A fully automatic polishing apparatus

Abstract

The present application belongs to the technical field of polishing equipment, and particularly relates to a full-automatic polishing equipment. The full-automatic polishing equipment comprises a workbench, and an upper and lower feeding assembly, a material transfer assembly and a working assembly connected with the workbench. The working assembly comprises a plurality of work stations arranged at intervals, part of the work stations are used for polishing workpieces, another part of the work stations are used for polishing workpieces, and the material transfer assembly is used for transferring workpieces between the work stations. The upper and lower feeding assembly comprises a workpiece placing mechanism, a feeding mechanism and a discharging mechanism. The workpiece placing mechanism comprises a workpiece placing groove used for containing workpieces. The feeding mechanism is used for taking out workpieces in the workpiece placing groove and conveying the workpieces to the material transfer assembly. The discharging mechanism is used for placing workpieces on the material transfer assembly back into the workpiece placing groove. The whole working process is automatically performed without manual participation, and the operation is simple, thereby improving the working efficiency.

Description

Technical Field

[0001] This invention belongs to the field of polishing equipment technology, and particularly relates to a fully automatic polishing equipment. Background Technology

[0002] Grinding equipment relies on high-speed rotating workpieces to grind or polish workpieces.

[0003] An existing grinding device includes a frame, a fixture, a drive motor, and a working part. The drive motor is connected to the frame, and the working part is connected to the output end of the drive motor. The working part is a grinding head, a belt, or a polishing wheel. The fixture is arranged facing the working part. The drive motor drives the grinding head, belt, or polishing wheel to perform grinding or polishing operations on the workpiece mounted on the fixture.

[0004] It is evident that in existing technologies, grinding and polishing equipment is designed independently. When working on workpieces that require multiple grinding and polishing processes, manual transfer of the workpiece between each process is necessary, which is cumbersome and inefficient. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a fully automatic grinding device, which addresses the problems of existing grinding and polishing equipment being designed independently, having cumbersome operation, and low work efficiency.

[0006] To solve the above technical problems, this invention provides a fully automatic grinding equipment, including a worktable and a loading and unloading assembly, a material transfer assembly, and an operating assembly connected to the worktable. The operating assembly includes multiple workstations arranged at intervals, some of which are used for grinding workpieces and others for polishing workpieces. The material transfer assembly is used to transfer workpieces between the workstations.

[0007] The loading and unloading assembly includes a workpiece placement mechanism, a loading mechanism, and an unloading mechanism. The workpiece placement mechanism includes a workpiece placement slot for holding workpieces. The loading mechanism is used to take out the workpieces from the workpiece placement slot and transport them to the material transfer assembly. The unloading mechanism is used to put the workpieces on the material transfer assembly back into the workpiece placement slot.

[0008] Optionally, the workpiece placement mechanism includes a placement tray, a placement seat, and a first translation mechanism. The workpiece placement slot is disposed on the placement tray, and the placement tray is connected to the placement seat. The first translation mechanism is used to drive the placement seat to move horizontally so that the workpiece on the placement tray is close to the feeding mechanism.

[0009] Optionally, the first translation mechanism includes a first translation mechanism base, a first slide rail, and a first slide block. The first slide rail is connected to the first translation mechanism, and the first slide block is connected to the placement seat. The first slide block is provided with a first slide groove, and the first slide rail is slidably connected in the first slide groove so that the placement seat can move horizontally on the first translation mechanism base.

[0010] Optionally, the feeding mechanism includes a feeding frame, a feeding fixture, a feeding fixture lifting unit, and a feeding fixture translation unit. The feeding fixture translation unit is connected to the feeding frame, and the feeding fixture lifting unit is connected to the feeding fixture translation unit. The feeding fixture translation unit can drive the feeding fixture lifting unit to move above the workpiece placement slot. The feeding fixture is connected to the feeding fixture lifting unit, and the feeding fixture lifting unit can drive the feeding fixture to move up and down.

