Lapping tool kits and grinding equipment for finishing the rolling surface of tapered rollers

Abstract

The present invention discloses a grinding tool kit and a grinding device for fine machining of the rolling surface of a tapered roller. The grinding device includes a grinding tool kit, a main machine, and an external circulation system. The grinding tool kit includes a grinding sleeve and a grinding strip assembly. The inner wall of the grinding sleeve is provided with a grinding sleeve groove. The grinding strip assembly includes a grinding strip, a three-part guide post, a guide shaft sleeve, and an expansion core shaft. The grinding strip is fixedly connected to the loading wedge of the three-part guide post, and the grinding strips on adjacent sides of adjacent groups of three-part guide posts form a V-shaped linear groove with an opening facing the inner peripheral surface of the grinding sleeve. The external circulation system includes a material receiving subsystem, a material feeding subsystem, a material storage station, a plurality of material storage units, and a control subsystem. During the grinding process, after the tapered roller completes a grinding process in the grinding process area, it is temporarily stored in the material storage unit of the external circulation system and the order of entering the grinding process area is changed, and it enters the grinding process area again, and the cycle is repeated until the specified technical indicators are met. The present invention can improve the dimensional consistency of the rolling surface of the tapered roller.

Description

Technical Field

[0001] The invention relates to a grinding tool kit and grinding equipment for fine machining of the rolling surface of a tapered roller, belonging to the technical field of precise machining of bearing rolling bodies. Background Art

[0002] Tapered roller bearings are widely used in various types of rotating machinery. As one of the most important components of tapered roller bearings, the dimensional consistency of the rolling surface of the tapered roller has a significant impact on the performance of the tapered roller bearing.

[0003] Currently, the commonly known process flow for machining the rolling surface of a tapered roller is: blank forming (turning, cold heading, or rolling), rough machining (soft grinding the rolling surface), heat treatment, semi-finishing (hard grinding the rolling surface), and finishing. The primary method for finishing the rolling surface is centerless grinding combined with superfinishing. However, due to the inherent machining principles of centerless grinding and superfinishing, it is difficult to effectively improve the diameter dispersion of the rolling surface of a tapered roller.

[0004] Patent document with publication number CN113601277A discloses a grinding tool kit, equipment and method for finishing the rolling surface of a tapered roller. The grinding tool kit includes a grinding sleeve that remains coaxial during operation and a grinding strip assembly that passes through the grinding sleeve. The radial expansion mechanism of the grinding strip assembly fixture pushes the guide column through the outer conical surface of the core shaft, thereby pushing the grinding strip mounting seat and the grinding strip thereon to expand synchronously outward along the radial direction of the grinding strip assembly and load the tapered roller being processed.

[0005] The machining method disclosed in the aforementioned patent document is a precision-evolution machining method. It has the ability to remove more material from the rolling surface of larger-diameter tapered rollers and less material from smaller-diameter ones, which is beneficial for improving the dimensional consistency of the rolling surfaces of tapered rollers under mass production conditions. However, when machining tapered rollers using the aforementioned grinding tool kit, the direction in which the grinding strips load the machined tapered rollers is not normal to the linear groove working surface. This results in low compensation efficiency for wear on the linear groove working surface, seriously affecting the service life of the grinding strips and the economic efficiency of tapered roller grinding. Summary of the Invention

[0006] The tapered roller described in the present invention specifically refers to a processed tapered roller. The tapered roller surface is defined to include the rolling surface and the large end surface of the tapered roller. The cone angle of the tapered roller is denoted as 2φ.

[0007] The conveying mechanism described in the present invention is used to convey the tapered rollers from one place to another in a single-line queue and posture-controlled manner. The conveying mechanism is a conveying mechanism in the prior art such as a flat belt conveying mechanism, a double circular belt conveying mechanism, or a conveying mechanism developed in the future that can be used for the purpose described in the present invention. The present invention does not limit the structure of the conveying mechanism.

[0008] The lifting mechanism described in the present invention is used to lift the tapered roller from a low place to a high place in a single-isolated, single-line queue, and posture-controlled manner. The lifting mechanism is a lifting mechanism in the existing technology such as a push plate lifting mechanism, a chain plate lifting mechanism, etc., or a lifting mechanism developed in the future that can be used for the purpose described in the present invention. The present invention does not limit the structure of the lifting mechanism.

[0009] To address the challenges of the existing technology, the present invention proposes a lap tool kit and grinding equipment for fine-machining the rolling surface of tapered rollers. These lap tool kit and grinding equipment are capable of fine-machining the rolling surfaces of tapered rollers in large quantities. The grinding strips in the lap tool kit load the tapered rollers in the normal direction of the linear groove working surface, significantly improving the efficiency of compensating for wear on the linear groove working surface. This significantly increases the lifespan of the grinding strips and the economic efficiency of tapered roller grinding.

[0010] In order to solve the above technical problems, the present invention proposes a grinding tool kit for fine machining of the rolling surface of a tapered roller, comprising a grinding sleeve and a grinding strip assembly disposed within the grinding sleeve; during grinding, the grinding strip assembly penetrates the grinding sleeve, and the grinding strip assembly is coaxial with the grinding sleeve;

[0011] The grinding bar assembly includes at least three pairs of grinding bars arranged on the periphery and a radial expansion component arranged in the center of the grinding bar assembly; the adjacent side surfaces of a pair of grinding bars form a linear groove whose opening faces the inner peripheral surface of the grinding sleeve, and all the linear grooves are distributed in a circular array, with the axis of the linear groove array being the axis of the grinding bar assembly; the groove surface of the linear groove that contacts the tapered roller during grinding is the linear groove working surface;

[0012] The inner wall of the grinding sleeve is provided with a grinding sleeve groove, which is a cylindrical spiral groove or a group of multiple coaxial annular grooves with equal diameters, and the axis of the cylindrical spiral groove or the annular groove is the axis of the grinding sleeve; the groove surface of the grinding sleeve groove that contacts the tapered roller during grinding is the working surface of the grinding sleeve groove;

[0013] During grinding, one tapered roller is distributed at each intersection of the grinding sleeve groove and the linear groove; corresponding to each intersection, the area enclosed by the working surface of the grinding sleeve groove and the working surface of the linear groove is the grinding processing area; the grinding bar assembly applies a grinding load to the tapered rollers distributed in the grinding sleeve groove, and the tapered rollers are in contact with the working surface of the grinding sleeve groove and the working surface of the linear groove respectively; the grinding bar assembly and the grinding sleeve rotate relative to each other around the axis of the grinding bar assembly. When the grinding sleeve groove is a group of multiple coaxial annular grooves with equal diameters, The grinding bar assembly also simultaneously performs relative reciprocating linear motion with the grinding sleeve along the axis of the grinding bar assembly; the tapered roller rotates around its own axis under the friction drive of the grinding sleeve groove working surface, and simultaneously moves along the grinding sleeve groove and the linear groove respectively under the pushing action of the linear groove working surface and the grinding sleeve groove working surface, and the surface of the tapered roller is continuously tangent to the grinding sleeve groove working surface; the rolling surface of the tapered roller slides relative to the grinding sleeve groove working surface and the linear groove working surface respectively, thereby achieving grinding processing of the rolling surface;

[0014] The linear groove working surface is a V-shaped groove surface, the angle between the two side planes of the V-shaped groove surface is denoted as 2θ, and the symmetry plane of the V-shaped groove surface includes the axis of the grinding bar assembly; during the grinding process, the rolling surface of the tapered roller is in line contact with the two side planes of the V-shaped groove surface, and the small end of the tapered roller is adjacent to the groove bottom of the linear groove;

[0015] The tapered roller is placed as a reference object in the linear groove and maintained in contact during the grinding process. Then, the geometric centers of the tapered rollers in the same linear groove are on the same straight line, which is called the linear groove baseline. The axis of the tapered roller intersects the linear groove baseline at an angle γ, where sinφ = sinγ·sinθ. All the linear groove baselines are on the same cylindrical surface, which is called the grinding bar assembly base cylindrical surface. The grinding bar assembly base cylindrical surface is coaxial with the grinding bar assembly.

[0016] The tapered roller is placed in the grinding sleeve groove as a reference object and maintained in a contact state during the grinding process. When the grinding sleeve groove is a cylindrical spiral groove, the geometric center of the tapered roller in the cylindrical spiral groove is on a spiral line. When the grinding sleeve groove is a group of multiple coaxial annular grooves with equal diameters, the geometric centers of the tapered rollers in the same annular groove are on the same circumference. The spiral line or the circumference is called the grinding sleeve groove baseline. The grinding sleeve groove baseline is on a cylindrical surface, and the cylindrical surface is called the grinding sleeve base cylindrical surface.

[0017] During grinding, the base cylindrical surface of the grinding sleeve coincides with the base cylindrical surface of the grinding bar assembly;

[0018] The working surface of the grinding sleeve groove and the surface of the tapered roller are a pair of conjugate curved surfaces; when the grinding sleeve groove is a cylindrical spiral groove, the cylindrical spiral motion of the tapered roller around the axis of the grinding sleeve is the conjugate motion of the grinding sleeve and the tapered roller; when the grinding sleeve groove is a group of multiple coaxial annular grooves of equal diameter, the circumferential motion of the tapered roller around the axis of the grinding sleeve is the conjugate motion of the grinding sleeve and the tapered roller;

[0019] During the grinding process, the tapered rollers distributed at the intersections of the grinding sleeve groove and the linear groove coordinately bear the grinding load. The tapered rollers rely on the comparison between the working surfaces of the grinding sleeve groove and the linear groove to produce a selective material removal effect. The tapered rollers with larger diameters bear a larger grinding load and remove more material, while the tapered rollers with smaller diameters bear a smaller grinding load and remove less material.

[0020] The radial expansion component includes a three-part guide column, a guide sleeve and an expansion mandrel;

[0021] The circumference of the guide sleeve is provided with no less than 3 groups of radial guide structures, each group of radial guide structures includes one or more radial guide holes, and the center of the guide sleeve is provided with an axial guide hole that is slidably matched with the expansion core shaft;

[0022] The outer peripheral surface of the expansion mandrel is provided with no less than three groups of expansion drive structures, each group of expansion drive structures includes one or more wedge-shaped structures, the inclined surface of the wedge-shaped structure is the driving surface of the expansion mandrel to achieve radial expansion, and the expansion mandrel is coaxial with the grinding bar assembly;

[0023] The three-part guide post is a symmetrical structure, and each of the three-part guide post comprises two side guide posts and a middle guide post located between the two side guide posts; the side guide post comprises a basic guide post adjacent to one side of the expansion mandrel, a loading wedge block adjacent to one side of the inner circumferential surface of the grinding sleeve, and an elastic sheet connecting the basic guide post and the loading wedge block as a flexible hinge; the outer circumferential surface of one end of the three-part guide post adjacent to the expansion mandrel is slidably matched with the radial guide hole; the inner side inclined surfaces of the two loading wedge blocks of the same three-part guide post extend and intersect to form a wedge angle; the middle guide post is adjacent to the expansion mandrel The side surfaces of the two middle guide posts at one end of the core shaft are slidably matched with the inner side surface of the basic guide post, and the angle between the side inclined surfaces of the two middle guide posts at the other end of the middle guide post is the top angle of the middle guide post, and the top angle of the middle guide post is equal to the wedge angle between the inner inclined surfaces of the two loading wedge blocks, and the side inclined surfaces of the two middle guide posts slide relative to the inner inclined surfaces of the two loading wedge blocks; the bottom surface of the side guide post of the basic guide post adjacent to one end of the expansion core shaft maintains contact with the outer peripheral surface of the expansion core shaft; the bottom surface of the middle guide post of the middle guide post adjacent to one end of the expansion core shaft slides relative to the driving surface of the wedge-shaped structure;

[0024] The grinding strip is fixedly connected to the outer side surface of the loading wedge, or is transitionally connected to the outer side surface of the loading wedge through a grinding strip mounting seat, and the three-part guide pillars connected to the same two grinding strips are the same group of three-part guide pillars;

[0025] Each group of three-part guide pillars corresponds to the radial guide holes and the wedge-shaped structures one by one, and a group of three-part guide pillars corresponds to a group of radial guide structures and a group of expansion drive structures;

[0026] The three-division guide pillars are evenly distributed along the circumference, the symmetry plane of the three-division guide pillars includes the axis of the grinding bar assembly, a pair of grinding bars forming a linear groove are fixedly connected to or transitionally connected to the outer side surfaces of adjacent side loading wedges of adjacent groups of three-division guide pillars through the grinding bar mounting seat, and the side surfaces of the grinding bars serving as the working surfaces of the linear grooves are parallel to the symmetry plane of the three-division guide pillars;

[0027] During the grinding process, all the wedge-shaped structures move synchronously relative to the guide sleeve along the axial direction of the grinding strip assembly, and the driving surfaces of the wedge-shaped structures synchronously push the middle guide post to slide radially outward between the two side guide posts of the three-part guide post, thereby synchronously pushing the grinding strip along the normal direction of the linear groove working surface through the loading wedge block to apply a grinding load to the rolling surface of the tapered roller;

[0028] The radial expansion component is used to drive the grinding strip to apply a grinding load to the rolling surface of the tapered roller and to transmit torque between the main body of the grinding device and the grinding strip.

[0029] Furthermore, the bottom surfaces of all the side guide pillars are in contact with the same cylindrical surface or the same prismatic surface on the outer peripheral surface of the expansion mandrel, and the wedge-shaped structure is fixedly connected to the expansion mandrel;

[0030] During grinding, the expansion mandrel together with the wedge-shaped structure thereon moves axially relative to the guide sleeve along the grinding strip assembly, and the driving surfaces of all wedge-shaped structures synchronously push the middle guide column to slide radially outward along the grinding strip assembly between the two side guide columns of the three-part guide column, and then synchronously push the grinding strip along the normal direction of the linear groove working surface through the loading wedge block to apply a grinding load to the rolling surface.

