 400 grinds the vertical needles placed on the gripping devices 60 on the grinding track 300.

[0044] Preferably, blocking members are provided at both ends of the grinding track 300, and the blocking members have liftable blocking arms, and the blocking arms are used to block the gripping device 60 from entering the grinding track 300; when the gripping device 60 is on the grinding track 300, the blocking arms are raised so that the grinding track 300 can only accommodate one gripping device 60 at the same time.

[0045] Specifically, the two ends of the grinding track 300 are respectively connected to the moving tracks of the two gripping devices 60, and the gripping device of the first loading and unloading device 100 and the gripping device of the second loading and unloading device 200 enter the grinding track 300 from both ends respectively, and the grinding device 400 grinds the vertical needles on the gripping device.

[0046] Specifically, in this embodiment, Figure 2 The structure of the first loading and unloading device 100 is shown, and the structure of the second loading and unloading device 200 is shown. Figure 2 The first loading and unloading device 100 has the same structure, and the setting direction and moving direction are relative, which will not be repeated.

[0047] Preferably, the feeding device 10 is provided on one side of the gripping device 60 .

[0048] Preferably, the feeding device 10 includes a vertical needle throughput device and a loading and recovery robot device 40. The vertical needle throughput device is arranged on one side of the loading and recovery robot device 40. The vertical needle throughput device is used to place vertical needles to be processed and vertical needles that have been processed. The loading and recovery robot device 40 is used to grab the vertical needles to be processed from the vertical needle throughput device and transfer them to the grasping device 60, and transfer the processed vertical needles from the grasping device 60 to the vertical needle throughput device.

[0049] Preferably, the gripping device 60 comprises a needle cylinder assembly, which is used to grip the vertical needle in the process.

[0050] Preferably, the grinding device 400 includes a grinding center 72 , and the grinding center 72 includes at least one grinding wheel 721 , and the grinding wheel 721 is used for grinding the vertical needle.

[0051] Preferably, the vertical needle throughput device includes a loading rack device 20 and a finished product recovery device 30.

[0052] See also Figure 3The loading rack equipment 20 includes a dividing mechanism 21, a transplanting mechanism 22 and a blanking mechanism 23. The blanking mechanism 23 is arranged on one side of the dividing mechanism 21. The dividing mechanism 21 is used to separate a vertical needle from multiple vertical needles. The transplanting mechanism 22 is used to move the separated vertical needle from the dividing mechanism 21 to the blanking mechanism 23. The blanking mechanism 23 is used to place the separated vertical needles. The manipulator mechanism is used to grab the separated vertical needles placed on the blanking mechanism 23 and transfer them to the grasping device 60.

[0053] Preferably, see Figure 3 and Figure 4 The material dividing mechanism 21 includes a material storage trough 211, a material dividing piece 212 and a material dividing cylinder 213. The material storage trough 211 has an inclined inner side wall. The material dividing piece 212 is arranged at the bottom of the material storage trough 211. The material dividing cylinder 213 is arranged below the material dividing piece 212. The material dividing cylinder 213 is used to drive the material dividing piece 212 to move up and down in the material storage trough 211. Preferably, the material dividing piece 212 has a trapezoidal ejection portion, and the ejection portion has a first groove and a second groove arranged perpendicular to each other. The length direction of the first groove is the same as the length direction of the top surface of the ejection portion, the width of the first groove corresponds to the diameter of the vertical needle to be separated, and the width of the top surface of the ejection portion is the same as the width of the first groove; the second groove is arranged at the waist of the ejection portion, and the second groove passes through the ejection portion horizontally, so that the vertical needle in the first groove is in a suspended state above the second groove.

[0054] Specifically, the length direction of the dividing piece 212 corresponds to the length direction of the vertical needles in the storage trough 211, and the two side walls of the storage trough 211 in the width direction of the dividing piece 212 are inclined at a predetermined angle, so that the vertical needles to be separated gather toward the dividing piece 212.

[0055] Specifically, the width of the top surface of the ejection portion corresponds to the diameter of the vertical pin to be separated, that is, the top surface of the ejection portion has one and only one first groove, and the first groove can only accommodate one vertical pin.