[0011] Optionally, the loading fixture translation unit includes a first linear motor module, a second linear motor module, and a first camera. The first camera is used to determine whether the loading fixture is facing the workpiece to be clamped. The first linear motor module is connected to the loading rack, and the second linear motor module is connected to the first linear motor module. The axis of the second linear motor module is perpendicular to that of the first linear motor module. The first linear motor module drives the second linear motor module to move horizontally, and the second linear motor module can drive the loading fixture lifting unit to move horizontally so that the loading fixture is facing the workpiece.

[0012] Optionally, the loading clamp lifting unit includes a loading drive motor, a loading gear, a loading rack, a lifting base, and a lifting plate. The lifting base is connected to the second linear motor module, the loading drive motor is connected to the lifting base, the loading gear is driven to the output end of the loading drive motor, the loading rack is connected to the lifting plate, the lifting plate is slidably connected to the lifting base, the loading rack meshes with the loading gear, and the loading clamp is connected to the lifting plate. When the loading gear rotates, it can drive the loading rack, the lifting plate, and the loading clamp to move up and down.

[0013] Optionally, the loading clamp includes a first rotating mechanism, a first gripper cylinder, a loading gripper, and a second camera. The second camera is used to determine whether the loading gripper is facing the workpiece to be clamped. The first rotating mechanism includes a first rotating motor connected to the lifting plate. The first gripper cylinder is connected to the first rotating motor, and the loading gripper is connected to the first gripper cylinder. The first rotating motor can drive the first gripper cylinder and the loading gripper to rotate so that the loading gripper faces the workpiece. The first gripper cylinder can drive the loading gripper to clamp the workpiece.

[0014] Optionally, the material transfer assembly includes a second translation mechanism and a transfer seat assembly. The second translation mechanism includes a second slide, a second slide rail, and a second translation drive mechanism. The transfer seat assembly includes a transfer seat, a third translation mechanism, a second rotation mechanism, a transfer gripper, and a second gripper cylinder. The second slide rail is connected to the worktable, the second slide is connected to the transfer seat, and the second slide is slidably connected to the second slide rail. The second translation drive mechanism can drive the transfer seat to move horizontally.

[0015] The third translation mechanism is connected to the transfer seat, the second rotation mechanism is connected to the third translation mechanism, and the transfer gripper is connected to the second rotation mechanism. The second rotation mechanism can drive the transfer gripper to rotate so that the transfer gripper faces the workpiece at each of the workstations. The third translation mechanism can drive the second rotation mechanism and the transfer gripper to move horizontally on the transfer seat so that the transfer gripper moves closer to and away from each of the workstations. The second gripper cylinder is connected to the transfer gripper and is used to drive the transfer gripper to clamp the workpiece at each of the workstations and to place the workpiece at each of the workstations.

[0016] Optionally, the number of the transfer seat assemblies is the same as the number of workstations.

[0017] Optionally, the unloading mechanism includes an unloading frame, a third linear motor module, an extension frame, and unloading grippers. The unloading frame is connected to the worktable, the third linear motor module is connected to the unloading frame, the upper end of the extension frame is connected to the third linear motor module, and the unloading grippers are connected to the lower end of the extension frame. The third linear motor module can drive the extension frame and the unloading grippers to move horizontally.

[0018] It also includes an intermediate rotating seat assembly, which includes a rotating frame, a third rotating mechanism, and an intermediate gripper. The rotating frame is connected to the worktable, the third rotating mechanism is connected to the rotating frame, and the intermediate gripper is connected to the third rotating mechanism. The third rotating mechanism is used to drive the intermediate gripper to rotate so that the intermediate gripper turns to the transfer gripper when loading and to the unloading gripper when unloading.