[0031] Furthermore, the bottom surfaces of the side guide pillars distributed on the same circumference are in contact with the same conical surface or the same pyramidal surface on the outer circumferential surface of the expansion mandrel, the bottom surface of the side guide pillars is an inclined surface that slides relative to the conical surface or the pyramidal surface, and the wedge-shaped structure and the expansion mandrel are slidably matched along the axial direction of the grinding bar assembly;

[0032] During grinding, on the one hand, all the wedge-shaped structures move synchronously along the axial direction of the grinding strip assembly relative to the expansion mandrel and the guide sleeve, and the driving surface of the wedge-shaped structure synchronously pushes the middle guide column to slide radially outward along the grinding strip assembly between the two side guide columns of the three-division guide column, and then synchronously pushes the grinding strip to apply a grinding load to the rolling surface along the normal direction of the linear groove working surface through the loading wedge block; on the other hand, the expansion mandrel together with the wedge-shaped structure thereon makes a reciprocating linear motion relative to the guide sleeve along the axial direction of the grinding strip assembly, and while the conical surface or pyramidal surface repeatedly and synchronously pushes the side guide columns, the driving surface of the wedge-shaped structure synchronously pushes the middle guide column, so that all the three-division guide columns as a whole make a synchronous reciprocating linear motion along the radial guide hole, and then synchronously pushes the grinding strip to make a reciprocating linear motion along the tangent direction of the rolling surface through the loading wedge block, while maintaining the grinding load, expanding the area of the linear groove working surface involved in grinding.

[0033] At the same time, the present invention provides a grinding device for finishing the rolling surface of a tapered roller, comprising a main machine, an external circulation system and a grinding tool kit for finishing the rolling surface of a tapered roller according to the present invention, wherein the grinding tool kit is arranged horizontally;

[0034] The main machine includes a rotating component, and when the grinding sleeve groove is a group of multiple coaxial annular grooves with the same diameter, the main machine also includes a reciprocating linear motion mechanism;

[0035] The rotating component is used to drive the grinding sleeve and the grinding bar assembly to rotate relative to each other, and the reciprocating linear motion mechanism is used to drive the grinding sleeve and the grinding bar assembly to move relative to each other;

[0036] The external circulation system includes a material receiving subsystem, a material feeding subsystem, a material storage station, a plurality of material storage units and a control subsystem;

[0037] The storage station is used to store the storage unit; the storage unit is used to temporarily store the tapered rollers, and the storage unit includes one or more storage channels, and the tapered rollers are sequentially stored in the storage channels of the storage unit in a single-line queue with axes parallel to each other and rolling surfaces close to rolling surfaces to reduce mutual collisions between the tapered rollers and avoid collision injuries; the storage channels gradually transition from the channel entrance to the channel exit from top to bottom to facilitate the tapered rollers to roll unpowered in the storage channels under the action of their own gravity; the storage unit is the hardware basis for adjusting the order and position of the tapered rollers in the tapered roller queue in blocks under the condition that there is no physical contact between the tapered rollers loaded in different storage units, and the tapered roller queue is a closed-loop queue including all tapered rollers in the grinding processing area and the external circulation system;

[0038] The material receiving subsystem is used to load the tapered rollers leaving the exit of the grinding processing area into the empty material storage unit in a queue and posture-controlled manner, so as to avoid the tapered rollers from being damaged by collision with each other;

[0039] The feeding subsystem is used to unload the tapered rollers from the selected storage unit in the storage station according to the decision of the control subsystem, and load them into the entrance of the grinding processing area in an orderly manner in a queue and posture-controlled manner according to the posture requirements of the grinding processing area for the tapered rollers, and prevent the tapered rollers from being damaged by collision with each other;

[0040] The tapered rollers in the same storage channel enter the storage channel from the channel entrance and leave the storage channel from the channel exit in the order of first-in-first-out and last-in-last-out;

[0041] The control subsystem is used to decide when to unload the tapered rollers from which storage unit; the control subsystem is the software basis for adjusting the order and position of the tapered rollers in the tapered roller queue in blocks without physical contact between the tapered rollers loaded in different storage units;

[0042] During the grinding process, the tapered rollers that have completed one grinding process in the grinding process area leave the grinding process area from the outlet, and are temporarily stored in an unloaded storage unit and stored in the storage station. According to the decision of the control subsystem, the tapered rollers are unloaded from the storage unit selected in the storage station and sent to the grinding process area from the entrance to continue to receive grinding process. The order and position of the tapered rollers sent to the grinding process area in the tapered roller queue are updated according to the decision of the control subsystem, thereby realizing the mixed replacement of the tapered rollers in blocks without physical contact between the tapered rollers loaded in different storage units.

[0043] The process of all the tapered rollers entering the grinding processing area from the inlet, undergoing grinding in the grinding processing area, and leaving the grinding processing area from the outlet is called one grinding cycle;

[0044] The changes in the order and position of the tapered rollers leaving the grinding zone from the outlet in the tapered roller queue in the external circulation system change the combination of the tapered rollers that subsequently enter the grinding zone, thereby extending the selective material removal effect between the tapered rollers in the grinding zone to the entire batch of tapered rollers; with the increase in grinding cycles, the dimensional consistency of the tapered rollers continues to improve until it reaches the specified technical indicators;

[0045] In order to improve the dimensional consistency of the tapered rollers, a feeding sequence rule for loading the tapered rollers into the inlet is required, and the dynamic timing of unloading the tapered rollers from each storage unit during the grinding process is planned based on the feeding sequence rule. The feeding sequence rule can ensure that the number of grinding cycles experienced by all the tapered rollers is close, while at the same time weakening the order and position characteristics of the tapered rollers compared with each other in the grinding process area in the tapered roller queue;

[0046] On the one hand, the external circulation system is used to cope with the grinding of large quantities of tapered rollers that exceed the capacity of the grinding processing area; on the other hand, it is used to establish a logistics channel for the tapered rollers between the outlet and the inlet; and on the other hand, it is used to mix and replace the tapered rollers to weaken the order and position characteristics of the tapered rollers in the tapered roller queue.

[0047] Furthermore, the grinding sleeve groove is a cylindrical spiral groove, the inlet of the grinding processing zone is arranged at one end of the cylindrical spiral groove and leads to the upper half outer wall of the grinding sleeve, and the outlet of the grinding processing zone is at the other end of the cylindrical spiral groove; during grinding processing, the tapered roller continuously enters the grinding processing zone from the inlet and continuously leaves the grinding processing zone from the outlet; the tapered roller enters the grinding processing zone from the inlet and leaves the grinding processing zone from the outlet synchronously with the grinding process;

[0048] The storage space of the storage unit is divided into a plurality of storage channels parallel to each other, and the storage channels are arranged obliquely relative to the horizontal plane so as to facilitate the unpowered rolling of the tapered rollers in the storage channels under the action of their own gravity; the width of the storage channel matches the axial length of the tapered rollers so as to constrain the posture of the tapered rollers when rolling in the storage channel to avoid being stuck; the upper end of the storage channel is the channel entrance, and the lower end of the storage channel is the channel exit and is provided with an exit gate; the tapered rollers are sequentially stored in the storage channel in a single-line queue, with their axes parallel to each other and their rolling surfaces close to each other; the exit gate is in an open state when the tapered rollers are unloaded from the storage channel;

[0049] The material storage units are installed in layers in the material storage station;

[0050] The material receiving subsystem includes a material receiving channel, a pre-station material receiving unit and a pre-station transition unit;

[0051] The front-station material receiving unit and the front-station transition unit are both provided with a material storage channel consistent with that in the material storage unit;

[0052] The outlet of the grinding processing area is connected to the material storage channel of the material receiving unit before the station through the material receiving channel, or is connected to the material storage channel of the material receiving unit before the station through the material receiving channel and the conveying mechanism; during grinding processing, the tapered roller leaves the outlet and passes through the material receiving channel to enter the material storage channel of the material receiving unit before the station, or passes through the material receiving channel and the conveying mechanism in sequence to enter the material storage channel of the material receiving unit before the station;

[0053] When the pre-station material receiving unit is fully loaded with the tapered rollers, the channel entrance of the pre-station transition unit is connected to the channel exit of the pre-station material receiving unit, and all the tapered rollers in the pre-station material receiving unit are transferred to the storage channel of the pre-station transition unit in a rolling manner, and the storage channel of the pre-station material receiving unit is emptied; the channel exit of the fully loaded pre-station transition unit is connected to the channel entrance of the empty storage unit in the storage station, and all the tapered rollers in the pre-station transition unit are loaded into the storage channel of the storage unit in a rolling manner;

[0054] The feeding subsystem includes a post-station transition unit, a post-station feeding unit and a feeding channel;

[0055] The post-station transition unit and the post-station feeding unit are both provided with a storage channel consistent with that in the storage unit; the feeding channel is provided in the upper space of the outer wall of the grinding sleeve and is communicated with the inlet;

[0056] According to the decision of the control subsystem, the channel entrance of the post-station transition unit is connected to the channel exit of the selected storage unit in the storage station, and all the tapered rollers in the storage unit are unloaded to the storage channel of the post-station transition unit in a rolling manner, and the storage channel of the storage unit is emptied; the channel exit of the fully loaded post-station transition unit is connected to the channel entrance of the post-station feeding unit, and all the tapered rollers in the post-station transition unit are transferred to the storage channel of the post-station feeding unit in a rolling manner; the channel exits of multiple storage channels of the post-station feeding unit are connected to the feeding channel one by one or are connected to the feeding channel one by one through the feeding transition channel to deliver the tapered rollers into the entrance through the feeding channel;

[0057] The feeding channel is a curved channel, a broken line channel or a zigzag combined channel; in the process of entering the entrance through the feeding channel, the tapered rollers from the post-station feeding unit roll in the feeding channel from top to bottom in a single-line queue, with axes parallel to each other and rolling surfaces close to rolling surfaces along a curved path, a broken line path or a zigzag combined path with the help of the tapered rollers' own weight; the width of the feeding channel matches the axial length of the tapered rollers to constrain the posture of the tapered rollers when rolling in the feeding channel to avoid getting stuck.

[0058] Furthermore, the grinding sleeve groove is a cylindrical spiral groove, the inlet of the grinding processing zone is arranged at one end of the cylindrical spiral groove and leads to the upper half outer wall of the grinding sleeve, and the outlet of the grinding processing zone is at the other end of the cylindrical spiral groove; during grinding processing, the tapered roller continuously enters the grinding processing zone from the inlet and continuously leaves the grinding processing zone from the outlet; the tapered roller enters the grinding processing zone from the inlet and leaves the grinding processing zone from the outlet synchronously with the grinding process;

[0059] The storage space of the storage unit is one or more vertical storage channels arranged in parallel, and the storage channels are curved channels, folded line channels or zigzag combined channels; during the process of storing or unloading the material in the storage unit, the tapered rollers roll in the storage channel from top to bottom with the axes parallel to each other and the rolling surfaces close to the rolling surface by virtue of their own weight; the width of the storage channel matches the axial length of the tapered rollers so as to constrain the posture of the tapered rollers when rolling in the storage channel to avoid being stuck; the upper end of the storage channel is the channel entrance, and the lower end of the storage channel is the channel exit and is provided with an exit gate; the tapered rollers are sequentially stored in the storage channel from bottom to top in a single-line queue, with the axes parallel to each other and the rolling surfaces close to the rolling surface; the exit gate is in an open state when the tapered rollers are unloaded from the storage channel;

[0060] The storage station is provided with a transport robot, and the transport robot is used to move the storage unit;

[0061] The material receiving subsystem is provided with a material receiving channel;

[0062] The outlet of the grinding processing area is connected to the material storage channel of the material storage unit through the material receiving channel, or is connected to the material storage channel of the material storage unit through the material receiving channel and the conveying mechanism; during grinding processing, the tapered roller leaves the outlet and enters the material storage channel of the material storage unit through the material receiving channel, or enters the material storage channel of the material storage unit through the material receiving channel and the conveying mechanism in sequence;

[0063] The transport robot removes an empty storage unit from the storage station and docks the channel entrance of the storage unit with the receiving channel or the conveying mechanism to receive the tapered rollers from the receiving channel; when the storage unit is fully loaded with the tapered rollers, the transport robot returns the storage unit to the storage station for temporary storage;

[0064] The feeding subsystem is provided with a feeding channel; the feeding channel is provided in the upper space of the outer wall of the grinding sleeve and is communicated with the inlet;

[0065] According to the decision of the control subsystem, the handling robot moves the selected storage unit in the storage station and docks the channel outlet of the storage unit with the feeding channel to unload the tapered roller;

[0066] The feeding channel is a curved channel, a broken line channel, or a channel combining zigzags; in the process of entering the inlet through the feeding channel, the tapered rollers from the storage unit roll in the feeding channel from top to bottom in a single-line queue, with axes parallel to each other and rolling surfaces close to rolling surfaces, along a curved path, a broken line path, or a channel combining zigzags. The width of the feeding channel matches the axial length of the tapered rollers to constrain the posture of the tapered rollers when rolling in the feeding channel to prevent them from getting stuck.

[0067] The material receiving subsystem may also be provided with a material receiving buffer station, the material receiving buffer station is provided with a material receiving station and a buffer station, the material receiving buffer station comprises a first bracket and a first guide rail, the first bracket is used to place the material storage unit, the first bracket together with the material storage unit thereon switches between the material receiving station and the buffer station along the first guide rail; the handling robot moves an empty material storage unit from the material storage station and places it on the first bracket located at the buffer station; the material storage unit located at the material receiving station moves along the first guide rail The channel entrance is connected to the material receiving channel or the conveying mechanism to receive the tapered rollers from the material receiving channel; when the storage unit located at the material receiving station is fully loaded with the tapered rollers, the fully loaded storage unit is switched to the buffer station, and the empty storage unit is switched to the material receiving station; the handling robot returns the fully loaded storage unit located at the buffer station to the storage station for temporary storage, and removes the empty storage unit from the storage station again and places it on the first bracket located at the buffer station, and this process is repeated continuously;

[0068] The feeding subsystem may also be provided with a feeding buffer station, the feeding buffer station is provided with a feeding station and a buffer station, the feeding buffer station comprises a second bracket and a second guide rail, the second bracket is used to place the storage unit, the second bracket together with the storage unit thereon switches between the feeding station and the buffer station along the second guide rail; the handling robot moves out the fully loaded storage unit selected by the control subsystem from the storage station and places it on the second bracket located at the buffer station; the storage unit located at the feeding station switches along the second guide rail The second guide rail moves so that the channel outlet docks with the feeding channel to unload the tapered rollers; when the tapered rollers in the storage unit located at the feeding station are emptied, the empty storage unit is switched to the buffer station, and the fully loaded storage unit is switched to the feeding station; the handling robot returns the empty storage unit located at the buffer station to the storage station, and removes the fully loaded storage unit selected by the control subsystem from the storage station again and places it on the second bracket located at the buffer station, and repeats this process continuously.