[0056] When removing materials, the material distribution cylinder 213 drives the material distribution member 212 downward, causing the top surface of the ejection portion of the material distribution member 212 to descend to the bottom of the material storage trough 211. The vertical pins in the material storage trough 211 slide down above the material distribution member 212 and fall into the first groove on the top surface of the ejection portion. The first groove can only accommodate one vertical pin. The material distribution cylinder 213 drives the material distribution member 212 upward, causing it to extend from the material storage trough 211. The separated vertical pins are placed in the first groove on the top surface of the ejection portion of the material distribution member 212.

[0057] Preferably, the transplanting mechanism 22 includes a first displacement module 221 and a material picking robot 222, the first displacement module 221 is used to drive the material picking robot 222 to move between the material dividing mechanism 21 and the material dropping mechanism 23; the material picking robot 222 includes two pneumatic fingers arranged opposite to each other, and the two pneumatic fingers open and close under the drive of the first finger driving cylinder, and the two pneumatic fingers have a third groove on the opposite side walls respectively, and the length direction of the third groove corresponds to the placement direction of the vertical needle, and the third groove is used to grasp the separated vertical needle.

[0058] Specifically, the first displacement module 221 includes a first X-axis module and a first Z-axis module. The first Z-axis module is used to drive the material-grabbing robot 222 to move up and down, and the first X-axis module is used to drive the material-grabbing robot 222 to move between the material-dividing mechanism 21 and the blanking mechanism 23.

[0059] When picking up materials, the first X-axis module moves the first Z-axis module and the material picking robot 222 to above the material storage trough 211, and the material picking robot 222 is aligned with the second groove of the ejection part of the material dividing part 212. The finger driving cylinder drives the two pneumatic fingers to open, and the first Z-axis module drives the material picking robot 222 to move downward. The two pneumatic fingers extend into the second groove from both sides of the first groove respectively. The finger driving cylinder drives the two pneumatic fingers to close, so that the vertical needle is clamped in the third groove.

[0060] Specifically, the two pneumatic fingers include a pneumatic left finger and a pneumatic right finger disposed opposite each other. The third groove is respectively provided on the opposing sidewalls of the left and right pneumatic fingers. The width of the third groove corresponds to the diameter of the vertical needle, and the positions of the two third grooves correspond to each other. When the left and right pneumatic fingers are closed, the two third grooves merge into a circular through hole, and the separated vertical needle is clamped in the circular through hole.

[0061] See also Figure 3 and Figure 5 The blanking mechanism 23 includes a blanking trough 231 and a stopper 232. The blanking trough 231 adopts a V-shaped groove. The stopper 232 is arranged on one side of the top of the blanking trough 231, and the central position of the stopper 232 corresponds to the bottom of the blanking trough 231. The stopper 232 is used to adjust the placement position of the vertical needle; the length of the blanking trough 231 is less than the length of the vertical needle.

[0062] Specifically, the width of the second groove is greater than the width of the pneumatic finger, and the depth of the second groove is greater than the length of the pneumatic finger.

[0063] Specifically, in this embodiment, the trough 231 has two inclined sidewalls along its length, each having a predetermined inclination angle. The two inclined sidewalls intersect to form the bottom of the trough 231. The cross-section of the trough 231 is V-shaped, and the separated vertical needles fall into the trough 231 and slide to the bottom. The retaining surface of the stopper 232 faces the trough 231, and the distance between the stopper 232 and the trough 231 is adjustable. When the manipulator mechanism grabs the separated vertical needle, one end of the vertical needle contacts the stopper 232, and the manipulator mechanism grabs the other end of the vertical needle, thereby fixing the position of the vertical needle and maintaining the position and length of the end of the vertical needle to be grabbed.

[0064] Preferably, the finished product recovery device 30 is provided on one side of the loading rack device 20, see Figure 6 The finished product recovery device 30 includes a finished product trough 31 and a tilting component 32. The tilting component 32 is used to adjust the tilt angle of the finished product trough 31 so that the vertical needles in the finished product trough 31 converge on one side of the bottom of the finished product trough 31, which is convenient for collecting the vertical needles in the finished product trough 31.

[0065] Preferably, see Figure 7 The loading and recovery robot device 40 includes a second displacement module 41, a first rotating mechanism, a second rotating mechanism 45 and a loading and recovery robot mechanism 50. The second displacement module 41 is used to drive the first rotating mechanism, the second rotating mechanism 45 and the loading and recovery robot mechanism 50 to move. The loading and recovery robot mechanism 50 is arranged at the output end of the first rotating mechanism. The loading and recovery robot mechanism 50 includes a U-shaped support 51, and a loading clamp 52 and a recovery clamp 53 are respectively provided on the two side walls of the U-shaped support 51.