[0019] According to an embodiment of the present invention, the fully automatic grinding equipment combines the grinding station and the polishing station on the same workbench. The workpiece is transferred between the stations by the material transfer component, eliminating the need for manual movement of the workpiece between the stations. In addition, the loading and unloading component can automatically place the workpiece onto the material transfer component and remove the workpiece from the material transfer component. The entire operation process is automatic and requires no manual intervention, making operation simple and improving work efficiency. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of a fully automatic grinding device provided in an embodiment of the present invention;

[0021] Figure 2 This is a schematic diagram of the loading and unloading assembly of a fully automatic grinding equipment according to an embodiment of the present invention;

[0022] Figure 3 This is a schematic diagram of the structure of the loading clamp lifting unit of a fully automatic grinding equipment according to an embodiment of the present invention;

[0023] Figure 4 This is a schematic diagram of the transfer component of a fully automatic grinding equipment according to an embodiment of the present invention;

[0024] Figure 5 This is a schematic diagram of the structure of the intermediate transfer seat assembly of a fully automatic grinding equipment according to an embodiment of the present invention;

[0025] Figure 6 This is a schematic diagram of the feeding mechanism of a fully automatic grinding equipment according to an embodiment of the present invention;

[0026] Figure 7 This is a schematic diagram of the transfer beam of a fully automatic grinding equipment provided in an embodiment of the present invention.

[0027] The reference numerals in the accompanying drawings are as follows: 1. Workbench; 2. First side workbench; 3. Second side workbench; 4. Working component; 5. Station; 6. First grinding station; 7. Second grinding station; 8. First smoothing station; 9. Second smoothing station; 10. Third smoothing station; 11. First polishing station; 12. Second polishing station; 13. Third polishing station; 14. Loading / unloading component; 15. First translation mechanism base; 16. Workpiece placement slot; 17. Unloading mechanism; 18. Transfer beam; 19. Transfer component; 20. Loading mechanism; 21. Workpiece placement mechanism; 22. First slide block; 23. Placement tray; 24. First slide rail; 25. First slide groove; 26. Placement seat; 27. First translation mechanism; 28. Loading fixture translation unit; 29. ​​First linear motor module; 30. Second linear motor module; 31. Loading fixture. 31. Lifting unit; 32. Loading clamp; 33. Loading rack; 34. First camera; 35. Loading gear; 36. Lifting base; 37. Lifting plate; 38. Loading rack; 39. Loading gripper; 40. First gripper cylinder; 41. First rotating mechanism; 42. Second camera; 43. Second translation mechanism; 44. Second translation drive mechanism; 45. Second slide block; 46. Second slide rail; 47. Transfer seat assembly; 48. Transfer seat; 49. Third translation mechanism; 50. Second rotating mechanism; 51. Transfer gripper; 52. Second gripper cylinder; 53. Intermediate rotating seat assembly; 54. Rotating frame; 55. Third rotating mechanism; 56. Intermediate gripper; 57. Unloading rack; 58. Third linear motor module; 59. Extension frame; 60. Unloading gripper; 61. Transfer beam; 62. Fourth linear motor module; 63. Transfer beam gripper. Detailed Implementation

[0028] To make the technical problems solved, the technical solutions, and the beneficial effects of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0029] like Figures 1 to 7 As shown, an embodiment of the present invention provides a fully automatic grinding equipment, including a worktable 1 and a loading / unloading assembly 14, a material transfer assembly 19 and an operating assembly 4 connected to the worktable 1. The operating assembly 4 includes a plurality of workstations 5 arranged at intervals. Some of the workstations 5 are used for grinding workpieces, and other workstations 5 are used for polishing workpieces. The material transfer assembly 19 is used to transfer workpieces between the workstations 5.

[0030] The loading and unloading assembly 14 includes a workpiece placement mechanism 21, a loading mechanism 20, and an unloading mechanism 17. The workpiece placement mechanism 21 includes a workpiece placement slot 16 for holding workpieces. The loading mechanism 20 is used to take out the workpieces in the workpiece placement slot 16 and transport them to the material transfer assembly 19. The unloading mechanism 17 is used to put the workpieces on the material transfer assembly 19 back into the workpiece placement slot 16.

[0031] In one embodiment, the workpiece placement mechanism 21 includes a placement tray 23, a placement seat 26, and a first translation mechanism 27. The workpiece placement slot 16 is disposed on the placement tray 23, and the placement tray 23 is connected to the placement seat 26. The first translation mechanism 27 is used to drive the placement seat 26 to move horizontally, so that the workpiece on the placement tray 23 is closer to the feeding mechanism 20. The placement tray 23 can move on the worktable 1, which facilitates the adjustment of the specific position of the workpiece to be operated, makes it easier for the feeding mechanism 20 to grasp it, and improves the feeding speed.