[0069] Furthermore, the grinding sleeve groove is a group of multiple coaxial annular grooves of equal diameter, and corresponding to each annular groove, a through hole for the tapered roller to enter or leave the grinding processing area is provided, and the through hole leads to the upper outer wall of the grinding sleeve, and the through hole is both the entrance for the tapered roller to enter the grinding processing area and the exit for the tapered roller to leave the grinding processing area; the tapered roller enters the grinding processing area from the through hole or leaves the grinding processing area from the through hole in a time-sharing manner with the grinding process, and the grinding process is suspended during the period when the tapered roller enters or leaves the grinding processing area;

[0070] The storage space of the storage unit is divided into a plurality of storage channels parallel to each other, and the storage channels are arranged obliquely relative to the horizontal plane so as to facilitate the unpowered rolling of the tapered rollers in the storage channels under the action of their own gravity; the width of the storage channel matches the axial length of the tapered rollers so as to constrain the posture of the tapered rollers when rolling in the storage channel to avoid being stuck; the upper end of the storage channel is the channel entrance, and the lower end of the storage channel is the channel exit and is provided with an exit gate; the tapered rollers are sequentially stored in the storage channel in a single-line queue, with their axes parallel to each other and their rolling surfaces close to each other; the exit gate is in an open state when the tapered rollers are unloaded from the storage channel;

[0071] The material storage units are installed in layers in the material storage station;

[0072] The material receiving subsystem includes a unloading robot, a front-station material receiving unit and a front-station transition unit;

[0073] The front-station material receiving unit and the front-station transition unit are both provided with a material storage channel consistent with that in the material storage unit;

[0074] The feeding subsystem includes a post-station transition unit, a post-station feeding unit and a loading robot;

[0075] The post-station transition unit and the post-station feeding unit are both provided with a storage channel consistent with that in the storage unit;

[0076] The loading robot and the unloading robot are both provided with a set of parallel arranged finger-shaped grippers, the ends of the finger-shaped grippers are provided with suction cups for adsorbing the tapered rollers, and the suction cups are vacuum suction cups or electromagnetic suction cups;

[0077] Whenever the tapered roller in the grinding processing area completes a round of grinding processing, unloading and loading work is carried out once; the grinding bar assembly is rotated until a certain linear groove is opposite to the through-port, and the finger-shaped gripper of the unloading robot is respectively inserted into each through-port, and a tapered roller located in the linear groove is adsorbed and taken out from each through-port in parallel, and then the tapered rollers are respectively placed in each storage channel of the station front receiving unit or in the conveying mechanism. The tapered rollers placed on the conveying mechanism pass through the conveying mechanism and enter each storage channel of the station front receiving unit; the finger-shaped gripper of the loading robot is inserted into the feeding unit at the rear of the station Each storage channel of the grinding machine absorbs and takes out a tapered roller in parallel, and then places the tapered roller into the linear groove through each opening according to the posture requirement of the grinding processing area for the tapered roller, and the finger-shaped clamp withdraws from the opening; the grinding bar assembly is continued to be rotated until the next linear groove is opposite to the opening, and the above operation is repeated until all the tapered rollers of the previous round of grinding processing are unloaded from the grinding processing area and loaded into the subsequent tapered rollers, and the grinding process continues; during each round of grinding processing, the average material removal amount of the tapered roller in the diameter direction must be controlled within 0.5 microns;

[0078] When the pre-station material receiving unit is fully loaded with the tapered rollers, the channel entrance of the pre-station transition unit is connected to the channel exit of the pre-station material receiving unit, and all the tapered rollers in the pre-station material receiving unit are transferred to the storage channel of the pre-station transition unit in a rolling manner, and the storage channel of the pre-station material receiving unit is emptied; the channel exit of the fully loaded pre-station transition unit is connected to the channel entrance of the empty storage unit in the storage station, and all the tapered rollers in the pre-station transition unit are loaded into the storage channel of the storage unit in a rolling manner;

[0079] According to the decision of the control subsystem, the channel entrance of the post-station transition unit is connected to the channel exit of the selected storage unit in the storage station, and all the tapered rollers in the storage unit are unloaded to the storage channel of the post-station transition unit in a rolling manner, and the storage channel of the storage unit is emptied; the channel exit of the fully loaded post-station transition unit is connected to the channel entrance of the post-station feeding unit, and all the tapered rollers in the post-station transition unit are transferred to the storage channel of the post-station feeding unit in a rolling manner.

[0080] At the same time, the present invention also provides another grinding device for finishing the rolling surface of a tapered roller, comprising a main machine, an external circulation system, and a grinding tool kit for finishing the rolling surface of a tapered roller according to claim 1, 2, or 3, wherein the grinding tool kit is arranged horizontally, and the grinding sleeve groove is a cylindrical spiral groove;

[0081] The main machine includes a rotating component, and the rotating component is used to drive the grinding sleeve and the grinding bar assembly to rotate relative to each other;

[0082] The inlet of the grinding processing area is arranged at one end of the cylindrical spiral groove and leads to the upper outer wall of the grinding sleeve, and the outlet of the grinding processing area is arranged at the other end of the cylindrical spiral groove; during grinding processing, the tapered roller continuously enters the grinding processing area from the inlet and continuously leaves the grinding processing area from the outlet; the tapered roller enters the grinding processing area from the inlet and leaves the grinding processing area from the outlet synchronously with the grinding process;

[0083] The external circulation system includes a material receiving channel, a lifting mechanism and a material feeding channel;

[0084] The feed channel is arranged in the upper space of the outer wall of the grinding sleeve and is communicated with the inlet;

[0085] The outlet of the grinding processing area is connected to the lifting mechanism through the material receiving channel or through the material receiving channel and the conveying mechanism; during grinding processing, the tapered roller leaves the outlet and enters the lifting mechanism through the material receiving channel, or enters the lifting mechanism through the material receiving channel and the conveying mechanism in sequence;

[0086] The lifting mechanism is used to lift the tapered roller upward in a single, isolated, single-line, and posture-controlled manner to dock with the feed channel or dock with the feed channel through a conveying mechanism. The tapered roller enters the feed channel through the lifting mechanism or enters the feed channel through the lifting mechanism and the conveying mechanism in sequence;

[0087] The feed channel is a curved channel, a broken line channel, or a channel combining zigzags. In the process of entering the inlet through the feed channel, the tapered rollers from the lifting mechanism or the conveying mechanism roll in the feed channel from top to bottom in a single-line queue, with axes parallel to each other and rolling surfaces close to rolling surfaces, along the curved path, broken line path, or zigzag path under the weight of the tapered rollers. The width of the feed channel matches the axial length of the tapered rollers to constrain the posture of the tapered rollers when rolling in the feed channel to prevent them from getting stuck.

[0088] A grinding cycle is a process in which all the tapered rollers enter the grinding processing area from the entrance, undergo grinding in the grinding processing area, and leave the grinding processing area from the exit. As the number of grinding cycles increases, the selective material removal effect between the tapered rollers in the grinding processing area gradually extends to the entire batch of tapered rollers, and the dimensional consistency of the tapered rollers continues to improve until the specified technical indicators are reached.

[0089] Compared with the prior art, the present invention has the following beneficial effects:

[0090] On the one hand, during grinding, the wedge-shaped structure on the expansion mandrel moves axially relative to the guide sleeve along the grinding strip assembly, and the driving surface of the wedge-shaped structure pushes the middle guide post to slide radially outward along the grinding strip assembly between the two side guide posts of the three-part guide post, thereby pushing the grinding strip along the normal direction of the linear groove working surface through the loading wedge block to apply a grinding load to the rolling surface of the tapered roller, greatly improving the compensation efficiency after wear of the linear groove working surface, thereby greatly improving the service life of the grinding strip and the economy of tapered roller grinding.

[0091] On the other hand, in the process of the tapered rollers entering the inlet from the outlet via the external circulation system, breaking the first-in-first-out, fixed feeding order according to certain rules is helpful to overcome the disadvantage that the tapered rollers that are far apart in the tapered roller queue cannot be compared with each other in the grinding processing area due to the fixed feeding order.

[0092] At the same time, during the logistics process of the external circulation system, the tapered rollers are temporarily stored in the storage unit in an orderly manner, and then unloaded from the selected storage unit according to the planned dynamic sequence and loaded into the inlet in an orderly manner, which can effectively avoid surface damage caused by collisions between the tapered rollers. BRIEF DESCRIPTION OF THE DRAWINGS

[0093] Figure 1 It is a schematic diagram of the two-dimensional structure of the tapered roller;

[0094] Figure 2 This is a diagram showing the distribution of tapered rollers in the grinding area when the grinding sleeve groove is a cylindrical spiral groove.

[0095] Figure 3 This is a diagram showing the distribution of tapered rollers in the grinding area when the grinding sleeve groove is a group of multiple coaxial annular grooves with equal diameters.

[0096] Figure 4 It is a schematic diagram of the contact relationship between the tapered roller and the linear groove;

[0097] Figure 5 It is a schematic diagram of the linear groove baseline and the base cylindrical surface of the grinding strip assembly;

[0098] Figure 6 It is a schematic diagram of the grinding sleeve groove baseline and the grinding sleeve base cylindrical surface when the grinding sleeve groove is a cylindrical spiral groove;

[0099] Figure 7 It is a schematic diagram of the grinding sleeve groove baseline and the grinding sleeve base cylindrical surface when the grinding sleeve groove is a group of multiple coaxial annular grooves with equal diameters;

[0100] Figure 8 It is a schematic diagram of the structure of the guide sleeve;

[0101] Figure 9 It is a schematic diagram of the structure of the expansion mandrel;

[0102] Figure 10 This is a schematic diagram of the structure of the three-point guide column;

[0103] Figure 11 This is a schematic diagram of the connection between the grinding strip and the three-point guide column;

[0104] Figure 12 This is a schematic diagram of the cross-sectional structure of the grinding bar assembly method;

[0105] Figure 13 It is a schematic diagram of the function of the coil spring;

[0106] Figure 14 It is a schematic diagram of the function of the tension spring;

[0107] Figure 15 It is a schematic diagram showing that the outer peripheral surface of the expansion mandrel in contact with the bottom surface of the side guide pin is a part of the prism surface;

[0108] Figure 16 It is a schematic diagram showing that the outer peripheral surface of the expansion mandrel in contact with the bottom surface of the side guide pillar is a part of the pyramid surface;

[0109] Figure 17 This is a schematic diagram of the inlet and outlet of the grinding processing area when the grinding sleeve groove is a cylindrical spiral groove;

[0110] Figure 18 This is a schematic diagram of a storage unit when the storage channel is arranged horizontally and tilted;

[0111] Figure 19 This is a schematic diagram of the operation of the storage station, the material receiving subsystem and the material feeding subsystem when the storage channel of the storage unit is arranged horizontally and tilted;

[0112] Figure 20 This is a diagram showing the tapered roller passing through the material receiving channel from the outlet into the conveyor belt;

[0113] Figure 21 This is a diagram showing the tapered roller passing through the feed channel and entering the grinding processing area entrance;

[0114] Figure 22 This is a schematic diagram of a storage unit when the storage channel is arranged vertically;

[0115] Figure 23 This is a schematic diagram of a storage station when the storage channel of the storage unit is arranged vertically;

[0116] Figure 24 This is a schematic diagram of the material receiving buffer station;

[0117] Figure 25 This is a schematic diagram of the feeding buffer station;

[0118] Figure 26 This is a schematic diagram of the inlet and outlet of the grinding processing area when the grinding sleeve groove is a group of multiple coaxial annular grooves with equal diameters;

[0119] Figure 27 This is a diagram of the unloading robot taking out the tapered roller from the outlet and placing it on the conveyor belt;

[0120] Figure 28 This is the second operation diagram of the storage station, material receiving subsystem and material feeding subsystem when the storage channel of the storage unit is arranged horizontally and inclined.

[0121] In the picture:

[0122] 1- tapered roller; 11- axis of tapered roller; 12- rolling surface; 13- large end surface;

[0123] 2 - grinding strip; 21 - axis of grinding strip assembly; 22 - grinding strip mounting seat; 231 - linear groove baseline; 232 - grinding strip assembly base cylindrical surface; 233 - symmetry plane of V-groove surface; 234 - contact line; 240 - symmetry plane of three-part guide post; 241 - base guide post; 242 - loading wedge; 243 - elastic sheet; 244 - inner side of base guide post; 245 - bottom surface of side guide post; 246 - loading wedge Inner inclined surface of the block; 247 - Outer surface of the loading wedge; 248 - Pin; 249 - Tension spring; 25 - Center guide post; 251 - Side surface of the center guide post; 252 - Side inclined surface of the center guide post; 253 - Bottom surface of the center guide post; 26 - Guide sleeve; 261 - Radial guide hole; 262 - Axial guide hole; 27 - Expansion mandrel; 271 - Driving surface; 272 - Prismatic surface; 273 - Pyramidal surface; 28 - Spring seat; 29 - Coil spring;

[0124] 3- grinding sleeve; 31- axis of the grinding sleeve; 32- cylindrical spiral groove; 33- annular groove; 34- grinding sleeve groove baseline; 35- grinding sleeve base cylindrical surface;

[0125] 41-entrance; 42-exit;

[0126] 5-External circulatory system;

[0127] 61-Storage unit; 62-Exit gate; 63-Storage channel; 64-Transportation robot;

[0128] 73-material receiving channel; 74-conveyor belt; 78-material receiving unit before station; 79-transition unit before station;

[0129] 81-post-station transition unit; 82-post-station feeding unit; 83-feeding channel; 84-feeding transition channel;

[0130] 91-first bracket; 91'-second bracket; 92-first guide rail; 92'-second guide rail; 93-finger gripper; 94-suction cup;

[0131] P-geometric center; 2φ-cone angle of the tapered roller; 2θ-angle between the two side planes of the V-groove surface; γ-angle between the axis of the tapered roller and the axis of the grinding sleeve. DETAILED DESCRIPTION

[0132] The present invention will be further described below in conjunction with the accompanying drawings. The embodiments described with reference to the accompanying drawings are illustrative and intended to explain the present invention, and should not be construed as limiting the scope of the present invention. Furthermore, the dimensions, materials, shapes, and relative arrangements of the components described in the following embodiments do not limit the scope of the present invention to these dimensions, materials, and relative arrangements, unless otherwise specified.

[0133] The tapered roller described in the present invention specifically refers to a processed tapered roller. Figure 1 The figure shows a schematic diagram of the two-dimensional structure of the tapered roller 1. The tapered roller surface is defined as including the rolling surface 12 and the large head end surface 13 of the tapered roller. The cone angle of the tapered roller 1 is 2φ, and the nominal diameter of the tapered roller 1 is D.