[0066] See also Figure 8 The first rotating mechanism includes a first rotating motor 42 and a first angle limiting mechanism, the first angle limiting mechanism is used to limit the rotation output angle of the first rotating mechanism, so that the loading and recycling robot rotates a preset angle; the first angle limiting mechanism includes a positioning block 43 and an angle limiting member 44, the angle limiting member 44 and the loading and recycling robot are respectively arranged at the two output ends of the first rotating motor 42, the angle limiting member 44 is disc-shaped, and the outer edge of the angle limiting member 44 has a fourth groove of a predetermined angle, the positioning block 43 is arranged between the two side walls of the fourth groove, and when the angle limiting member 44 rotates, the positioning block 43 blocks the two side walls of the fourth groove to limit the rotation angle of the output of the first rotating motor 42.

[0067] Specifically, at the processing station, after the recovery fixture 53 clamps the processed workpiece, the loading and recovery robot rotates a preset angle so that the loading fixture 52 faces the processing station, and the loading fixture 52 places the workpiece to be processed on the processing station.

[0068] Specifically, the rotation angle of the angle limiter 44 depends on the distance or angle between the two side walls of the fourth groove, which in turn determines the rotation angle of the loading and recycling robot mechanism 50.

[0069] In this embodiment, the first angle limiting mechanism and the loading and recycling robot mechanism 50 are respectively arranged at the upper and lower ends of the first rotating motor 42, and the two side walls of the fourth groove on the angle limiting member 44 are spaced 180 degrees apart, limiting the output angle of the first rotating motor 42 to 180 degrees, so that the rotation angle of the loading and recycling robot mechanism 50 is 180 degrees.

[0070] See also Figure 9 The second rotating mechanism 45 includes a second rotating motor 46 and a second angle limiting mechanism. The second angle limiting mechanism is arranged at the output end of the second rotating motor 46. The first rotating mechanism is arranged at the output end of the second rotating mechanism 45. The second rotating mechanism 45 is used to rotate the first rotating mechanism and the manipulator by a predetermined angle so that the loading and recycling manipulator points in different directions.

[0071] Preferably, the second angle limiting mechanism includes a rotating shaft 47 and a plurality of limiting blocks 48, wherein the plurality of limiting blocks 48 are arranged on the outside of the rotating shaft 47, and a blocking arm 49 is provided on the outer side surface of the rotating shaft 47. The blocking arm 49 rotates with the rotation of the rotating shaft 47 and is blocked by the plurality of limiting blocks 48 to limit the rotation angle of the output of the second rotating motor 46.

[0072] Specifically, the multiple limit blocks 48 include at least one limit block. In this embodiment, the multiple limit blocks 48 include a first limit block and a second limit block. The first limit block and the second limit block are respectively arranged on the same circumference on the outside of the rotating shaft 47 with the axis of the rotating shaft 47 as the center. The distance between the first limit block and the second limit block and the outer wall of the rotating shaft 47 is less than the length of the blocking arm 49, so that when the blocking arm 49 rotates, the first limit block and the second limit block play a limiting role.

[0073] The outer side wall of the rotating shaft 47 has at least one fifth groove, each of the fifth grooves has a gap, the width of the bottom of the fifth groove is greater than the width of the notch, the shape of the bottom end of the blocking arm 49 is the same as the shape of the cross section of the fifth groove, and the bottom end of the blocking arm 49 is sleeved in the fifth groove; the rotatable angle of the rotating shaft 47 depends on the setting position of the first limit block and the second limit block, and the number and position of the installed blocking arms 49.

[0074] Specifically, in this embodiment, a blocking arm 49 is provided on the rotating shaft 47, and the first limit block and the second limit block are provided on both sides of the rotating shaft 47 with an interval of 180 degrees. Therefore, the rotatable angle of the rotating shaft 47 is 180 degrees.

[0075] In another embodiment, the interval between the first and second limit blocks is 90 degrees, a blocking arm 49 is provided on the rotation shaft 47, and the rotation angle of the rotation shaft 47 is 90 degrees or 270 degrees. Alternatively, the interval between the first and second limit blocks is 180 degrees, and a blocking arm 49 is provided in each of the two fifth grooves on the rotation shaft 47 that are 90 degrees apart. In this case, the rotation angle of the rotation shaft 47 is also 90 degrees.