[0032] In one embodiment, the first translation mechanism 27 includes a first translation mechanism base 15, a first slide rail 24, and a first slide block 22. The first slide rail 24 is connected to the first translation mechanism 27, and the first slide block 22 is connected to the placement seat 26. The first slide block 22 is provided with a first sliding groove 25, and the first slide rail 24 is slidably connected in the first sliding groove 25 so that the placement seat 26 can move horizontally on the first translation mechanism base 15. The first translation mechanism 27 adopts the form of a slide rail and a sliding groove, which has a simple structure and is easy to manufacture.

[0033] In one embodiment, the feeding mechanism 20 includes a feeding rack 33, a feeding fixture 32, a feeding fixture lifting unit 31, and a feeding fixture translation unit 28. The feeding fixture translation unit 28 is connected to the feeding rack 33, and the feeding fixture lifting unit 31 is connected to the feeding fixture translation unit 28. The feeding fixture translation unit 28 can drive the feeding fixture lifting unit 31 to move above the workpiece placement slot 16. The feeding fixture 32 is connected to the feeding fixture lifting unit 31, and the feeding fixture lifting unit 31 can drive the feeding fixture 32 to move up and down. The feeding fixture translation unit 28 drives the feeding fixture 32 to move horizontally, which facilitates the alignment of the feeding fixture 32 with the workpiece and avoids gripping errors. The feeding fixture lifting unit 31 drives the feeding fixture 32 to move up and down, so that the feeding fixture 32 can automatically move closer to and away from the placement tray 23, improving work efficiency.

[0034] In one embodiment, the loading fixture translation unit 28 includes a first linear motor module 29, a second linear motor module 30, and a first camera 34. The first camera 34 is used to determine whether the loading fixture 32 is directly facing the workpiece to be clamped. The first linear motor module 29 is connected to the loading rack 33, and the second linear motor module 30 is connected to the first linear motor module 29. The axis of the second linear motor module 30 is perpendicular to that of the first linear motor module 29. The first linear motor module 29 drives the second linear motor module 30 to move horizontally, and the second linear motor module 30 can drive the loading fixture lifting unit 31 to move horizontally so that the loading fixture 32 is directly facing the workpiece. The linear motor module is a relatively complete translation mechanism, which is easier to install compared to other translation mechanisms. In addition, the first linear motor module 29 and the second linear motor module 30 are arranged vertically. Under the combined drive of the first linear motor module 29 and the second linear motor module 30, the loading fixture 32 can be directly aligned with any workpiece placement slot 16 on the placement tray 23.

[0035] In one embodiment, the loading clamp lifting unit 31 includes a loading drive motor, a loading gear 35, a loading rack 38, a lifting base 36, and a lifting plate 37. The lifting base 36 is connected to the second linear motor module 30, the loading drive motor is connected to the lifting base 36, the loading gear 35 is drivenly connected to the output end of the loading drive motor, the loading rack 38 is connected to the lifting plate 37, the lifting plate 37 is slidably connected to the lifting base 36, the loading rack 38 meshes with the loading gear 35, and the loading clamp 32 is connected to the lifting plate 37. When the loading gear 35 rotates, it can drive the loading rack 38, the lifting plate 37, and the loading clamp 32 to move up and down. Using a gear-rack mechanism as the lifting mechanism facilitates installation.

[0036] In one embodiment, the loading clamp 32 includes a first rotating mechanism 41, a first gripper cylinder 40, a loading gripper 39, and a second camera 42. The second camera 42 is used to determine whether the loading gripper 39 is facing the workpiece to be clamped. The first rotating mechanism 41 includes a first rotating motor connected to the lifting plate 37. The first gripper cylinder 40 is connected to the first rotating motor, and the loading gripper 39 is connected to the first gripper cylinder 40. The first rotating motor can drive the first gripper cylinder 40 and the loading gripper 39 to rotate so that the loading gripper 39 faces the workpiece. The first gripper cylinder 40 can drive the loading gripper 39 to clamp the workpiece. The second rotating mechanism 50 ensures that the loading gripper 39 faces the workpiece, facilitating clamping.

