An automatic tool forming and grinding system

Abstract

This application relates to an automatic tool forming and grinding system, belonging to the technical field of automated processing equipment. It includes a loading / unloading device, a grinding device, and a tray changing device. The loading / unloading device and the grinding device are arranged horizontally, while the loading / unloading device and the tray changing device are arranged vertically. The loading / unloading device includes a multi-axis manipulator with at least two degrees of freedom (left-right and vertical) and a clamping assembly mounted on the multi-axis manipulator. The clamping assembly includes a clamping block, two pneumatic grippers mounted on the clamping block, and a rotary drive component for driving the pneumatic grippers to rotate. The tray changing device includes a tray platform, at least two trays placed on the tray platform, a changing drive component for pushing the trays to slide left-right, and a discharging drive component for pushing the trays to move back-and-forth. The trays are placed side-by-side horizontally. This application offers higher loading / unloading efficiency and eliminates the need for a separate recycling device.

Description

Technical Field

[0001] This application relates to the field of automated processing equipment, and in particular to an automatic tool forming and grinding system. Background Technology

[0002] Grinding is a finishing process (similar to cutting) that uses abrasive particles coated or embedded on a grinding tool to finish a workpiece surface through the relative motion of the tool and the workpiece under certain pressure. Grinding can be used to process various metallic and non-metallic materials, and the processed surface shapes include planes, internal and external cylindrical surfaces and conical surfaces, convex and concave spherical surfaces, threads, tooth surfaces and other profiles.

[0003] Existing cutting tools such as Figure 1 As shown, the whole is in the shape of a triangular prism with mounting holes at both ends. During the processing, the surface needs to be ground, and at least one of the three edges needs to be ground into a cutting edge. The conventional grinding method is to use a robot arm to pick up the tool to be processed from the loading tray, then place the tool on the fixture and clamp it for grinding. Then, the robot arm removes the ground tool and places it into the finished unloading tray. In this process, the loading tray containing the tool and the unloading tray receiving the ground tool need to be continuously placed. The processed tool is sent away with the unloading tray to the next process.

[0004] In the above processing method, after the cutting tools are removed from the feeding tray, it needs to be continuously recycled to place new cutting tools and then send them into the grinding machine to complete the grinding. Since the entire loading and unloading process has a separate recycling process for the feeding tray, if the recycling is mechanized, it will increase the equipment of the system and become more cumbersome. If the recycling is done manually, it will reduce the degree of automation. Summary of the Invention

[0005] To make the loading and unloading process more efficient and rational, this application provides an automatic grinding system for tool forming.

[0006] The automatic tool forming and grinding system provided in this application adopts the following technical solution:

[0007] An automatic tool forming and grinding system includes a loading and unloading device, a grinding device, and a tray changing device. The loading and unloading device and the grinding device are arranged side by side, and the loading and unloading device and the tray changing device are arranged vertically. The loading and unloading device includes a multi-axis manipulator with at least two degrees of freedom (left and right, up and down) and a clamping assembly mounted on the multi-axis manipulator. The clamping assembly includes a clamping block, two pneumatic grippers mounted on the clamping block, and a rotary drive component that drives the clamping block to rotate, thereby causing the pneumatic grippers to rotate. The tray changing device includes a tray platform, at least two trays placed on the tray platform, a changing drive component that pushes the trays to slide left and right, and a loading drive component that pushes the trays to move back and forth. The trays are placed side by side along the left and right sides.

[0008] By adopting the above technical solution, during grinding, the loading and unloading device clamps the cutting tool from one tray and feeds it into the grinding device for grinding. Then, the ground cutting tool is placed in another tray. When all the cutting tools on one tray have been ground, the cutting tools are transferred from one tray to another. Then, the unloading drive component pushes the processed cutting tool and the corresponding tray out of the tray platform to complete the unloading. The changing drive component can push the empty tray to the position of the unloading tray to become a new tray to receive the ground cutting tools. Then, the tray filled with unground cutting tools is transported. This realizes the recycling of the trays and eliminates one of the tray recycling processes. The processing process is more reasonable and the overall processing efficiency is higher. The use of a multi-axis robot and two pneumatic grippers driven by a rotary drive can complete loading and unloading simultaneously in a sliding process, improving efficiency. Compared with a free robot, the control program is also simpler.

[0009] Optionally, a flipping mechanism is also included. The flipping mechanism and the grinding device are respectively located on the left and right sides of the material tray changing device. The two material trays include an upper material tray near the flipping mechanism and a lower material tray near the grinding device. The changing drive component pushes the upper material tray to slide towards the lower material tray and become the lower material tray. The lower material drive component drives the lower material tray to move back and forth to complete the unloading.

[0010] By adopting the above technical solution and setting a flipping mechanism, the processed tool is first flipped so that the cutting edge of the tool is placed face down on the material tray. The material tray protects the cutting edge of the tool, making it less likely to injure people or cause damage to the cutting edge. At the same time, the existence of the flipping mechanism enables the grinding system to grind multiple edges of the tool.

[0011] Optionally, the multi-axis manipulator is a three-axis manipulator with three degrees of freedom: up and down, left and right, and front and back. The grinding device includes a clamp that slides back and forth and a grinding machine. After receiving the cutting tool, the clamp slides to the grinding machine to complete the grinding. The pneumatic gripper rotates and feeds the cutting tool into the clamp for holding.