[0076] Preferably, the loading clamp 52 and the recovery clamp 53 respectively have a pair of material picking fingers arranged opposite to each other, and the pair of material picking fingers move toward each other under the drive of the second finger driving cylinder, and the opposite inner walls of the pair of material picking fingers have a sixth groove, and the length direction of the sixth groove corresponds to the length direction of the vertical needle.

[0077] Specifically, the bottom of the U-shaped support 51 is connected to the output end of the first rotating mechanism, so that the U-shaped support 51 rotates with the first rotating mechanism, thereby driving the loading fixture 52 and the recovery fixture 53 to rotate, so that the loading fixture 52 and the recovery fixture 53 arrive at the processing station in turn.

[0078] Specifically, depending on whether the shapes of the workpiece before and after processing are the same, the loading fixture 52 and the recovery fixture 53 can be fixtures of the same or different shapes to adapt to the changes in the shape of the workpiece before and after processing.

[0079] Preferably, see Figure 10 and Figure 11The gripping device 60 also includes a third displacement module 61 and a clamping mechanism 62. The clamping mechanism 62 and the needle cylinder assembly are arranged at the output end of the third displacement module 61. The third displacement module 61 is used to drive the clamping mechanism 62 and the needle cylinder assembly to move. The clamping mechanism 62 includes a flipping cylinder, a rotating grinding cylinder and an upper and lower grinding cylinder. The flipping cylinder is used to drive the needle cylinder assembly to flip 180 degrees up and down when loading and unloading. The rotating grinding cylinder and the upper and lower grinding cylinders are used to drive the needle cylinder assembly to rotate and move up and down, respectively, so that the vertical needle clamped in the needle cylinder assembly is ground by the grinding device 400.

[0080] Preferably, see Figure 12 and Figure 13 The needle clamping cylinder assembly includes a needle clamping cylinder 63 and a needle clamping cylinder 64. The needle clamping cylinder 63 is arranged on the outside of the needle clamping cylinder 64, and is used to enable the needle clamping cylinder 64 to clamp the vertical needle to be processed; the needle clamping cylinder 64 includes a syringe main body 641, a first movable part 642, a second movable part 643 and a needle body fixing part 644. The syringe main body 641 is a hollow cylinder, and the needle body fixing part 644 is arranged at the end of the syringe main body 641. The vertical needle to be processed is passed through the needle body fixing part 644; preferably, the first movable part 642 is arranged at the top of the syringe main body 641, and a support ring 645 is provided at the waist of the syringe main body 641. The support ring 645 is passed through the second movable part 643. The first movable part 642 pushes the second movable part 643 to rotate with the support ring 645 as the fulcrum, so that the second movable part 643 clamps or releases the vertical needle in the needle body fixing part 644.

[0081] Specifically, the second movable member 643 is in the shape of an elongated strip and includes two oppositely disposed ends, the two ends of the second movable member 643 respectively contacting the first movable member 642 and the needle fixing member 644 ; the waist of the second movable member 643 has a supporting through hole.

[0082] The syringe body 641 has a circular groove in the axial direction from the end along the length direction, and the depth of the circular groove is less than the length of the vertical needle; the side wall of the syringe body 641 has a strip groove extending along the length direction, and the second movable part 643 is arranged in the strip groove, and a support ring 645 is provided on the outside of the waist of the syringe body 641, and the support ring 645 is passed through the supporting through hole on the waist of the second movable part 643, and the second movable part 643 rotates with the support ring 645 as the fulcrum.

[0083] The first movable part 642 is arranged at the top of the syringe body 641. The first movable part 642 includes a pressing part and a first hooking part. The first hooking part is arranged below the pressing part. The pressing part extends from both sides of the syringe body 641. The end of the first hooking part has a protrusion, and the protrusion has an inclination angle.

[0084] The two ends of the second movable member 643 include a first end and a second end. The first end of the second movable member 643 has a second hook portion pointing inward, and the second hook portion is engaged with the first hook portion. The second hook portion moves up and down under the action of the protrusion of the first hook portion.

[0085] The axis of the needle body fixing part 644 has a needle body through hole, and the end of the needle body fixing part 644 has a conical sinking hole, the apex of the conical sinking hole is connected to the needle body through hole, and the needle body through hole is used to accommodate the vertical needle to be processed; the waist of the needle body fixing part 644 has a fixing groove, the bottom of the fixing groove is connected to the needle body through hole, and the second end of the second movable part 643 extends into the fixing groove and is used to press the vertical needle in the needle body through hole.