[0037] In one embodiment, the material transfer assembly 19 includes a second translation mechanism 43 and a transfer seat assembly 47. The second translation mechanism 43 includes a second slide 45, a second slide rail 46, and a second translation drive mechanism 44. The transfer seat assembly 47 includes a transfer seat 48, a third translation mechanism 49, a second rotation mechanism 50, a transfer gripper 51, and a second gripper cylinder 52. The second slide rail 46 is connected to the worktable 1, the second slide 45 is connected to the transfer seat 48, and the second slide 45 is slidably connected to the second slide rail 46. The second translation drive mechanism 44 can drive the transfer seat 48 to move horizontally.

[0038] The third translation mechanism 49 is connected to the transfer seat 48, the second rotation mechanism 50 is connected to the third translation mechanism 49, and the transfer gripper 51 is connected to the second rotation mechanism 50. The second rotation mechanism 50 can drive the transfer gripper 51 to rotate so that the transfer gripper 51 is facing the workpiece on each of the workstations 5. The third translation mechanism 49 can drive the second rotation mechanism 50 and the transfer gripper 51 to move horizontally on the transfer seat 48 so that the transfer gripper 51 moves closer to and away from each of the workstations 5. The second gripper cylinder 52 is connected to the transfer gripper 51 and is used to drive the transfer gripper 51 to clamp the workpiece on each of the workstations 5 and to place the workpiece on each of the workstations 5.

[0039] In one embodiment, the number of transfer seat assemblies 47 is the same as the number of workstations 5. The number of transfer seat assemblies 47 and workstations 5 is the same. Workpieces of the same number as workstations 5 can be processed simultaneously, realizing workpiece transfer cycles and improving work efficiency.

[0040] In one embodiment, the transfer seats 48 in two adjacent transfer seat assemblies 47 are connected and move synchronously under the drive of the second translation mechanism 43.

[0041] In one embodiment, the unloading mechanism 17 includes an unloading frame 57, a third linear motor module 58, an extension frame 59, and an unloading gripper 60. The unloading frame 57 is connected to the worktable 1, the third linear motor module 58 is connected to the unloading frame 57, the upper end of the extension frame 59 is connected to the third linear motor module 58, and the unloading gripper 60 is connected to the lower end of the extension frame 59. The third linear motor module 58 can drive the extension frame 59 and the unloading gripper 60 to move horizontally.

[0042] The fully automatic grinding equipment also includes an intermediate rotating seat assembly 53, which includes a rotating frame 54, a third rotating mechanism 55, and an intermediate gripper 56. The rotating frame 54 is connected to the worktable 1, the third rotating mechanism 55 is connected to the rotating frame 54, and the intermediate gripper 56 is connected to the third rotating mechanism 55. The third rotating mechanism 55 is used to drive the rotating gripper to rotate so that the intermediate gripper 56 turns towards the transfer gripper 51 when loading and towards the unloading gripper 60 when unloading.

[0043] It should be noted that the workpiece mentioned in the article refers to the lock body of the padlock.

[0044] In one embodiment, the work assembly 4 specifically has eight workstations 5. The workbench 1 includes a first side workbench 2 and a second side workbench 3, which are arranged at intervals. The eight workstations 5 are grouped into two groups of four, and the two groups of workstations 5 are respectively arranged on two workbench 1. The four workstations 5 on the first side workbench 2, from front to back, are a first grinding workstation 6, a second grinding workstation 7, a first smoothing workstation 8, and a second smoothing workstation 9. The four workstations 5 on the second side workbench 3 are a second smoothing workstation 9, a first polishing workstation 11, a second polishing workstation 12, and a second polishing workstation 13. The first grinding station 6 is used to grind the lock body, the second grinding station 7 is used to grind the lock body, the first flattening station 8 is used to flatten the side surface of the lock body, the second flattening station 9 is used to flatten the positive arc surface of the lock body, the third flattening station 10 is used to flatten the negative arc surface of the lock body, the first polishing station 11 is used to polish the side surface of the lock body, the second polishing station 12 is used to polish the side surface of the lock body, and the third polishing station 13 is used to polish the side surface of the lock body.