[0134] The conveying mechanism described in the present invention is used to convey the tapered roller 1 from one place to another in a single-line queue and posture-controlled manner. The conveying mechanism is a conveying mechanism in the prior art such as a flat belt conveyor mechanism, a double circular belt conveyor mechanism, or a conveying mechanism developed in the future that can be used for the purpose described in the present invention. The present invention does not limit the structure of the conveying mechanism.

[0135] The lifting mechanism described in the present invention is used to lift the tapered roller 1 from a low place to a high place in a single-isolated, single-line queue, and posture-controlled manner. The lifting mechanism is a lifting mechanism in the prior art such as a push plate lifting mechanism, a chain plate lifting mechanism, etc., or a lifting mechanism developed in the future that can be used for the purpose described in the present invention. The present invention does not limit the structure of the lifting mechanism.

[0136] Grinding tool kit embodiment 1: A grinding tool kit for finishing the rolling surface of a tapered roller

[0137] The grinding tool kit includes a grinding sleeve 3 and a grinding bar assembly disposed in the grinding sleeve 3. During grinding, the grinding bar assembly passes through the grinding sleeve 3, and the grinding bar assembly and the grinding sleeve 3 are coaxial.

[0138] The grinding bar assembly includes at least three pairs of grinding bars 2 disposed on the periphery and a radial expansion member disposed at the center of the grinding bar assembly. The adjacent side surfaces of a pair of grinding bars 2 form a linear groove whose opening faces the inner circumferential surface of the grinding sleeve 3. All of the linear grooves are arranged in a circular array, with the axis of the linear groove array being the axis 21 of the grinding bar assembly. The groove surface of the linear groove that contacts the tapered roller 1 during grinding is the linear groove working surface. Figure 2 、 Figure 3 、 Figure 4 and Figure 5 The linear grooves formed by the pair of abrasive strips 2 are shown.

[0139] The inner wall of the grinding sleeve 3 is provided with a grinding sleeve groove, which is a cylindrical spiral groove 32 or a group of multiple coaxial annular grooves 33 of equal diameter. The axis of the cylindrical spiral groove 32 or the annular groove 33 is the axis 31 of the grinding sleeve. The groove surface of the grinding sleeve groove that contacts the tapered roller 1 during grinding is the grinding sleeve groove working surface.

[0140] When the grinding sleeve groove is a cylindrical spiral groove 32, as shown in FIG. Figure 2As shown, during the grinding process, one tapered roller 1 is located at each intersection of the grinding sleeve groove and the linear groove. At each intersection, the area enclosed by the working surfaces of the grinding sleeve groove and the linear groove constitutes the grinding process area. The grinding bar assembly applies a grinding load to the tapered rollers 1 located within the grinding sleeve groove, causing the tapered rollers 1 to come into contact with both the grinding sleeve groove and linear groove working surfaces. The grinding bar assembly rotates relative to the grinding sleeve 3, causing the tapered rollers 1 to rotate about their own axes driven by the friction of the grinding sleeve groove working surfaces. Simultaneously, the tapered rollers 1 move along the grinding sleeve groove and linear groove, respectively, under the pushing action of the linear groove and grinding sleeve groove working surfaces. The tapered roller surfaces are continuously tangent to the grinding sleeve groove working surfaces. The rolling surface 12 of the tapered roller slides relative to both the grinding sleeve groove and linear groove working surfaces, thereby achieving grinding of the rolling surface 12.

[0141] When the grinding sleeve groove is a group of multiple coaxial annular grooves 33 with the same diameter, as shown in FIG. Figure 3 As shown, during the grinding process, one tapered roller 1 is located at each intersection of the grinding sleeve groove and the linear groove. At each intersection, the area enclosed by the working surfaces of the grinding sleeve groove and the linear groove constitutes the grinding process area. The grinding bar assembly applies a grinding load to the tapered rollers 1 located within the grinding sleeve groove, causing them to come into contact with both the grinding sleeve groove and linear groove working surfaces. The grinding bar assembly simultaneously rotates relative to the grinding sleeve 3 and reciprocates linearly along the axis 21 of the grinding bar assembly. Driven by friction from the grinding sleeve groove working surface, the tapered rollers 1 simultaneously move along the grinding sleeve groove and linear groove, respectively, under the pushing action of the linear groove and grinding sleeve working surfaces. The tapered roller surfaces are continuously tangential to the grinding sleeve groove working surfaces. The rolling surface 12 of the tapered roller slides relative to both the grinding sleeve groove and linear groove working surfaces, thereby achieving grinding of the rolling surface 12.

[0142] like Figure 4 As shown, the linear groove working surface is a V-shaped groove surface. The angle between the two side planes of the V-shaped groove surface is denoted as 2θ. The symmetry plane 233 of the V-shaped groove surface contains the axis 21 of the grinding bar assembly. During the grinding process, the rolling surface 12 of the tapered roller makes line contact with the two side planes of the V-shaped groove surface. Reference numeral 234 indicates the contact line between the rolling surface 12 of the tapered roller and the two side planes of the V-shaped groove surface. The small end of the tapered roller 1 is adjacent to the groove bottom of the linear groove.

[0143] like Figure 5As shown, the tapered roller 1 is placed as a reference object in the linear groove and maintained in contact during grinding. Then, the geometric centers P of the tapered rollers 1 in the same linear groove are on the same straight line, which is called the linear groove baseline 231. The axis 11 of the tapered roller intersects the linear groove baseline 231, and the angle between them is denoted as γ, sinφ = sinγ·sinθ, as shown in FIG. Figure 4 All the linear groove base lines 231 are on the same cylindrical surface, which is called the grinding bar assembly base cylindrical surface 232, and the grinding bar assembly base cylindrical surface 232 is coaxial with the grinding bar assembly.

[0144] The tapered roller 1 is placed in the grinding sleeve groove as a reference and kept in contact during grinding. When the grinding sleeve groove is a cylindrical spiral groove 32, the geometric center P of the tapered roller 1 in the cylindrical spiral groove 32 is on a spiral line (such as Figure 6 As shown), when the grinding sleeve groove is a group of multiple coaxial annular grooves 33 with the same diameter, the geometric center P of the tapered roller 1 in the same annular groove 33 is on the same circumference (as shown). Figure 7 The spiral line or the circumference is called the grinding sleeve groove baseline 34, and the grinding sleeve groove baseline 34 is on a cylindrical surface, and the cylindrical surface is called the grinding sleeve base cylindrical surface 35.

[0145] During grinding, the grinding sleeve base cylindrical surface 35 coincides with the grinding bar assembly base cylindrical surface 232 .

[0146] According to the definition of conjugate surfaces, "a pair of continuously tangent surfaces on two components of a mechanism that achieve a given motion law is a conjugate surface." The grinding sleeve groove working surface and the tapered roller surface form a pair of conjugate surfaces. When the grinding sleeve groove is a cylindrical spiral groove 32, the cylindrical spiral motion of the tapered roller 1 about the grinding sleeve axis 31 is the conjugate motion of the grinding sleeve 3 and the tapered roller 1. When the grinding sleeve groove is a set of multiple coaxial annular grooves 33 of equal diameter, the circumferential motion of the tapered roller 1 about the grinding sleeve axis 31 is the conjugate motion of the grinding sleeve 3 and the tapered roller 1.

[0147] Given a conjugate motion and a conjugate surface, solving for the other is a fundamental problem in the conjugate surface principle. In this embodiment, given the conjugate motion of the grinding sleeve 3 and the tapered roller 1, and the surface of the tapered roller, the grinding sleeve groove working surface can be solved using the conjugate surface principle.

[0148] During the grinding process, the tapered rollers 1 distributed at the intersections of the grinding sleeve groove and the linear groove coordinate to bear the grinding load. The tapered rollers 1 rely on the comparison between the working surfaces of the grinding sleeve groove and the working surfaces of the linear groove to produce a selective material removal effect. The tapered rollers 1 with larger diameters bear a larger grinding load and have more material removed, while the tapered rollers 1 with smaller diameters bear a smaller grinding load and have less material removed.

[0149] The radial expansion component includes a three-part guide column, a guide sleeve 26 and an expansion core shaft 27.

[0150] like Figure 8 As shown, the circumference of the guide sleeve 26 is provided with no less than 3 groups of radial guide structures, each group of radial guide structures includes one or more radial guide holes 261, and an axial guide hole 262 that slides with the expansion core shaft 27 is provided at the center of the guide sleeve 26. The circumference of the guide sleeve 26 shown in the figure is provided with 6 groups of radial guide structures, each group of radial guide structures includes 3 radial guide holes 261.

[0151] like Figure 9 As shown, the outer circumferential surface of the expansion mandrel 27 is provided with no less than 3 groups of expansion drive structures, each group of expansion drive structures includes one or more wedge structures, the inclined surface of the wedge structure is the driving surface 271 of the expansion mandrel 27 to achieve radial expansion, the expansion mandrel 27 is coaxial with the grinding bar assembly, and the outer circumferential surface of the expansion mandrel 27 shown in the figure is provided with 6 groups of expansion drive structures, each group includes 3 wedge structures.

[0152] like Figure 10As shown, the three-part guide column has a symmetrical structure. Each three-part guide column includes two side guide columns and a middle guide column 25 located between the two side guide columns. The side guide columns include a base guide column 241 adjacent to the expansion mandrel 27, a loading wedge 242 adjacent to the inner circumferential surface of the grinding sleeve 3, and an elastic sheet 243 that connects the base guide column 241 and the loading wedge 242 as a flexible hinge. The outer circumferential surface of one end of the three-part guide column adjacent to the expansion mandrel 27 is slidably engaged with the radial guide hole 261. The inner inclined surfaces 246 of the two loading wedges of the same three-part guide column extend and intersect to form a wedge angle. The two side guide pillars 251 of the central guide pillar 25, adjacent to one end of the expansion mandrel 27, slide in engagement with the inner side surface 244 of the base guide pillar. The angle between the two side guide pillar slopes 252 at the other end of the central guide pillar 25 is the central guide pillar vertex angle, which is equal to the wedge angle between the inner side slopes 246 of the two loading wedges. The two side guide pillar slopes 252 slide relative to the inner side slopes 246 of the two loading wedges. The side guide pillar bottom surface 245 of the base guide pillar 241, adjacent to one end of the expansion mandrel 27, maintains contact with the outer circumferential surface of the expansion mandrel 27. The central guide pillar bottom surface 253 of the central guide pillar 25, adjacent to one end of the expansion mandrel 27, slides relative to the drive surface 271 of the wedge structure.

[0153] The grinding bar 2 is fixedly connected to the outer side surface 247 of the loading wedge, or is transitionally connected to the outer side surface 247 of the loading wedge through the grinding bar mounting seat 22. Figure 11 The grinding strips 2 shown are transitionally connected to the outer side surface 247 of the loading wedge block through the grinding strip mounting seat 22, and the three-part guide pillars connected to the same two grinding strips 2 are the same group of three-part guide pillars.

[0154] The three-part guide pillars correspond one-to-one with the radial guide holes 261 and the wedge-shaped structures, and a group of three-part guide pillars corresponds to a group of radial guide structures and a group of expansion drive structures.

[0155] like Figure 12 As shown, each group of three-part guide pillars is evenly distributed along the circumference, and the symmetry plane 240 of the three-part guide pillars includes the axis 21 of the grinding bar assembly. A pair of grinding bars 2 forming a straight groove are fixedly connected to or transitionally connected to the outer side surface 247 of the adjacent side loading wedge block of the adjacent group of three-part guide pillars through the grinding bar mounting seat 22. The side surface of the grinding bar 2 serving as the working surface of the straight groove is parallel to the symmetry plane 240 of the three-part guide pillar. Six groups of three-part guide pillars are shown in the figure.

[0156] The grinding bar assembly is provided with an elastic element acting on the grinding bar 2 or the grinding bar mounting seat 22, for pushing the side guide pillar toward the expansion mandrel 27 through the grinding bar 2 or the grinding bar mounting seat 22 to ensure that the bottom surface 245 of the side guide pillar maintains contact with the outer peripheral surface of the expansion mandrel 27. Figure 13 The elastic element shown is a coil spring 29 , which acts on the grinding bar mounting seat 22 through spring seats 28 installed at both ends of the grinding bar mounting seat 22 , pushing the side guide column toward the expansion core shaft 27 through the grinding bar mounting seat 22 .

[0157] During grinding, all wedge-shaped structures move synchronously relative to the guide sleeve 26 along the axial direction of the grinding strip assembly, and the driving surface 271 of the wedge-shaped structure synchronously pushes the middle guide column 25 to slide radially outward along the grinding strip assembly between the two side guide columns of the three-part guide column, and then synchronously pushes the grinding strip 2 along the normal direction of the linear groove working surface through the loading wedge block 242 to apply a grinding load to the rolling surface 12 of the tapered roller.

[0158] like Figure 14 As shown, each of the three-part guide posts is provided with a pin 248, which passes through the two loading wedges 242 and is used to guide the surface contact between the inner inclined surfaces 246 of the two loading wedges and the side inclined surfaces 252 of the two middle guide posts. Each of the three-part guide posts is provided with a tension spring 249, which acts on the two loading wedges 242 to maintain contact force between the inner inclined surfaces 246 of the two loading wedges and the side inclined surfaces 252 of the two middle guide posts.

[0159] The radial expansion member is used to drive the grinding bar 2 to apply a grinding load to the rolling surface 12 of the tapered roller, and to transmit torque between the main body of the grinding device and the grinding bar 2 .

[0160] Lapping tool kit embodiment 2: A lapping tool kit for finishing the rolling surface of a tapered roller

[0161] The main difference between the lap tool kit and the lap tool kit described in lap tool kit embodiment 1 is that:

[0162] The bottom surfaces 245 of all side guide pillars are in contact with the same cylindrical surface or the same prismatic surface 272 on the outer peripheral surface of the expansion mandrel 27, and the wedge-shaped structure is fixedly connected to the expansion mandrel 27. Figure 15 The outer peripheral surface of the expansion mandrel 27 that is in contact with the side guide pillar bottom surface 245 is a portion of the prismatic surface 272 .

[0163] During grinding, the expansion mandrel 27 together with the wedge-shaped structure thereon moves axially relative to the guide sleeve 26 along the grinding strip assembly, and the driving surfaces 271 of all wedge-shaped structures synchronously push the middle guide column 25 to slide radially outward along the grinding strip assembly between the two side guide columns of the three-part guide column, and then synchronously push the grinding strip 2 through the loading wedge block 242 to apply a grinding load to the rolling surface 12 along the normal direction of the linear groove working surface.