[0086] Specifically, the first end of the second movable member 643 is disposed on the side of the first movable member 642 , and the second end of the second movable member 643 is disposed on the side of the needle fixing member 644 .

[0087] Specifically, the second end of the second movable member 643 has a bend extending inward, and the outer side of the bend is covered with a silicone sleeve to prevent damage to the vertical needle.

[0088] Specifically, the support ring 645 is clamped on the outside of the syringe body 641 and passed through the support through hole of the second movable part 643. The second movable part 643 rotates around the support ring 645, and the first end and the second end of the second movable part 643 can move up and down.

[0089] Specifically, when loading, the vertical needle to be processed needs to be inserted into the needle clamping cylinder 64, and the needle clamping cylinder 63 presses down the first movable part 642, so that the first movable part 642 moves toward the end of the needle cylinder body 641, and the engagement of the second hook portion of the second movable part 643 with the first hook portion of the first movable part 642 is released, the first end of the second movable part 643 moves downward, and the second end of the second movable part 643 moves upward, and the vertical needle to be processed passes through the needle body through hole into the needle body fixing part 644. The needle clamping cylinder 63 drives the first movable part 642 to move upward, the first hook is engaged with the second hook, the first end of the second movable part moves upward along the inclination angle of the protrusion of the first hook, and the second end of the second movable part 643 moves downward, so that the second end clamps the vertical needle passing through the needle body fixing part 644.

[0090] During blanking, the movement process of the various components of the needle clamping cylinder 64 is the same. When the second end of the second movable member 643 moves upward, the processed vertical needle is taken out.

[0091] Preferably, the gripping device 60 further includes a positioning mechanism 65, see Figure 14 The alignment module is arranged above the clamping mechanism 62, and the alignment module includes an alignment platform 651, a Y-axis fine-tuning module 653 and a Z-axis fine-tuning module 652. The Z-axis fine-tuning module 652 is arranged above the alignment platform 651, and the Y-axis fine-tuning module 653 is arranged below the alignment platform 651.

[0092] Specifically, the alignment mechanism 65 is used for the loading and recovery robot device to align the position of the vertical needle to be processed when inserting it into the needle clamping cylinder 64. The Y-axis fine-tuning module 653 is provided with an alignment arm, and the end of the alignment arm has an alignment hole.

[0093] During loading, the clamping mechanism 62 drives the needle clamping cylinder 64 to flip upward, and the Y-axis fine-tuning module 653 drives the alignment arm to move forward, so that the alignment hole is sleeved on the end of the needle cylinder body 641 of the needle clamping cylinder 64. The alignment arm is used to position the needle clamping cylinder 64. After the vertical needle to be processed is inserted into the needle clamping cylinder 64, the Z-axis fine-tuning module 652 and the Y-axis fine-tuning module 653 respectively drive the alignment arm to rise and retreat, and the clamping mechanism 62 drives the needle clamping cylinder 64 to flip downward, and the Z-axis fine-tuning module 652 drives the alignment arm to reset.

[0094] Specifically, through the alignment mechanism 62 and the tapered sinking hole at the end of the needle body fixing part 644 , the loading and recycling robot device 40 can accurately insert the vertical needle to be processed into the needle clamping cylinder 64 .

[0095] Preferably, see Figure 15 and Figure 16 The grinding device 400 includes a fourth displacement module 71 and a grinding center 72. The fourth displacement module 71 adopts an XY cross platform. The grinding center 72 is located at the output end of the fourth displacement module 71. The fourth displacement module 71 is used to adjust the position of the grinding center 72.

[0096] The grinding center 72 includes at least one grinding wheel 721, at least one set of rotating motors 722 and displacement motors 723. The grinding wheel 721 is arranged at the output end of the rotating motor 722. The grinding wheel 721 is used for grinding vertical needles. The rotating motor 722 is used to drive the grinding wheel 721 to rotate. The displacement motor 723 is used to adjust the horizontal position of the grinding wheel 721 to adjust the distance between the grinding wheel 721 and the vertical needle.

[0097] Specifically, in this embodiment, the grinding center 72 includes two grinding wheels 721 arranged opposite to each other, each of the grinding wheels 721 is respectively installed at the output end of the rotating motor 722 and the displacement motor 723, and the two grinding wheels 721 are symmetrically arranged and grind the vertical needles at the same time to improve the working efficiency of the equipment.