[0045] In one embodiment, the material transfer assembly 19 further includes a transfer beam 61, one end of which is connected to the first side workbench 2, and the other end of which is connected to the second side workbench 3. One end of the transfer beam 61 is arranged near the second grinding station 9, and the other end of the transfer beam 61 is arranged near the third grinding station 10. The transfer beam 61 is provided with a fourth linear motor module 62 and a transfer beam gripper 63. The fourth linear motor module 62 is used to drive the transfer beam gripper 63 to move horizontally from the second grinding station 9 toward the third grinding station 10, so as to transfer the lock body on the transfer seat assembly 47 on the first side workbench 2 to the transfer seat assembly 47 on the second side workbench 3.

[0046] The fully automatic grinding equipment of this invention operates on the following principle:

[0047] First, all lock bodies to be ground are placed in the workpiece placement slot 16 of the placement plate 23, and the placement seat 26 is manually adjusted to a suitable position on the first side worktable 2. Then, the first linear motor module 29 and the second linear motor module 30 drive the loading clamp 32 to move horizontally so that the loading jaw 39 is directly opposite the lock beam of the lock body. The loading clamp lifting unit 31 drives the loading clamp 32 to move downward to approach the lock beam. The first rotating mechanism 41 drives the loading jaw 39 to be directly opposite the lock beam. The first jaw cylinder 40 drives the loading clamp to clamp the lock beam. Then, the loading clamp lifting unit 31 drives the loading jaw 39 to rise. The loading clamp translation unit 28 moves the loading jaw 39 to directly above the middle rotating seat assembly. The material clamp lifting unit 31 drives the loading jaw 39 to descend again to place the lock body on the intermediate rotating seat assembly, so that the intermediate jaw 56 clamps the lock beam. The third rotating mechanism 55 drives the intermediate jaw 56 to rotate so that the positive arc surface of the lock body faces upward. Then, the third translation mechanism 49 on the transfer seat assembly 47 corresponding to the corresponding station 5 drives the transfer jaw 51 in the transfer seat assembly 47 to move toward the intermediate rotating seat assembly. After the transfer jaw 51 clamps the lock beam, it retracts. Then, the third rotating mechanism 55 drives the transfer jaw 51 to rotate so that the corresponding surface of the lock body is adapted to the station 5. Then, the third translation mechanism 49 drives the lock body to move toward the station 5 so that the station 5 can perform the corresponding grinding operation on the lock body.

[0048] When the grinding operation at a certain station 5 is completed, the transfer seat assembly 47 retrieves the lock body. Then, the second translation mechanism 43 drives the transfer seat assembly 47 to move backward, repeating the above action to place the lock body on each station 5 for grinding in sequence. When the lock body is transferred from the second grinding station 9 to the third grinding station 10, the fourth linear motor module 62 on the transfer beam 61 transfers the lock body from the transfer seat assembly 47 on the first side worktable 2 to the transfer seat assembly 47 on the second side worktable 3.

[0049] After all the grinding work is completed, the unloading mechanism 17 retrieves the lock body from the transfer seat assembly 47 on the second side worktable 3 corresponding to the third polishing station 13, and puts the lock body back onto the intermediate rotating seat assembly. After the angle is adjusted by the third rotating mechanism 55, the loading mechanism 20 puts the lock body back into the workpiece placement slot 16.

[0050] When multiple lock bodies need to be polished simultaneously, after the transfer seat assembly 47 corresponding to the first polishing station 6 on the first side worktable 2 places the lock body on the first polishing station 6, the second translation mechanism 43 drives all the transfer seat assemblies 47 on the first side worktable 2 to retract, so that the transfer seat assembly 47 moves to the position of the middle rotating seat. The transfer seat assembly 47 then clamps the lock body on the middle rotating seat back. When the first polishing station 6 finishes polishing the lock body, the transfer seat assembly 47 corresponding to the second polishing station 7 retrieves the lock body from the first polishing station 6. Then, the second translation mechanism 43 drives all the transfer seat assemblies 47 on the first side worktable 2 to move, so that the transfer seat assembly 47 corresponding to the first polishing station 6 places the unpolished lock body on the first polishing station 6. This process is repeated to polish all the lock bodies at each station 5.