[0164] Lapping tool kit embodiment 3: A lapping tool kit for finishing the rolling surface of a tapered roller

[0165] The main difference between the lap tool kit and the lap tool kit described in lap tool kit embodiment 1 is that:

[0166] The side guide pillar bottom surfaces 245 distributed on the same circumference contact the same conical surface or pyramidal surface 273 on the outer circumferential surface of the expansion mandrel 27. The side guide pillar bottom surface 245 is an inclined surface that slides relative to the conical surface or pyramidal surface 273. The wedge-shaped structure and the expansion mandrel 27 slide in the axial direction of the grinding bar assembly. Figure 16 The outer peripheral surface of the expansion mandrel 27 that is in contact with the bottom surface 245 of the side guide pillar is a portion of the pyramid surface 273.

[0167] During grinding, on the one hand, all wedge-shaped structures move synchronously along the axial direction of the grinding strip assembly relative to the expansion core shaft 27 and the guide sleeve 26, and the driving surface 271 of the wedge-shaped structure synchronously pushes the middle guide column 25 to slide radially outward along the grinding strip assembly between the two side guide columns of the three-part guide column, and then synchronously pushes the grinding strip 2 along the normal direction of the linear groove working surface through the loading wedge block 242 to apply a grinding load to the rolling surface 12 of the tapered roller. On the other hand, the expansion core shaft 27 together with the wedge-shaped structure thereon makes reciprocating linear motion relative to the guide sleeve 26 along the axial direction of the grinding strip assembly. While the conical surface or pyramidal surface 273 repeatedly and synchronously pushes the side guide pillars, the driving surface 271 of the wedge-shaped structure synchronously pushes the middle guide pillar 25, so that all three-part guide pillars as a whole make synchronous reciprocating linear motion along the radial guide hole 261, and then the loading wedge block 242 synchronously pushes the grinding strip 2 to make reciprocating linear motion along the tangent direction of the rolling surface 12 of the tapered roller, thereby expanding the area of the linear groove working surface involved in grinding while maintaining the grinding load.

[0168] Grinding Equipment Example 1: A Grinding Equipment for Finishing the Rolling Surface of a Tapered Roller

[0169] The grinding device includes a main body, an external circulation system and a grinding tool kit as described in grinding tool kit embodiment 1 or grinding tool kit embodiment 2 or grinding tool kit embodiment 3. The grinding tool kit is arranged horizontally, and the grinding sleeve groove is a cylindrical spiral groove 32.

[0170] The main machine includes a rotating component, and the rotating component is used to drive the grinding sleeve 3 and the grinding bar assembly to rotate relative to each other.

[0171] like Figure 17 As shown, an inlet 41 for the tapered roller 1 to enter the grinding zone is provided at one end of the cylindrical spiral groove 32 and leads to the upper outer wall of the grinding sleeve 3. The other end of the cylindrical spiral groove 32 serves as an outlet 42 for the tapered roller 1 to exit the grinding zone. During grinding, the tapered roller 1 continuously enters the grinding zone through the inlet 41 and continuously exits the grinding zone through the outlet 42. The entry of the tapered roller 1 from the inlet 41 into the grinding zone and the exit of the tapered roller 1 from the outlet 42 occur synchronously with the grinding process.

[0172] The external circulation system 5 includes a material receiving subsystem, a material feeding subsystem, a material storage station, a plurality of material storage units 61 and a control subsystem.

[0173] The storage station is used to store the storage units 61. The storage units 61 are used to temporarily store the tapered rollers 1. The tapered rollers 1 are sequentially stored in the storage channel 63 of the storage unit 61 in a single-line queue, with their axes parallel to each other and their rolling surfaces 12 close to each other. This reduces collisions between the tapered rollers 1 and prevents any damage from these collisions. The storage channel 63 gradually transitions from the channel entrance to the channel exit from top to bottom, facilitating the unpowered rolling of the tapered rollers 1 within the storage channel 63 under the action of their own gravity. The storage units 61 serve as the hardware foundation for adjusting the order and position of the tapered rollers 1 in the tapered roller queue in blocks, without physical contact between the tapered rollers 1 loaded in different storage units 61. The tapered roller queue is a closed-loop queue of all tapered rollers 1 in the grinding processing area and the external circulation system 5.

[0174] like Figure 18As shown, the storage space of the storage unit 61 is divided into a plurality of storage channels 63 parallel to each other. The storage channels 63 are arranged obliquely relative to the horizontal plane to facilitate the unpowered rolling of the tapered roller 1 in the storage channel 63 under the action of its own gravity. The width of the storage channel 63 matches the axial length of the tapered roller 1 to constrain the posture of the tapered roller 1 when rolling in the storage channel 63 to avoid being stuck. The upper end of the storage channel 63 is the channel entrance, and the lower end of the storage channel 63 is the channel exit and is provided with an exit gate 62. The tapered rollers 1 are sequentially stored in the storage channel 63 in a single-line queue, with the axes parallel to each other and the rolling surfaces 12 close to the rolling surfaces 12. When the tapered rollers 1 are unloaded from the storage channel 63, the exit gate 62 is in an open state.

[0175] like Figure 19 As shown, the storage units 61 are installed in layers in the storage station.

[0176] The material receiving subsystem is used to load the tapered rollers 1 leaving the outlet 42 into the empty storage unit 61 in a queue and posture-controlled manner, so as to avoid the tapered rollers 1 from being damaged by collision with each other.

[0177] The material receiving subsystem includes a material receiving channel 73 , a pre-station material receiving unit 78 and a pre-station transition unit 79 .

[0178] The pre-station material receiving unit 78 and the pre-station transition unit 79 are both provided with a material storage channel 63 consistent with that in the material storage unit 61 .

[0179] The outlet 42 of the grinding processing area is connected to the material storage channel 63 of the pre-station material receiving unit 78 through the material receiving channel 73, or is connected to the material storage channel 63 of the pre-station material receiving unit 78 through the material receiving channel 73 and the conveying mechanism. During grinding, the tapered roller 1 leaves the outlet 42 and passes through the material receiving channel 73 to enter the material storage channel 63 of the pre-station material receiving unit 78, or passes through the material receiving channel 73 and the conveying mechanism in sequence to enter the material storage channel 63 of the pre-station material receiving unit 78. Figure 20 As shown, the material receiving channel 73 is connected to the conveyor belt 74, and the tapered roller 1 enters the conveyor belt 74 through the material receiving channel 73. How the tapered roller 1 enters the storage channel 63 of the pre-station material receiving unit 78 from the conveying mechanism is not the inventive point of this embodiment. Depending on the specific application scenario, those skilled in the art can design various technical solutions based on existing technologies or simple combinations of existing technologies to solve this problem. This embodiment does not limit these technical solutions and their implementation structures.

[0180] like Figure 19As shown, the channel entrances of the multiple storage channels 63 of the pre-station receiving unit 78 are successively connected to the transition channel 75 or the conveying mechanism to receive the tapered rollers 1 from the receiving mechanism (the pre-station receiving unit 78 in the figure is receiving the tapered rollers 1 from the receiving mechanism). When the pre-station receiving unit 78 is fully loaded with the tapered rollers 1, the channel entrance of the pre-station transition unit 79 is connected to the channel exit of the pre-station receiving unit 78, and all the tapered rollers 1 in the pre-station receiving unit 78 are transferred to the storage channels 63 of the pre-station transition unit 79 in a rolling manner, and the storage channels 63 of the pre-station receiving unit 78 are emptied. The channel outlet of the fully loaded pre-station transition unit 79 is connected to the channel entrance of the unloaded storage unit 61 in the storage station, and all the tapered rollers 1 in the pre-station transition unit 79 are loaded into the storage channel 63 of the storage unit 61 in a rolling manner (the pre-station transition unit 79 in the figure is loading the tapered rollers 1 into the storage unit 61).

[0181] The feeding subsystem is used to unload the tapered rollers 1 from the storage unit 61 selected in the storage station according to the decision of the control subsystem, and load them into the entrance 41 in an orderly manner according to the posture requirements of the grinding processing area for the tapered rollers 1 in a queue and posture-controlled manner, and avoid the tapered rollers 1 from being damaged by collisions with each other.

[0182] The feeding subsystem includes a post-station transition unit 81 , a post-station feeding unit 82 and a feeding channel 83 .

[0183] The post-station transition unit 81 and the post-station feeding unit 82 are both provided with a storage channel 63 that is consistent with the storage unit 61. The feeding channel 83 is provided in the upper space of the outer wall of the grinding sleeve 3 and is connected to the inlet 41. Figure 21 shown.

[0184] According to the decision of the control subsystem, such as Figure 19As shown, the channel entrance of the post-station transition unit 81 is connected to the channel exit of the selected storage unit 61 in the storage station, and all the tapered rollers 1 in the storage unit 61 are unloaded in a rolling manner to the storage channel 63 of the post-station transition unit 81 (the post-station transition unit 81 in the figure is unloading the tapered rollers 1 from the storage unit 61), and the storage channel 63 of the storage unit 61 is emptied. The channel exit of the fully loaded post-station transition unit 81 is connected to the channel entrance of the post-station feeding unit 82, and all the tapered rollers 1 in the post-station transition unit 81 are transferred in a rolling manner to the storage channel 63 of the post-station feeding unit 82. The channel outlets of the multiple storage channels 63 of the post-station feeding unit 82 are successively connected to the feeding channel 83 or are successively connected to the feeding channel 83 through the feeding transition channel 84 to deliver the tapered roller 1 into the inlet 41 through the feeding channel 83 (the post-station feeding unit 82 in the figure is successively connected to the feeding channel 83 through the feeding transition channel 84).

[0185] The feeding channel 83 is a curved channel, a broken line channel or a zigzag channel. Figure 21 As shown, as the tapered rollers 1 from the post-station feeding unit 82 enter the inlet 41 through the feed channel 83, they roll downward within the channel 83 under their own weight, in a single-line formation, with their axes parallel to each other and their rolling surfaces 12 in close proximity to each other, along a curved path, a broken line path, or a combination of curved and zigzag paths. The width of the feed channel 83 matches the axial length of the tapered rollers 1 to constrain the rolling posture of the tapered rollers 1 within the channel 83 and prevent them from becoming stuck. The length of the feed channel 83 is sufficient to accommodate dozens or more tapered rollers 1.

[0186] The tapered rollers 1 in the same storage channel 63 enter the storage channel 63 from the channel entrance and leave the storage channel 63 from the channel exit in the order of first-in-first-out and last-in-last-out.

[0187] The control subsystem is used to decide when and from which storage unit 61 the tapered rollers 1 are unloaded. The control subsystem is the software foundation for adjusting the order and position of the tapered rollers 1 in the tapered roller queue in blocks, without physical contact between the tapered rollers 1 loaded in different storage units 61.

[0188] During grinding processing, the tapered roller 1 that has completed one grinding process in the grinding processing area leaves the grinding processing area from the outlet 42. The tapered roller 1 leaving the grinding processing area is temporarily stored in the idle storage unit 61 in the storage station. According to the decision of the control subsystem, the tapered roller 1 is unloaded from the selected storage unit 61 in the storage station and sent into the grinding processing area from the inlet 41 through the feeding subsystem. The order and position of the tapered roller 1 sent into the grinding processing area in the tapered roller queue are updated according to the decision of the control system, thereby realizing the block mixed replacement of the tapered roller 1 without physical contact between the tapered rollers 1 loaded in different storage units 61.

[0189] A grinding cycle is a process in which all the tapered rollers 1 enter the grinding zone from the inlet 41 , undergo grinding in the grinding zone, and leave the grinding zone from the outlet 42 .

[0190] The changes in the order and position of the tapered rollers 1 exiting the grinding zone through the outlet 42 within the outer circulation system 5 alter the composition of the tapered rollers 1 upon subsequent entry into the grinding zone, thereby extending the selective material removal effect between the tapered rollers 1 within the grinding zone to the entire batch of tapered rollers 1. As the number of grinding cycles increases, the dimensional consistency of the tapered rollers 1 continuously improves until it reaches the specified technical specifications.

[0191] To improve the dimensional consistency of the tapered rollers 1, a feed sequence rule is established for loading the tapered rollers 1 into the inlet 41. This feed sequence rule is also used to plan the timing of unloading the tapered rollers 1 from the various storage units 61 during the grinding process. This feed sequence rule ensures that all tapered rollers 1 undergo a similar number of grinding cycles while also minimizing the order and positional characteristics of the tapered rollers 1 within the tapered roller array when compared within the grinding process area.

[0192] On the one hand, the external circulation system 5 is used to cope with the grinding of large quantities of tapered rollers 1 that exceed the capacity of the grinding processing area; on the other hand, it is used to establish a logistics channel for the tapered rollers 1 between the outlet 42 and the inlet 41; and on the other hand, it is used to mix and replace the tapered rollers 1 to weaken the order and position characteristics of the tapered rollers 1 in the tapered roller queue.

[0193] During the logistics process of the tapered rollers 1 from the outlet 42 to the inlet 41 via the external circulation system 5, the first-in-first-out, fixed feeding order is broken according to certain rules, which is conducive to overcoming the disadvantage that the tapered rollers 1 that are far apart in the tapered roller queue cannot be compared with each other in the grinding processing area due to the fixed feeding order.

[0194] During the logistics process of the external circulation system 5, the tapered rollers 1 are temporarily stored in the storage unit 61 in an orderly manner, and then unloaded from the selected storage unit 61 according to the planned sequence and loaded into the inlet 41 in an orderly manner, which can effectively avoid surface damage caused by collisions between the tapered rollers 1.

[0195] Grinding Equipment Example 2: A Grinding Equipment for Finishing the Rolling Surface of a Tapered Roller

[0196] The main difference between the grinding device and the grinding device described in Grinding Device Example 1 is that:

[0197] The storage space of the storage unit 61 is one or more vertical storage channels 63 arranged in parallel. The storage channels 63 are curved channels, broken-line channels or zigzag channels. Figure 22 The storage space of the storage unit 61 shown has three storage channels 63. During storage in or unloading from the storage unit 61, the tapered rollers 1 roll downward in the storage channels 63 under their own weight, with their axes parallel to each other and their rolling surfaces 12 in close proximity to each other, along a curved path, a broken line path, or a combination of curved and zigzag paths. The width of the storage channels 63 matches the axial length of the tapered rollers 1 to constrain the rollers 1's rolling posture within the storage channels 63 and prevent them from becoming stuck. The upper end of the storage channels 63 serves as the channel entrance, while the lower end serves as the channel exit, equipped with an exit gate 62. The tapered rollers 1 are sequentially stored in the storage channels 63 from bottom to top in a single-line arrangement, with their axes parallel to each other and their rolling surfaces 12 in close proximity to each other. The exit gate 62 is open when the tapered rollers 1 are unloaded from the storage channels 63.