[0098] The grinding center 72 also includes a grinding center 72 shell and a grinding positioning piece. The grinding center 72 shell covers the grinding wheel 721. The grinding positioning piece is arranged above the grinding center 72 shell. The grinding positioning piece has a positioning through hole. The vertical needle to be processed at the end of the syringe body 641 extends into the grinding center 72 shell through the positioning through hole and is ground by the grinding wheel 721.

[0099] Specifically, the grinding center 72 includes a grinding center shell, and a strip-shaped hole is formed on the top of the grinding center shell. The positioning through holes on the grinding positioning member are arranged corresponding to the positions of the strip-shaped hole.

[0100] Specifically, the grinding center 72 is disposed above the XY cross platform, and the XY cross platform drives the grinding center 72 to move in the horizontal directions of the X axis and the Y axis.

[0101] Specifically, the third displacement module of the first loading and unloading device 100 and the third displacement module of the second loading and unloading device 200 are arranged at both ends of the grinding track 300 and docked with the grinding track 300. The gripping device of the first loading and unloading device 100 and the gripping device of the second loading and unloading device 200 can enter the grinding track 300 from both ends of the grinding track 300 respectively to complete the grinding processing of the vertical needle.

[0102] Specifically, when loading, the third displacement module 61 moves the needle cylinder assembly to the loading and unloading station, the flip cylinder flips the needle cylinder assembly upward by 180 degrees, so that the end of the needle cylinder 64 is upward, and the needle cylinder 64 completes the loading operation under the drive of the needle cylinder 63. The needle cylinder 64 clamps the vertical needle to be processed, and the flip cylinder flips the needle cylinder assembly downward by 180 degrees. The third displacement module 61 moves the needle cylinder assembly to the grinding track 300, and the grinding center 72 grinds the vertical needle.

[0103] After the grinding process is completed, the third displacement module 61 moves the needle clamping cylinder assembly to the loading and unloading station, and the flip cylinder flips the needle clamping cylinder assembly upward by 180 degrees, so that the end of the needle clamping cylinder 64 is upward. After the needle clamping cylinder 64 completes the unloading and loading operations under the drive of the needle clamping cylinder 63, the needle clamping cylinder assembly flips downward by 180 degrees under the drive of the flip cylinder, and moves to the grinding station again for the next grinding operation.

[0104] During grinding, the fourth displacement module 71 drives the grinding center 72 to move to the grinding station, the displacement motor 723 adjusts the distance between the grinding wheel 721 and the vertical needle so that the grinding wheel 721 fits the surface of the vertical needle, and the rotating motor 722 drives the grinding wheel 721 to rotate; the rotating grinding cylinder drives the needle clamping cylinder 64 to rotate, thereby rotating the vertical needle and grinding on the grinding wheel 721; the upper and lower grinding cylinders drive the needle clamping cylinder 64 to fine-tune up and down, thereby controlling the contact surface size between the vertical needle and the grinding wheel 721, so that the vertical needle and the grinding wheel 721 have an appropriate grinding angle and grinding force.

[0105] Specifically, the vertical needle throughput device is used for loading and unloading vertical needles and separating the vertical needles to be processed. The loading and recovery robot device 40 transfers the separated vertical needles to be processed to the grasping device 60, and at the same time retrieves the processed vertical needles and places them in the finished product recovery device 30; when loading and unloading, the needle clamping cylinder assembly is flipped upward so that the end of the needle clamping cylinder 64 is upward to facilitate the removal and insertion of the vertical needles. During grinding, the needle clamping cylinder assembly is flipped downward so that the end of the needle clamping cylinder 64 is facing the grinding device 400; the grinding wheel 721 in the grinding device 400 grinds the vertical parts.

[0106] In the vertical needle bidirectional loading and unloading grinding processing equipment 1000, the first loading and unloading device 100 and the second loading and unloading device 200 work alternately, transferring the vertical needles to be processed to the grinding device 400. The grinding device 400 grinds the vertical needles of the first loading and unloading device 100 and the second loading and unloading device 200 in turn, so that the grinding device 400 and the loading and unloading devices are in working state at the same time, thereby improving the utilization rate and production efficiency of the equipment. The entire production process of the vertical needle bidirectional loading and unloading grinding processing equipment does not require human intervention, and loading and unloading and grinding processing are completed automatically. The present invention has a simple structure, is easy to implement, is low-cost, and is easy to promote.