[0051] According to the fully automatic grinding equipment of the present invention, the grinding station 5 and the polishing station 5 are set together on the same workbench 1. The workpiece is transferred between each station 5 by the material transfer component 19, eliminating the need for manual movement of the workpiece between each station 5. In addition, the loading and unloading component 14 can automatically place the workpiece onto the material transfer component 19 and remove the workpiece from the material transfer component 19. The entire operation process is automatic and does not require manual intervention. The operation is simple and the work efficiency is improved.

[0052] In other embodiments, the feeding clamp translation unit 28 can be a lead screw and nut mechanism.

[0053] In other embodiments, the lifting plate 37 of the loading clamp lifting unit 31 can be driven by a lead screw and nut mechanism.

[0054] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A fully automatic grinding device, characterized in that, It includes a workbench (1) and a loading / unloading assembly (14), a material transfer assembly (19) and an operation assembly (4) connected to the workbench (1). The operation assembly (4) includes multiple workstations (5) arranged at intervals. Some of the workstations (5) are used to grind the workpieces, and other workstations (5) are used to polish the workpieces. The material transfer assembly (19) is used to transfer the workpieces between the workstations (5). The loading and unloading assembly (14) includes a workpiece placement mechanism (21), a loading mechanism (20), and an unloading mechanism (17). The workpiece placement mechanism (21) includes a workpiece placement slot (16) for holding workpieces. The loading mechanism (20) is used to take out the workpieces in the workpiece placement slot (16) and transport them to the material transfer assembly (19). The unloading mechanism (17) is used to put the workpieces on the material transfer assembly (19) back into the workpiece placement slot (16). The material transfer assembly (19) includes a second translation mechanism (43) and a transfer seat assembly (47). The second translation mechanism (43) includes a second slide (45), a second slide rail (46), and a second translation drive mechanism (44). The transfer seat assembly (47) includes a transfer seat (48), a third translation mechanism (49), a second rotation mechanism (50), a transfer gripper (51), and a second gripper cylinder (52). The second slide rail (46) is connected to the worktable (1). The second slide (45) is connected to the transfer seat (48). The second slide (45) is slidably connected to the second slide rail (46). The second translation drive mechanism (44) can drive the transfer seat (48) to move horizontally. The third translation mechanism (49) is connected to the transfer seat (48), the second rotation mechanism (50) is connected to the third translation mechanism (49), the transfer gripper (51) is connected to the second rotation mechanism (50), the second rotation mechanism (50) can drive the transfer gripper (51) to rotate so that the transfer gripper (51) faces the workpiece on each of the workstations (5), the third translation mechanism (49) can drive the second rotation mechanism (50) and the transfer gripper (51) to move horizontally on the transfer seat (48) so that the transfer gripper (51) moves closer to and away from each of the workstations (5), the second gripper cylinder (52) is connected to the transfer gripper (51), the second gripper cylinder (52) is used to drive the transfer gripper (51) to clamp the workpiece on each of the workstations (5) and to place the workpiece on each of the workstations (5); The unloading mechanism (17) includes an unloading rack (57), a third linear motor module (58), an extension rack (59), and an unloading gripper (60). The unloading rack (57) is connected to the worktable (1), the third linear motor module (58) is connected to the unloading rack (57), the upper end of the extension rack (59) is connected to the third linear motor module (58), and the unloading gripper (60) is connected to the lower end of the extension rack (59). The third linear motor module (58) can drive the extension rack (59) and the unloading gripper (60) to move horizontally. It also includes an intermediate rotating seat assembly (53), which includes a rotating frame (54), a third rotating mechanism (55), and an intermediate gripper (56). The rotating frame (54) is connected to the worktable (1), the third rotating mechanism (55) is connected to the rotating frame (54), and the intermediate gripper (56) is connected to the third rotating mechanism (55). The third rotating mechanism (55) is used to drive the intermediate gripper (56) to rotate so that the intermediate gripper (56) turns to the transfer gripper (51) when loading and turns to the unloading gripper (60) when unloading. After the angle is adjusted by the third rotating mechanism (55), the loading mechanism (20) puts the workpiece back into the workpiece placement slot (16).