[0198] like Figure 23 As shown, the storage station is provided with a transport robot 64 , and the transport robot 64 is used to move the storage unit 61 .

[0199] The material receiving subsystem is provided with a material receiving channel 73 as described in Example 1 of the grinding equipment.

[0200] The outlet 42 of the grinding processing area is connected to the material storage channel 63 of the material storage unit 61 through the material receiving channel 73, or is connected to the material storage channel 63 of the material storage unit 61 through the material receiving channel 73 and the conveying mechanism. During grinding, the tapered roller 1 leaves the outlet 42 and enters the material storage channel 63 of the material storage unit 61 through the material receiving channel 73, or enters the material storage channel 63 of the material storage unit 61 through the material receiving channel 73 and the conveying mechanism in sequence. Figure 20 As shown, the material receiving channel 73 is connected to the conveyor belt 74 , and the tapered roller 1 enters the conveyor belt 74 through the material receiving channel 73 .

[0201] The handling robot 64 removes an empty storage unit 61 from the storage station and connects the channel entrance of the storage unit 61 to the receiving channel 73 or the conveying mechanism to receive the tapered rollers 1 from the receiving channel 73. When the storage unit 61 is fully loaded with tapered rollers 1, the handling robot 64 returns the storage unit 61 to the storage station for temporary storage.

[0202] The feeding subsystem is provided with a feeding channel 83 as described in Example 1 of the grinding equipment.

[0203] According to the decision of the control subsystem, the transport robot 64 moves the selected storage unit 61 in the storage station and connects the channel outlet of the storage unit 61 to the feeding channel 83 to unload the tapered roller 1.

[0204] like Figure 24 As shown, the material receiving subsystem may also be provided with a material receiving buffer station, which is equipped with a material receiving station and a buffer station. The material receiving buffer station includes a first bracket 91 and a first guide rail 92. The first bracket 91 is used to accommodate the material storage unit 61. The first bracket 91, together with the material storage unit 61 mounted thereon, switches between the material receiving station and the buffer station along the first guide rail 92. The handling robot 64 removes an empty material storage unit 61 from the material storage station and places it on the first bracket 91 located at the buffer station. The material storage unit 61 at the material receiving station moves along the first guide rail 92 so that the channel entrance aligns with the material receiving channel 73 or the conveying mechanism to receive the tapered rollers 1 from the material receiving channel 73. When the material storage unit 61 at the material receiving station is fully loaded with tapered rollers 1, the fully loaded material storage unit 61 switches to the buffer station, and the empty material storage unit 61 switches to the material receiving station. The handling robot 64 sends the fully loaded storage unit 61 located at the buffer station back to the storage station for temporary storage, and removes the empty storage unit 61 from the storage station again and places it on the first bracket 91 located at the buffer station, and repeats this process.

[0205] like Figure 25As shown, the feeding subsystem may also be provided with a feeding buffer station, which is equipped with a feeding station and a buffer station. The feeding buffer station includes a second bracket 91' and a second guide rail 92'. The second bracket 91' is used to accommodate the storage unit 61. The second bracket 91', together with the storage unit 61 thereon, switches between the feeding station and the buffer station along the second guide rail 92'. The handling robot 64 removes a fully loaded storage unit 61 selected by the control subsystem from the storage station and places it on the second bracket 91' located at the buffer station. The storage unit 61 at the feeding station moves along the second guide rail 92' so that the channel outlet aligns with the feeding channel 83 to unload the tapered rollers 1. When the tapered rollers 1 in the storage unit 61 at the feeding station are emptied, the empty storage unit 61 switches to the buffer station, and the fully loaded storage unit 61 switches to the feeding station. The handling robot 64 returns the empty storage unit 61 at the buffer station to the storage station, and removes the fully loaded storage unit 61 selected by the control subsystem from the storage station and places it on the second bracket 91' at the buffer station, and repeats this process.

[0206] Grinding Equipment Example 3: A Grinding Equipment for Finishing the Rolling Surface of a Tapered Roller

[0207] The main difference between the grinding device and the grinding device described in Grinding Device Example 1 is that:

[0208] The grinding sleeve groove is a group of multiple coaxial annular grooves 33 with the same diameter.

[0209] The main machine also includes a reciprocating linear motion mechanism, which is used to drive the grinding sleeve 3 and the grinding bar assembly to move reciprocatingly relative to each other.

[0210] like Figure 26 As shown, corresponding to each annular groove 33, an entrance 41 is provided for the tapered roller 1 to enter the grinding zone and leads to the upper outer wall of the grinding sleeve 3. The entrance 41 also serves as the exit 42 for the tapered roller 1 to leave the grinding zone. When the grinding equipment is in operation, the tapered roller 1 is first loaded into the grinding zone through the entrance 41. After the grinding zone is filled with tapered rollers 1, the grinding process begins. After a period of processing, the tapered rollers 1 in the grinding zone are unloaded from the exit 42, and subsequent tapered rollers 1 are loaded into the grinding zone from the entrance 41 to continue the grinding process. The entry of the tapered roller 1 into the grinding zone from the entrance 41 and the exit from the exit 42 of the grinding zone occur in a time-sharing manner with the grinding process. The grinding process is suspended during the period when the tapered roller 1 enters or leaves the grinding zone.

[0211] The material receiving subsystem includes a unloading robot and a pre-station material receiving unit 78 and a pre-station transition unit 79 as described in Example 1 of the grinding equipment.

[0212] The feeding subsystem includes a loading robot and a post-station transition unit 81 and a post-station feeding unit 82 as described in Example 1 of the grinding equipment.

[0213] The loading robot and the unloading robot are both provided with a set of parallel arranged finger-shaped grippers 93, and the ends of the finger-shaped grippers 93 are provided with suction cups 94 to absorb the tapered roller 1. Figure 27 As shown, the suction cup 94 is a vacuum suction cup or an electromagnetic suction cup.

[0214] Each time the tapered roller 1 in the grinding area completes a round of grinding, unloading and loading are performed. The grinding bar assembly is rotated until a linear groove faces the outlet 42. The finger-shaped gripper 93 of the unloading robot is inserted into each outlet 42, and a tapered roller 1 located in the linear groove is sucked out from each outlet 42 in parallel. The tapered roller 1 is then placed in each storage channel 63 of the front-end receiving unit 78 or in the conveying mechanism (such as Figure 27 As shown, the unloading robot is placing the tapered roller 1 taken out from the outlet 42 onto the conveyor belt 74), and the tapered roller 1 placed on the conveying mechanism passes through the conveying mechanism into each storage channel 63 of the station front receiving unit 78. The finger-shaped gripper 93 of the loading robot absorbs and takes out a tapered roller 1 from each storage channel 63 of the station rear feeding unit 82 in parallel, and then places the tapered roller 1 into the linear groove through each entrance 41 according to the posture requirements of the grinding processing area for the tapered roller 1, and the finger-shaped gripper 93 withdraws from the entrance 41. Continue to rotate the grinding bar assembly until the next linear groove is facing the outlet 42, and repeat the above operations until all the tapered rollers 1 that have completed the previous round of grinding are unloaded from the grinding processing area and loaded into the subsequent tapered rollers 1, and the grinding process continues. As shown Figure 28 As shown, the third storage channel 3 of the front-end receiving unit 78 is receiving tapered rollers 12 from the conveyor mechanism. The loading robot has already removed two tapered rollers 12 from each storage channel 63 of the rear-end feeding unit 82. The conveyor mechanism is not shown. During each grinding cycle, the average material removal along the diameter of the tapered roller 1 must be controlled within 0.5 microns.

[0215] Grinding Equipment Example 4: A Grinding Equipment for Finishing the Rolling Surface of a Tapered Roller

[0216] The grinding device includes a main body, an external circulation system and a grinding tool kit as described in grinding tool kit embodiment 1 or grinding tool kit embodiment 2 or grinding tool kit embodiment 3. The grinding tool kit is arranged horizontally, and the grinding sleeve groove is a cylindrical spiral groove 32.

[0217] The main machine includes a rotating component, and the rotating component is used to drive the grinding sleeve 3 and the grinding bar assembly to rotate relative to each other.

[0218] like Figure 17 As shown, an inlet 41 for the tapered roller 1 to enter the grinding zone is provided at one end of the cylindrical spiral groove 32 and leads to the upper outer wall of the grinding sleeve 3. The other end of the cylindrical spiral groove 32 serves as an outlet 42 for the tapered roller 1 to exit the grinding zone. During grinding, the tapered roller 1 continuously enters the grinding zone through the inlet 41 and continuously exits the grinding zone through the outlet 42. The entry of the tapered roller 1 from the inlet 41 into the grinding zone and the exit of the tapered roller 1 from the outlet 42 occur synchronously with the grinding process.

[0219] The external circulation system 5 includes a material receiving channel, a lifting mechanism and a material feeding channel 83.

[0220] The feed channel 83 is disposed in the upper space of the outer wall of the grinding sleeve 3 and is communicated with the inlet 41 .

[0221] The outlet 42 of the grinding processing area is connected to the lifting mechanism through the material receiving channel 73 or connected to the lifting mechanism through the material receiving channel 73 and the conveying mechanism. During grinding, the tapered roller 1 leaves the outlet 42 and enters the lifting mechanism through the material receiving channel 73, or enters the lifting mechanism through the material receiving channel 73 and the conveying mechanism in sequence. Figure 20 As shown, the material receiving channel 73 is connected to the conveyor belt 74 , and the tapered roller 1 enters the conveyor belt 74 through the material receiving channel 73 .

[0222] The lifting mechanism is used to lift the tapered roller 1 upward in a single, isolated, single-line, and posture-controlled manner to dock with the feed channel 83 or dock with the feed channel 83 through a conveying mechanism. The tapered roller 1 enters the feed channel 83 through the lifting mechanism or enters the feed channel 83 through the lifting mechanism and the conveying mechanism in sequence.

[0223] The feeding channel 83 is a curved channel, a broken line channel or a zigzag channel. Figure 21As shown, as the tapered rollers 1 from the lifting mechanism or conveying mechanism enter the inlet 41 through the feed channel 83, they roll downward in a single-line formation, along a curved path, a broken-line path, or a combination of curved and zigzag paths, under the weight of the tapered rollers 1, with their axes parallel to each other and their rolling surfaces 15 in close proximity to each other. The width of the feed channel 83 matches the axial length of the tapered rollers 1 to constrain the tapered rollers 1's rolling posture within the feed channel 83 and prevent them from becoming stuck. The length of the feed channel 83 is sufficient to accommodate dozens or more tapered rollers 1.

[0224] A grinding cycle consists of all tapered rollers 1 entering the grinding zone from the inlet 41, undergoing grinding in the grinding zone, and exiting the grinding zone from the outlet 42. As grinding cycles increase, the selective material removal effect occurring between tapered rollers 1 within the grinding zone gradually expands to encompass the entire batch of tapered rollers 1, continuously improving the dimensional consistency of the tapered rollers 1 until they meet specified technical specifications.