[0107] It should be noted that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. A vertical needle bidirectional loading and unloading grinding and processing equipment, characterized in that: It includes a loading and unloading device and a grinding device, a grinding track is provided above the grinding device, the loading and unloading device includes a first loading and unloading device and a second loading and unloading device, the first loading and unloading device and the second loading and unloading device are respectively provided on both sides of the grinding track, and are mirror-imaged with the grinding device and the grinding track as axes, the first loading and unloading device and the second loading and unloading device respectively include a feeding device and a gripping device, the two feeding devices respectively transmit the vertical needles to be processed to the corresponding gripping devices, the two gripping devices alternately enter the grinding track in sequence, and the grinding device grinds the vertical needles placed on the gripping devices on the grinding track; Wherein, the feeding device is arranged on one side of the grasping device; the feeding device includes a vertical needle throughput device and a feeding and recovery robot device, the vertical needle throughput device is arranged on one side of the feeding and recovery robot device, the vertical needle throughput device is used to place the vertical needles to be processed and the vertical needles that have been processed, the feeding and recovery robot device is used to grab the vertical needles to be processed from the vertical needle throughput device and transfer them to the grasping device, and transfer the processed vertical needles from the grasping device to the vertical needle throughput device; the grasping device includes a needle clamping cylinder assembly, and the needle clamping cylinder assembly is used to hold the vertical needles in processing; The vertical needle throughput device includes a loading rack device and a finished product recovery device; the loading rack device includes a material dividing mechanism, a transplanting mechanism and a material dropping mechanism, and the material dropping mechanism is arranged on one side of the material dividing mechanism; the finished product recovery device is arranged on one side of the loading rack device, and the finished product recovery device includes a finished product trough and a tilting component, and the tilting component is used to adjust the tilt angle of the finished product trough so that the vertical needles in the finished product trough converge on one side of the bottom of the finished product trough, which is convenient for collecting the vertical needles in the finished product trough.

2. The vertical needle bidirectional loading and unloading grinding and processing equipment according to claim 1, characterized in that: Blocking members are provided at both ends of the grinding track, and the blocking members have lifting and lowering blocking arms, and the blocking arms are used to block the gripping device from entering the grinding track; When the gripping device is placed on the grinding track, the blocking arm rises so that the grinding track can only accommodate one gripping device at a time.

3. The vertical needle bidirectional loading and unloading grinding and processing equipment according to claim 1, characterized in that: The material distributing mechanism includes a material storage trough, a material distributing piece and a material distributing cylinder, the material storage trough has an inclined inner side wall, the material distributing piece is arranged through the bottom of the material storage trough, the material distributing cylinder is arranged below the material distributing piece, and the material distributing cylinder is used to drive the material distributing piece to move up and down in the material storage trough; the material distributing piece has a trapezoidal ejection part, the ejection part has a first groove and a second groove arranged perpendicular to each other, the length direction of the first groove is the same as the length direction of the top surface of the ejection part, the width of the first groove corresponds to the diameter of the vertical needle to be separated, and the width of the top surface of the ejection part is the same as the width of the first groove; the second groove is provided at the waist of the ejection part, and the second groove passes through the ejection part horizontally, so that the vertical needle in the first groove is in a suspended state above the second groove; The transplanting mechanism includes a first displacement module and a material-picking manipulator, wherein the first displacement module is used to drive the material-picking manipulator to move between the material-dividing mechanism and the material-dropping mechanism; the material-picking manipulator includes two pneumatic fingers arranged opposite to each other, the two pneumatic fingers opening and closing under the drive of the first finger driving cylinder, and the two pneumatic fingers respectively have third grooves on the opposite side walls, the length direction of the third grooves corresponding to the placement direction of the vertical needles, and the third grooves are used to grasp the separated vertical needles; The blanking mechanism includes a blanking trough and a material stopper. The blanking trough adopts a V-shaped groove. The material stopper is arranged on one side of the top of the blanking trough, and the central position of the material stopper corresponds to the bottom of the blanking trough. The material stopper is used to adjust the placement position of the vertical needle; the length of the blanking trough is less than the length of the vertical needle.