2. The fully automatic grinding equipment according to claim 1, characterized in that, The workpiece placement mechanism (21) includes a placement tray (23), a placement seat (26), and a first translation mechanism (27). The workpiece placement slot (16) is disposed on the placement tray (23). The placement tray (23) is connected to the placement seat (26). The first translation mechanism (27) is used to drive the placement seat (26) to move horizontally so that the workpiece on the placement tray (23) is close to the feeding mechanism (20).

3. The fully automatic grinding equipment according to claim 2, characterized in that, The first translation mechanism (27) includes a first translation mechanism base (15), a first slide rail (24) and a first slide block (22). The first slide rail (24) is connected to the first translation mechanism (27), and the first slide block (22) is connected to the placement seat (26). The first slide block (22) is provided with a first slide groove (25), and the first slide rail (24) is slidably connected in the first slide groove (25) so that the placement seat (26) can move horizontally on the first translation mechanism base (15).

4. The fully automatic grinding equipment according to claim 1, characterized in that, The loading mechanism (20) includes a loading rack (33), a loading clamp (32), a loading clamp lifting unit (31), and a loading clamp translation unit (28). The loading clamp translation unit (28) is connected to the loading rack (33), and the loading clamp lifting unit (31) is connected to the loading clamp translation unit (28). The loading clamp translation unit (28) can drive the loading clamp lifting unit (31) to move above the workpiece placement slot (16). The loading clamp (32) is connected to the loading clamp lifting unit (31), and the loading clamp lifting unit (31) can drive the loading clamp (32) to move up and down.

5. The fully automatic grinding equipment according to claim 4, characterized in that, The loading fixture translation unit (28) includes a first linear motor module (29), a second linear motor module (30), and a first camera (34). The first camera (34) is used to determine whether the loading fixture (32) is facing the workpiece to be clamped. The first linear motor module (29) is connected to the loading rack (33), and the second linear motor module (30) is connected to the first linear motor module (29). The second linear motor module (30) is perpendicular to the axis of the first linear motor module (29). The first linear motor module (29) drives the second linear motor module (30) to move horizontally. The second linear motor module (30) can drive the loading fixture lifting unit (31) to move horizontally so that the loading fixture (32) is facing the workpiece.

6. The fully automatic grinding equipment according to claim 5, characterized in that, The loading clamp lifting unit (31) includes a loading drive motor, a loading gear (35), a loading rack (38), a lifting base (36), and a lifting plate (37). The lifting base (36) is connected to the second linear motor module (30). The loading drive motor is connected to the lifting base (36). The loading gear (35) is driven to the output end of the loading drive motor. The loading rack (38) is connected to the lifting plate (37). The lifting plate (37) is slidably connected to the lifting base (36). The loading rack (38) meshes with the loading gear (35). The loading clamp (32) is connected to the lifting plate (37). When the loading gear (35) rotates, it can drive the loading rack (38), the lifting plate (37), and the loading clamp (32) to move up and down.

7. The fully automatic grinding equipment according to claim 6, characterized in that, The loading clamp (32) includes a first rotating mechanism (41), a first gripper cylinder (40), a loading gripper (39), and a second camera (42). The second camera (42) is used to determine whether the loading gripper (39) is facing the workpiece to be clamped. The first rotating mechanism (41) includes a first rotating motor, which is connected to the lifting plate (37). The first gripper cylinder (40) is connected to the first rotating motor, and the loading gripper (39) is connected to the first gripper cylinder (40). The first rotating motor can drive the first gripper cylinder (40) and the loading gripper (39) to rotate so that the loading gripper (39) faces the workpiece. The first gripper cylinder (40) can drive the loading gripper (39) to clamp the workpiece.

8. The fully automatic grinding equipment according to claim 1, characterized in that, The number of the transfer seat assembly (47) is the same as the number of the workstations (5).

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