Claims

1. A grinding tool kit for finishing the rolling surface of a tapered roller, characterized in that: It comprises a grinding sleeve (3) and a grinding bar assembly arranged in the grinding sleeve (3); during grinding, the grinding bar assembly passes through the grinding sleeve (3), and the grinding bar assembly and the grinding sleeve (3) are coaxial; The tapered roller refers to a processed tapered roller. The tapered roller surface is defined as including the rolling surface (12) and the large end surface (13) of the tapered roller. The cone angle of the tapered roller (1) is recorded as The grinding strip assembly comprises no less than three pairs of grinding strips (2) arranged on the periphery and a radial expansion component arranged in the center; the adjacent side surfaces of a pair of grinding strips (2) form a linear groove with an opening facing the inner peripheral surface of the grinding sleeve (3); all the linear grooves are distributed in a circumferential array, and the axis of the linear groove array is the axis (21) of the grinding strip assembly; the groove surface of the linear groove that contacts the tapered roller (1) during grinding is the linear groove working surface; The inner wall of the grinding sleeve (3) is provided with a grinding sleeve groove, which is a cylindrical spiral groove (32) or a group of multiple coaxial annular grooves (33) with the same diameter, and the axis of the cylindrical spiral groove (32) or the annular groove (33) is the axis (31) of the grinding sleeve; the groove surface of the grinding sleeve groove that contacts the tapered roller (1) during grinding is the working surface of the grinding sleeve groove; During grinding, one of the tapered rollers (1) is distributed at each intersection of the grinding sleeve groove and the linear groove; corresponding to each intersection, the area enclosed by the grinding sleeve groove working surface and the linear groove working surface is the grinding processing area; the grinding bar assembly applies a grinding load to the tapered rollers (1) distributed in the grinding sleeve groove, and the tapered rollers (1) are in contact with the grinding sleeve groove working surface and the linear groove working surface respectively; the grinding bar assembly and the grinding sleeve (3) are rotated around the axis (21) of the grinding bar assembly. ) rotates relative to each other, when the grinding sleeve groove is a group of multiple coaxial annular grooves (33) of equal diameter, the grinding bar assembly also simultaneously performs relative reciprocating linear motion with the grinding sleeve (3) along the axis (21) of the grinding bar assembly; the tapered roller (1) rotates around its own axis under the friction drive of the grinding sleeve groove working surface, and simultaneously moves along the grinding sleeve groove and the linear groove respectively under the pushing action of the linear groove working surface and the grinding sleeve groove working surface, and the surface of the tapered roller is continuously tangent to the grinding sleeve groove working surface; The linear groove working surface is a V-shaped groove surface, the angle between the two side planes of the V-shaped groove surface is recorded as 2θ, and the symmetry plane (233) of the V-shaped groove surface contains the axis (21) of the grinding bar assembly; During grinding, the rolling surface (12) of the tapered roller is in line contact with the two side planes of the V-shaped groove surface, and the small head end of the tapered roller (1) is adjacent to the bottom of the linear groove; The tapered roller (1) is placed in the linear groove as a reference object and kept in contact during grinding. Then, the geometric centers of the tapered rollers (1) in the same linear groove are on the same straight line, which is called the linear groove baseline (231). The axis (11) of the tapered roller intersects with the linear groove baseline (231), and the angle is recorded as γ. All the linear groove base lines (231) are on the same cylindrical surface, which is called the grinding bar assembly base cylindrical surface (232), and the grinding bar assembly base cylindrical surface (232) is coaxial with the grinding bar assembly; The tapered roller (1) is placed in the grinding sleeve groove as a reference object and maintained in a contact state during grinding processing. When the grinding sleeve groove is a cylindrical spiral groove (32), the geometric center of the tapered roller (1) in the cylindrical spiral groove (32) is on a spiral line. When the grinding sleeve groove is a group of multiple coaxial annular grooves (33) with the same diameter, the geometric centers of the tapered rollers (1) in the same annular groove (33) are on the same circumference. The spiral line or the circumference is called the grinding sleeve groove baseline (34). The grinding sleeve groove baseline (34) is on a cylindrical surface. The cylindrical surface is called the grinding sleeve base cylindrical surface (35). During grinding, the grinding sleeve base cylindrical surface (35) coincides with the grinding bar assembly base cylindrical surface (232); The working surface of the grinding sleeve groove and the surface of the tapered roller are a pair of conjugate curved surfaces; when the grinding sleeve groove is a cylindrical spiral groove (32), the cylindrical spiral motion of the tapered roller (1) around the axis (31) of the grinding sleeve is the conjugate motion of the grinding sleeve (3) and the tapered roller (1); when the grinding sleeve groove is a group of multiple coaxial annular grooves (33) with equal diameters, the circumferential motion of the tapered roller (1) around the axis (31) of the grinding sleeve is the conjugate motion of the grinding sleeve (3) and the tapered roller (1); The radial expansion component comprises a three-part guide column, a guide sleeve (26) and an expansion core shaft (27); The circumference of the guide sleeve (26) is provided with no less than three groups of radial guide structures, each group of radial guide structures includes one or more radial guide holes (261), and an axial guide hole (262) is provided at the center of the guide sleeve (26) for sliding engagement with the expansion core shaft (27); The outer peripheral surface of the expansion mandrel (27) is provided with no less than three groups of expansion drive structures, each group of expansion drive structures includes one or more wedge-shaped structures, the inclined surface of the wedge-shaped structure is the drive surface (271) for the expansion mandrel (27) to achieve radial expansion, and the expansion mandrel (27) is coaxial with the grinding bar assembly; The three-part guide column is a symmetrical structure, and each three-part guide column includes two side guide columns and a middle guide column (25) located between the two side guide columns; the side guide column includes a basic guide column (241) adjacent to the expansion mandrel (27), a loading wedge (242) adjacent to the inner peripheral surface of the grinding sleeve (3), and an elastic sheet (243) connecting the basic guide column (241) and the loading wedge (242) as a flexible hinge; the outer peripheral surface of one end of the three-part guide column adjacent to the expansion mandrel (27) is slidably matched with the radial guide hole (261); the inner side inclined surfaces (246) of the two loading wedges of the same three-part guide column extend and intersect to form a wedge angle; the two ends of the middle guide column (25) adjacent to the expansion mandrel (27) are connected to each other. The side surface (251) of the middle guide column is in sliding cooperation with the inner side surface (244) of the basic guide column. The angle between the two middle guide column side inclined surfaces (252) at the other end of the middle guide column (25) is the middle guide column top angle. The middle guide column top angle is equal to the wedge angle between the inner side inclined surfaces (246) of the two loading wedge blocks. The two middle guide column side inclined surfaces (252) slide relative to the inner side inclined surfaces (246) of the two loading wedge blocks. The side guide column bottom surface (245) of the basic guide column (241) adjacent to one end of the expansion core shaft (27) maintains contact with the outer peripheral surface of the expansion core shaft (27). The middle guide column bottom surface (253) of the middle guide column (25) adjacent to one end of the expansion core shaft (27) slides relative to the driving surface (271) of the wedge structure. The grinding strip (2) is fixedly connected to the outer side surface (247) of the loading wedge, or is transitionally connected to the outer side surface (247) of the loading wedge via a grinding strip mounting seat (22), and the three-part guide pillars connected to the same two grinding strips (2) are the same group of three-part guide pillars; The three-part guide pillars correspond one-to-one with the radial guide holes (261) and the wedge-shaped structures, and a group of three-part guide pillars corresponds to a group of radial guide structures and a group of expansion drive structures; Each group of three-division guide pillars is evenly distributed along the circumference, the symmetry plane (240) of the three-division guide pillars includes the axis (21) of the grinding bar assembly, a pair of grinding bars (2) forming a linear groove are fixedly connected to or transitionally connected to the outer side surface (247) of the adjacent side loading wedge of the adjacent group of three-division guide pillars through the grinding bar mounting seat (22), and the side surface of the grinding bar (2) serving as the working surface of the linear groove is parallel to the symmetry plane (240) of the three-division guide pillars; During grinding, all wedge-shaped structures move synchronously relative to the guide sleeve (26) along the axial direction of the grinding strip assembly, and the driving surface (271) of the wedge-shaped structure synchronously pushes the middle guide column (25) to slide radially outward between the two side guide columns of the three-part guide column, thereby synchronously pushing the grinding strip (2) through the loading wedge block (242) to apply a grinding load to the rolling surface (12) of the tapered roller along the normal direction of the linear groove working surface; The radial expansion component is used to drive the grinding bar (2) to apply a grinding load to the rolling surface (12) of the tapered roller, and to transmit torque between a main machine of the grinding device and the grinding bar (2).

2. The grinding tool kit for finishing the rolling surface of a tapered roller according to claim 1, characterized in that: The bottom surfaces (245) of all side guide pillars are in contact with the same cylindrical surface or the same prismatic surface (272) on the outer peripheral surface of the expansion mandrel (27), and the wedge-shaped structure is fixedly connected to the expansion mandrel (27); During grinding, the expansion mandrel (27) together with the wedge-shaped structure thereon moves axially relative to the guide sleeve (26) along the grinding strip assembly, and the driving surfaces (271) of all the wedge-shaped structures synchronously push the middle guide column (25) to slide radially outward along the grinding strip assembly between the two side guide columns of the three-part guide column, and then synchronously push the grinding strip (2) through the loading wedge block (242) to apply a grinding load to the rolling surface (12) along the normal direction of the linear groove working surface.

3. The grinding tool kit for finishing the rolling surface of a tapered roller according to claim 1, characterized in that: The bottom surfaces (245) of the side guide pillars distributed on the same circumference are in contact with the same conical surface or the same pyramidal surface (273) on the outer circumferential surface of the expansion core shaft (27); the bottom surface (245) of the side guide pillars is an inclined surface that slides relative to the conical surface or the pyramidal surface (273); the wedge-shaped structure and the expansion core shaft (27) are in sliding cooperation along the axial direction of the grinding bar assembly; During the grinding process, on the one hand, all the wedge-shaped structures move synchronously along the axial direction of the grinding strip assembly relative to the expansion mandrel (27) and the guide sleeve (26), and the driving surface (271) of the wedge-shaped structure synchronously pushes the middle guide column (25) to slide radially outward along the grinding strip assembly between the two side guide columns of the three-part guide column, and then synchronously pushes the grinding strip (2) through the loading wedge block (242) to apply a grinding load to the rolling surface (12) along the normal direction of the linear groove working surface; on the other hand, the expansion mandrel (27) together with the wedge-shaped structure thereon moves synchronously relative to the The guide sleeve (26) performs reciprocating linear motion along the axial direction of the grinding strip assembly, and while the conical surface or pyramidal surface (273) repeatedly and synchronously pushes the side guide pillars, the driving surface (271) of the wedge-shaped structure synchronously pushes the middle guide pillar (25), so that all three-part guide pillars as a whole perform synchronous reciprocating linear motion along the radial guide hole (261), and then the loading wedge block (242) synchronously pushes the grinding strip (2) to perform reciprocating linear motion along the tangent direction of the rolling surface (12), thereby expanding the area of the linear groove working surface involved in grinding while maintaining the grinding load.

4. A grinding device for finishing the rolling surface of a tapered roller, characterized in that: It comprises a main machine, an external circulation system (5) and a grinding tool kit for finishing the rolling surface (12) of a tapered roller according to claim 1, 2 or 3, wherein the grinding tool kit is arranged horizontally; The main machine includes a rotating component, and when the grinding sleeve groove is a group of multiple coaxial annular grooves (33) with equal diameters, the main machine also includes a reciprocating linear motion mechanism; The rotating component is used to drive the grinding sleeve (3) and the grinding bar assembly to rotate relative to each other, and the reciprocating linear motion mechanism is used to drive the grinding sleeve (3) and the grinding bar assembly to move relative to each other; The external circulation system (5) includes a material receiving subsystem, a material feeding subsystem, a material storage station, a plurality of material storage units (61) and a control subsystem; The storage station is used to store the storage unit (61); the storage unit (61) is used to temporarily store the tapered rollers (1); the storage unit (61) includes one or more storage channels (63); the tapered rollers (1) are sequentially stored in the storage channels (63) of the storage unit (61) in a single-line queue, with axes parallel to each other and rolling surfaces (12) close to the rolling surfaces (12); the storage channels (63) extend from the channel entrance to the channel exit from top to bottom; the storage unit (61) is a hardware basis for adjusting the order and position of the tapered rollers (1) in the tapered roller queue in blocks under the condition that there is no physical contact between the tapered rollers (1) loaded in different storage units (61); the tapered roller queue is a closed-loop queue including all tapered rollers (1) in the grinding processing area and the external circulation system (5); The material receiving subsystem is used to sequentially load the tapered rollers (1) leaving the outlet (42) of the grinding processing area into an empty material storage unit (61) in a queue-moving and posture-controlled manner; The feeding subsystem is used to unload the tapered rollers (1) from the selected storage unit (61) in the storage station according to the decision of the control subsystem, and load them into the entrance (41) of the grinding processing area in an orderly manner in a queue and posture-controlled manner according to the posture requirements of the grinding processing area for the tapered rollers (1); The tapered rollers (1) in the same material storage channel (63) enter the material storage channel (63) from the channel entrance and leave the material storage channel (63) from the channel exit in the order of first-in-first-out and last-in-last-out; The control subsystem is used to decide when to unload the tapered rollers (1) from which storage unit (61); the control subsystem is the software basis for adjusting the order and position of the tapered rollers (1) in the tapered roller queue in blocks without physical contact between the tapered rollers (1) loaded in different storage units (61); During the grinding process, the tapered roller (1) that has completed one grinding process in the grinding process area leaves the grinding process area from the outlet (42). The tapered roller (1) that has left the grinding process area is temporarily stored in an unloaded storage unit (61) and stored in the storage station. According to the decision of the control subsystem, the tapered roller (1) is unloaded from the storage unit (61) selected in the storage station and sent to the grinding process area from the inlet (41) to continue to receive the grinding process. The order and position of the tapered roller (1) sent to the grinding process area in the tapered roller queue are updated according to the decision of the control subsystem, thereby realizing the block-by-block mixed replacement of the tapered roller (1) without physical contact between the tapered rollers (1) loaded in different storage units (61); The process in which all the tapered rollers (1) enter the grinding processing area from the inlet (41), undergo grinding in the grinding processing area, and leave the grinding processing area from the outlet (42) is one grinding cycle; The changes in the order and position of the tapered rollers (1) leaving the grinding zone from the outlet (42) in the tapered roller queue in the external circulation system (5) change the combination of the tapered rollers (1) when they subsequently enter the grinding zone, thereby extending the selective material removal effect between the tapered rollers (1) in the grinding zone to the entire batch of tapered rollers (1); with the increase in grinding cycles, the dimensional consistency of the tapered rollers (1) continues to improve until the specified technical indicators are reached; The external circulation system (5) is used, on the one hand, to cope with the grinding of a large number of tapered rollers (1) that exceeds the capacity of the grinding processing area; on the other hand, it is used to establish a logistics channel for the tapered rollers (1) between the outlet (42) and the inlet (41); and on the other hand, it is used to mix and replace the tapered rollers (1).

5. The grinding device for finishing the rolling surface of a tapered roller according to claim 4, characterized in that: The grinding sleeve groove is a cylindrical spiral groove (32); the inlet (41) of the grinding processing area is arranged at one end of the cylindrical spiral groove (32) and leads to the upper half outer wall of the grinding sleeve (3); the outlet (42) of the grinding processing area is at the other end of the cylindrical spiral groove (32); during grinding processing, the tapered roller (1) continuously enters the grinding processing area from the inlet (41) and continuously leaves the grinding processing area from the outlet (42); the tapered roller (1) enters the grinding processing area from the inlet (41) and leaves the grinding processing area from the outlet (42) synchronously with the grinding process; The storage space of the storage unit (61) is divided into a plurality of storage channels (63) parallel to each other, and the storage channels (63) are arranged at an angle relative to the horizontal plane so as to facilitate the tapered roller (1) to roll unpowered in the storage channel (63) under the action of its own gravity; the width of the storage channel (63) matches the axial length of the tapered roller (1); the upper end of the storage channel (63) is the channel entrance, and the lower end of the storage channel (63) is the channel exit and is provided with an exit gate (62); the tapered rollers (1) are sequentially stored in the storage channel (63) in a single-line queue, with their axes parallel to each other and their rolling surfaces (12) close to the rolling surfaces (12); when the tapered rollers (1) are unloaded from the storage channel (63), the exit gate (62) is in an open state; The material storage units (61) are installed in layers in the material storage station; The material receiving subsystem includes a material receiving channel (73), a pre-station material receiving unit (78) and a pre-station transition unit (79); The front-station receiving unit (78) and the front-station transition unit (79) are both provided with a material storage channel (63) consistent with that in the material storage unit (61); The outlet (42) of the grinding processing area is connected to the material storage channel (63) of the pre-station material receiving unit (78) through the material receiving channel (73) or through the material receiving channel (73) and the conveying mechanism; during grinding processing, the tapered roller (1) leaves the outlet (42) and passes through the material receiving channel (73) or passes through the material receiving channel (73) and the conveying mechanism in sequence to enter the material storage channel (63) of the pre-station material receiving unit (78); When the station-front receiving unit (78) is fully loaded with the tapered rollers (1), the channel entrance of the station-front transition unit (79) docks with the channel exit of the station-front receiving unit (78), and all the tapered rollers (1) in the station-front receiving unit (78) are transferred to the storage channel (63) of the station-front transition unit (79) in a rolling manner; the channel exit of the fully loaded station-front transition unit (79) docks with the channel entrance of the empty storage unit (61) in the storage station, and all the tapered rollers (1) in the station-front transition unit (79) are loaded into the storage channel (63) of the storage unit (61) in a rolling manner; The feeding subsystem includes a post-station transition unit (81), a post-station feeding unit (82) and a feeding channel (83); The post-station transition unit (81) and the post-station feeding unit (82) are both provided with a storage channel (63) consistent with the storage unit (61); the feeding channel (83) is provided in the upper space of the outer wall of the grinding sleeve (3) and is communicated with the inlet (41); According to the decision of the control subsystem, the channel entrance of the post-station transition unit (81) is connected to the channel exit of the selected storage unit (61) in the storage station, and all the tapered rollers (1) in the storage unit (61) are unloaded to the storage channel (63) of the post-station transition unit (81) in a rolling manner; the channel exit of the fully loaded post-station transition unit (81) is connected to the channel entrance of the post-station feeding unit (82), and all the tapered rollers (1) in the post-station transition unit (81) are transferred to the storage channel (63) of the post-station feeding unit (82) in a rolling manner; the channel exits of the multiple storage channels (63) of the post-station feeding unit (82) are connected to the feeding channel (83) one by one or are connected to the feeding channel (83) one by one through the feeding transition channel (84) to deliver the tapered rollers (1) into the entrance (41) through the feeding channel (83); The feed channel (83) is a curved channel, a broken line channel or a zigzag combined channel; in the process of entering the inlet (41) through the feed channel (83), the tapered roller (1) from the post-station feed unit (82) rolls from top to bottom in the feed channel (83) in a single-line queue, with axes parallel to each other and rolling surfaces (12) close to the rolling surface (12) in a curved path, a broken line path or a zigzag combined path by virtue of the deadweight of the tapered roller (1); the width of the feed channel (83) matches the axial length of the tapered roller (1).