4. The vertical needle bidirectional loading and unloading grinding and processing equipment according to claim 1, characterized in that: The feeding and recycling robot device includes a second displacement module, a first rotating mechanism, a second rotating mechanism and a feeding and recycling robot mechanism, the second displacement module is used to drive the first rotating mechanism, the second rotating mechanism and the feeding and recycling robot mechanism to move, the feeding and recycling robot mechanism is arranged at the output end of the first rotating mechanism, the feeding and recycling robot mechanism includes a U-shaped support, and the two side walls of the U-shaped support are respectively provided with a feeding clamp and a recovery clamp; The first rotating mechanism includes a first rotating motor and a first angle limiting mechanism, wherein the first angle limiting mechanism is used to limit the rotation output angle of the first rotating mechanism, thereby causing the loading and recycling robot to rotate a preset angle; The second rotating mechanism includes a second rotating motor and a second angle limiting mechanism. The second angle limiting mechanism is arranged at the output end of the second rotating motor. The first rotating mechanism is arranged at the output end of the second rotating mechanism. The second rotating mechanism is used to rotate the first rotating mechanism and the manipulator by a predetermined angle so that the loading and recycling manipulator points in different directions.

5. The vertical needle bidirectional loading and unloading grinding processing equipment according to claim 4, characterized in that: The first angle limiting mechanism includes a positioning block and an angle limiting member. The angle limiting member and the loading and recycling robot are respectively provided at two output ends of the first rotating motor. The angle limiting member is disc-shaped. The outer edge of the angle limiting member has a fourth groove with a predetermined angle. The positioning block is provided between two side walls of the fourth groove. When the angle limiting member rotates, the positioning block blocks the two side walls of the fourth groove to limit the rotation angle of the output of the first rotating motor. The second angle limiting mechanism includes a rotating shaft and a plurality of limiting blocks, wherein the plurality of limiting blocks are arranged on the outer side of the rotating shaft, and a blocking arm is provided on the outer side surface of the rotating shaft. The blocking arm rotates with the rotation of the rotating shaft and is blocked by the plurality of limiting blocks to limit the rotation angle of the output of the second rotating motor; The loading clamp and the recovery clamp respectively have a pair of material picking fingers arranged opposite to each other, and the pair of material picking fingers move toward each other under the drive of the second finger driving cylinder. The opposite inner walls of the pair of material picking fingers have a sixth groove, and the length direction of the sixth groove corresponds to the length direction of the vertical needle.

6. The vertical needle bidirectional loading and unloading grinding and processing equipment according to claim 1, characterized in that: The gripping device also includes a third displacement module and a clamping mechanism. The clamping mechanism and the needle cylinder assembly are arranged at the output end of the third displacement module. The third displacement module is used to drive the clamping mechanism and the needle cylinder assembly to move. The clamping mechanism includes a flip cylinder, a rotating grinding cylinder and an upper and lower grinding cylinder. The flip cylinder is used to drive the needle cylinder assembly to flip 180 degrees up and down when loading and unloading. The rotating grinding cylinder and the upper and lower grinding cylinders are used to drive the needle cylinder assembly to rotate and move up and down, respectively, so that the vertical needle clamped in the needle cylinder assembly is ground by the grinding device.

7. The vertical needle bidirectional loading and unloading grinding processing equipment according to claim 6, characterized in that: The needle clamping cylinder assembly includes a needle clamping cylinder and a needle clamping cylinder. The needle clamping cylinder is arranged on the outside of the needle clamping cylinder and is used to enable the needle clamping cylinder to clamp the vertical needle to be processed; the needle clamping cylinder includes a syringe main body, a first movable part, a second movable part and a needle body fixing part. The syringe main body is a hollow cylinder. The needle body fixing part is arranged at the end of the syringe main body, and the vertical needle to be processed is passed through the needle body fixing part; the first movable part is arranged at the top of the syringe main body, and a support ring is provided at the waist of the syringe main body, and the support ring is passed through the second movable part. The first movable part pushes the second movable part to rotate with the support ring as the fulcrum, so that the second movable part clamps or releases the vertical needle in the needle body fixing part.

8. The vertical needle bidirectional loading and unloading grinding processing equipment according to claim 1, characterized in that: The grinding device includes a fourth displacement module and a grinding center, wherein the grinding center is provided at the output end of the fourth displacement module, and the fourth displacement module is used for adjusting the position of the grinding center; The grinding center includes at least one grinding wheel, at least one set of rotating motor and displacement motor. The grinding wheel is used for grinding vertical needles. The grinding wheel is arranged at the output end of the rotating motor. The rotating motor is used to drive the grinding wheel to rotate. The displacement motor is used to adjust the horizontal position of the grinding wheel to adjust the distance between the grinding wheel and the vertical needle.

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