6. The grinding device for finishing the rolling surface of a tapered roller according to claim 4, characterized in that: The grinding sleeve groove is a cylindrical spiral groove (32); the inlet (41) of the grinding processing area is arranged at one end of the cylindrical spiral groove (32) and leads to the upper half outer wall of the grinding sleeve (3); the outlet (42) of the grinding processing area is at the other end of the cylindrical spiral groove (32); during grinding processing, the tapered roller (1) continuously enters the grinding processing area from the inlet (41) and continuously leaves the grinding processing area from the outlet (42); the tapered roller (1) enters the grinding processing area from the inlet (41) and leaves the grinding processing area from the outlet (42) synchronously with the grinding process; The storage space of the storage unit (61) is one or more vertical storage channels (63) arranged in parallel, and the storage channels (63) are curved channels, broken-line channels, or zigzag channels. During the process of storing in the storage unit (61) or unloading from the storage unit (61), the tapered roller (1) rolls in the storage channel (63) from top to bottom with the axes being parallel to each other and the rolling surface (12) being close to the rolling surface (12) by the weight of the tapered roller (1) along a curved path, a broken line path or a zigzag combined path; the width of the storage channel (63) matches the axial length of the tapered roller (1); the upper end of the storage channel (63) is the channel entrance, and the lower end of the storage channel (63) is the channel exit and is provided with an exit gate (62); the tapered rollers (1) are sequentially stored in the storage channel (63) from bottom to top in a single-line queue, with the axes being parallel to each other and the rolling surface (12) being close to the rolling surface (12); the exit gate (62) is in an open state when the tapered roller (1) is unloaded from the storage channel (63); The storage station is provided with a transport robot (64) for moving the storage unit (61); The material receiving subsystem is provided with a material receiving channel (73); The outlet (42) of the grinding processing area is connected to the material storage channel (63) of the material storage unit (61) through the material receiving channel (73), or is connected to the material storage channel (63) of the material storage unit (61) through the material receiving channel (73) and the conveying mechanism; during grinding processing, the tapered roller (1) leaves the outlet (42) and passes through the material receiving channel (73) to enter the material storage channel (63) of the material storage unit (61), or passes through the material receiving channel (73) and the conveying mechanism in sequence to enter the material storage channel (63) of the material storage unit (61); The feeding subsystem is provided with a feeding channel (83); the feeding channel (83) is provided in the upper space of the outer wall of the grinding sleeve (3) and is communicated with the inlet (41); The operation of the handling robot (64) includes: removing an empty storage unit (61) from the storage station, and docking the channel entrance of the storage unit (61) with the receiving channel (73) or the conveying mechanism to receive the tapered rollers (1) from the receiving channel (73); when the storage unit (61) is fully loaded with the tapered rollers (1), the handling robot (64) returns the storage unit (61) to the storage station for temporary storage; according to the decision of the control subsystem, the handling robot (64) moves the selected storage unit (61) in the storage station, and docks the channel outlet of the storage unit (61) with the feeding channel (83) to unload the tapered rollers (1); The feeding channel (83) is a curved channel, a broken line channel or a zigzag combined channel; In the process of entering the inlet (41) through the feeding channel (83), the tapered roller (1) from the storage unit (61) rolls from top to bottom in the feeding channel (83) in a single-line queue, with axes parallel to each other and rolling surfaces (12) close to the rolling surface (12) along a curved path, a broken line path or a zigzag combined path by virtue of the tapered roller (1)'s own weight; the width of the feeding channel (83) matches the axial length of the tapered roller (1).

7. The grinding device for finishing the rolling surface of a tapered roller according to claim 4, characterized in that: The grinding sleeve groove is a group of multiple coaxial annular grooves (33) with equal diameters. Corresponding to each annular groove (33), a through-hole for the tapered roller (1) to enter or leave the grinding processing area is provided, and the through-hole leads to the upper outer wall of the grinding sleeve (3); the tapered roller (1) enters the grinding processing area from the through-hole or leaves the grinding processing area from the through-hole in a time-sharing manner with the grinding process. During the period when the tapered roller (1) enters or leaves the grinding processing area, the grinding process is suspended. The storage space of the storage unit (61) is divided into a plurality of storage channels (63) parallel to each other, and the storage channels (63) are arranged at an angle relative to the horizontal plane so as to facilitate the tapered roller to roll unpowered in the storage channel (63) under the action of its own gravity; the width of the storage channel (63) matches the axial length of the tapered roller (1); the upper end of the storage channel (63) is the channel entrance, and the lower end of the storage channel (63) is the channel exit and is provided with an exit gate (62); the tapered rollers (1) are sequentially stored in the storage channel (63) in a single-line queue, with their axes parallel to each other and their rolling surfaces (12) close to the rolling surfaces (12); when the tapered rollers (1) are unloaded from the storage channel (63), the exit gate (62) is in an open state; The material storage units (61) are installed in layers in the material storage station; The material receiving subsystem includes a material unloading robot, a front-station material receiving unit (78) and a front-station transition unit (79); The front-station receiving unit (78) and the front-station transition unit (79) are both provided with a material storage channel (63) consistent with that in the material storage unit (61); The feeding subsystem includes a post-station transition unit (81), a post-station feeding unit (82) and a loading robot; The post-station transition unit (81) and the post-station feeding unit (82) are both provided with a storage channel (63) consistent with that in the storage unit (61); The loading robot and the unloading robot are both provided with a group of parallel arranged finger-shaped grippers (93), the ends of the finger-shaped grippers (93) are provided with suction cups (94) for adsorbing the tapered roller (1), and the suction cups (94) are vacuum suction cups or electromagnetic suction cups; Whenever the tapered roller (1) in the grinding processing area completes a round of grinding processing, an unloading and loading operation is performed; the grinding bar assembly is rotated until a certain linear groove is opposite to the through-port, and the finger-shaped gripper (93) of the unloading robot is respectively inserted into each through-port, and a tapered roller (1) located in the linear groove is adsorbed and taken out from each through-port in parallel, and then the tapered roller (1) is respectively placed in each storage channel (63) of the station front receiving unit (78) or placed on the conveying mechanism. The tapered roller (1) placed on the conveying mechanism passes through the conveying mechanism and enters each storage channel (63) of the station front receiving unit (78); the finger-shaped gripper (93) of the loading robot is taken out from the station rear feeding unit Each material storage channel (63) of the element (82) absorbs and takes out one of the tapered rollers (1) in parallel, and then places the tapered rollers (1) into the linear grooves through each opening according to the posture requirements of the grinding processing area for the tapered rollers (1), and the finger-shaped clamps (93) are withdrawn from the openings; the grinding bar assembly is continued to rotate until the next linear groove is opposite to the opening, and the above operation is repeated until all the tapered rollers (1) of the previous round of grinding processing are unloaded from the grinding processing area and the subsequent tapered rollers (1) are loaded, and the grinding process continues; in each round of grinding processing, the average material removal amount of the tapered rollers (1) in the diameter direction needs to be controlled within 0.5 microns; When the station-front receiving unit (78) is fully loaded with the tapered rollers (1), the channel entrance of the station-front transition unit (79) docks with the channel exit of the station-front receiving unit (78), and all the tapered rollers (1) in the station-front receiving unit (78) are transferred to the storage channel (63) of the station-front transition unit (79) in a rolling manner; the channel exit of the fully loaded station-front transition unit (79) docks with the channel entrance of the empty storage unit (61) in the storage station, and all the tapered rollers (1) in the station-front transition unit (79) are loaded into the storage channel (63) of the storage unit (61) in a rolling manner; According to the decision of the control subsystem, the channel entrance of the post-station transition unit (81) is connected to the channel exit of the selected storage unit (61) in the storage station, and all the tapered rollers (1) in the storage unit (61) are unloaded to the storage channel (63) of the post-station transition unit (81) in a rolling manner; the channel exit of the fully loaded post-station transition unit (81) is connected to the channel entrance of the post-station feeding unit (82), and all the tapered rollers (1) in the post-station transition unit (81) are transferred to the storage channel (63) of the post-station feeding unit (82) in a rolling manner.

8. The grinding device for finishing the rolling surface of a tapered roller according to claim 6, characterized in that: The material receiving subsystem is provided with a material receiving buffer station, and the material receiving buffer station is provided with a material receiving station and a buffer station, and the material receiving buffer station comprises a first bracket (91) and a first guide rail (92), the first bracket (91) is used to place the material storage unit (61), and the first bracket (91) together with the material storage unit (61) thereon switches between the material receiving station and the buffer station along the first guide rail (92); the handling robot (64) moves the empty material storage unit (61) from the material storage station and places it on the first bracket (91) located at the buffer station; the material storage unit located at the material receiving station (61) moves along the first guide rail (92) so that the channel entrance docks with the material receiving channel (73) or the conveying mechanism to receive the tapered roller (1) from the material receiving channel (73); the fully loaded storage unit (61) is switched to the buffer station, and the empty storage unit (61) is switched to the material receiving station; the handling robot (64) returns the fully loaded storage unit (61) located at the buffer station to the storage station for temporary storage, and removes the empty storage unit (61) from the storage station again and places it on the first bracket (91) located at the buffer station, and repeats this process continuously; The feeding subsystem is provided with a feeding buffer station, and the feeding buffer station is provided with a feeding station and a buffer station, and the feeding buffer station comprises a second bracket (91') and a second guide rail (92'), the second bracket (91') is used to place the storage unit (61), and the second bracket (91') together with the storage unit (61) thereon switches between the feeding station and the buffer station along the second guide rail (92'); the handling robot (64) moves out the fully loaded storage unit (61) selected by the control subsystem from the storage station and places it on the second bracket (91') located at the buffer station; The storage unit (61) at the feeding station moves along the second guide rail (92') so that the channel outlet docks with the feeding channel (83) to unload the tapered roller (1); the empty storage unit (61) is switched to the buffer station, and the fully loaded storage unit (61) is switched to the feeding station; the handling robot (64) returns the empty storage unit (61) at the buffer station to the storage station, and removes the fully loaded storage unit (61) selected by the control subsystem from the storage station again and places it on the second bracket (91') at the buffer station, and repeats this process continuously.

9. A grinding device for finishing the rolling surface of a tapered roller, characterized in that: The machine comprises a main machine, an external circulation system (5) and a grinding tool kit for fine machining of the rolling surface (12) of a tapered roller according to claim 1, 2 or 3, wherein the grinding tool kit is arranged horizontally and the grinding sleeve groove is a cylindrical spiral groove (32); The main machine comprises a rotating component, and the rotating component is used to drive the grinding sleeve (3) and the grinding bar assembly to rotate relative to each other; The inlet (41) of the grinding processing area is arranged at one end of the cylindrical spiral groove (32) and leads to the upper outer wall of the grinding sleeve (3), and the outlet (42) of the grinding processing area is at the other end of the cylindrical spiral groove (32); during grinding processing, the tapered roller (1) continuously enters the grinding processing area from the inlet (41) and continuously leaves the grinding processing area from the outlet (42); the tapered roller (1) enters the grinding processing area from the inlet (41) and leaves the grinding processing area from the outlet (42) synchronously with the grinding process; The external circulation system (5) includes a material receiving channel, a lifting mechanism and a material feeding channel (83); The feed channel (83) is arranged in the upper space of the outer wall of the grinding sleeve (3) and is communicated with the inlet (41); The outlet (42) of the grinding processing area passes through the material receiving channel (73) or passes through the material receiving channel (73) and the conveying mechanism to connect with the lifting mechanism; during grinding processing, the tapered roller (1) leaves the outlet (42) and passes through the material receiving channel (73) or passes through the material receiving channel (73) and the conveying mechanism in sequence to enter the lifting mechanism; The lifting mechanism is used to lift the tapered roller (1) upward in a single, isolated, single-line, and posture-controlled manner to dock with the feed channel (83) or dock with the feed channel (83) through a conveying mechanism. The tapered roller (1) passes through the lifting mechanism or sequentially passes through the lifting mechanism and the conveying mechanism to enter the feed channel (83); The feed channel (83) is a curved channel, a broken line channel or a zigzag combined channel; in the process of entering the inlet (41) through the feed channel (83), the tapered rollers (1) from the lifting mechanism or the conveying mechanism roll from top to bottom in the feed channel (83) in a single-line queue, with axes parallel to each other and rolling surfaces (15) close to the rolling surfaces (15) in a manner such that the axes are parallel to each other and the rolling surfaces (15) are close to the rolling surfaces (15); the width of the feed channel (83) matches the axial length of the tapered rollers (1); The process in which all the tapered rollers (1) enter the grinding processing area from the inlet (41), undergo grinding in the grinding processing area, and leave the grinding processing area from the outlet (42) is one grinding cycle; As the grinding cycles increase, the selective material removal effect between the tapered rollers (1) in the grinding processing area gradually extends to the entire batch of tapered rollers (1), and the dimensional consistency of the tapered rollers (1) continues to improve until the specified technical indicators are reached.

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