[0012] By adopting the above technical solution, the multi-axis robot increases the degree of freedom of forward and backward sliding, so that the pneumatic gripper can move the tool back and forth. During the process of the gripper sliding towards the grinding machine, since the upper gripper needs to hold the ground tool, the gripping block rotates to feed the tool into the gripper. During this process, the gripper can also maintain the sliding state, which ultimately improves the feeding speed, reduces the interval time of the grinding process, and ultimately improves the processing efficiency.

[0013] Optionally, the material tray platform has a left-right limiting groove, the material tray is located in the limiting groove, the material tray platform has a feeding notch communicating with the limiting groove on one side of the upper material tray position, the material tray platform has a feeding notch penetrating the limiting groove from front to back on the lower material tray position, and the material tray platform has a right positioning block on the side of the lower material tray away from the upper material tray.

[0014] By adopting the above technical solution, the tray platform is provided with a limiting groove to limit the position of the tray and better cooperate with the pneumatic gripper. The set loading and unloading notches are designed to cooperate with the loading and unloading process of the tray. The right positioning block is set to improve the positional accuracy of the tray in the left and right directions. In conjunction with the change drive component to push the tray, the position adjustment is completed.

[0015] Optionally, the material tray platform is open below the material feeding tray and is provided with a material feeding support block and a material feeding cylinder for driving the material feeding support block to move vertically. The right positioning block has a positioning groove for the material feeding tray to enter. The front and rear walls of the positioning groove are set as positioning surfaces. The positioning surfaces abut against the side wall of the material feeding tray. The positioning groove opens to the side facing the material feeding support block.

[0016] By adopting the above technical solution, since the feeding tray needs to move back and forth to feed materials, the feeding notch position cannot restrict the back and forth sliding of the feeding tray. However, since it is necessary to restrict the back and forth position of the feeding tray more precisely, in conjunction with the picking and placing of the cutting tool, the positioning surface of the positioning groove restricts the position of the feeding tray to maintain the accuracy of the back and forth position. The positioning groove opens towards the feeding support block, and the feeding support block and feeding cylinder are set at the same time. Thus, the feeding tray can be moved down and disengaged from the positioning groove by the downward movement of the feeding support block, so as to smoothly complete the back and forth displacement feeding.

[0017] Optionally, it also includes a feeding conveyor belt corresponding to the feeding notch. The material tray platform has a positioning groove on the side of the feeding tray away from the unloading tray. A sliding positioning block is slidably installed in the positioning groove. The material tray platform is also provided with a positioning cylinder that drives the sliding positioning block to move vertically in and out of the positioning groove. The sliding positioning block corresponds to the feeding notch. The feeding conveyor belt transports the feeding tray and abuts against the sliding positioning block. The changing drive assembly includes a changing block and a changing cylinder that drives the changing block to move left and right. The sliding positioning block and the changing block restrict the feeding tray on the feeding conveyor belt from entering the restricting groove.

[0018] By adopting the above technical solution, the feeding conveyor belt continuously transports the feeding tray to the tray platform. Through the cooperation of the sliding positioning block and the right positioning block, the positions of the two trays are restricted and stabilized. The presence of the sliding positioning block also restricts the subsequent feeding tray from moving in. When the sliding positioning block moves down, another feeding tray enters. At this time, the unloading tray is sent away. Then, the two feeding trays are pushed to slide by the changing block until the empty feeding tray slides to the position of the unloading support block and becomes the new unloading tray. At this time, the changing block moves backward, restricting the subsequent feeding tray from entering. Then, the rising sliding positioning block replaces the changing block and restricts the subsequent feeding tray from entering again.

[0019] Optionally, the material tray platform has a feeding notch forming a limiting surface facing the changing block. The feeding tray on the feeding conveyor belt is spaced apart from the limiting surface. The side wall of the sliding positioning block facing the right positioning block and the limiting surface are located on the same plane. The changing block moves to the right and can abut against the limiting surface. The changing block abuts against the feeding tray on the feeding conveyor belt, thereby restricting the feeding tray on the feeding conveyor belt from entering the limiting groove.

[0020] By adopting the above technical solution, since the length of the changing block is greater than that of the sliding positioning block, the unloading plate will not affect the upward movement of the sliding positioning block under the restriction of the subsequent loading plate. However, the changing block will be affected by the subsequent unloading plate to a certain extent when it crosses the restriction surface, which may cause the changing block to get stuck. By maintaining a certain distance between the loading plate on the loading conveyor belt and the restriction surface, the changing block can first push the loading plate to abut the restriction surface. The changing block restricts the subsequent loading plate from continuing to be conveyed. Then the sliding positioning block moves down, and the loading plate that is pushed to abut the restriction surface can smoothly enter the restriction groove. The next loading plate will be restricted by the changing block, thus successfully completing the loading of the loading plate. The dimensional accuracy requirements of the changing block are lower than those of the sliding positioning block, making it easier to implement and less prone to getting stuck. At the same time, the loading plate on the loading conveyor belt is restricted by the changing block, making it less likely for the loading plate to slide sideways.

[0021] Optionally, it also includes an intermediate tray, wherein the upper tray, the lower tray and the intermediate tray are arranged in the left-right direction.

[0022] By adopting the above technical solution and setting an intermediate material tray, when the tool needs to be ground to produce two edges, after the first edge is ground, the tool can be placed on the intermediate material tray after being flipped by the flipping mechanism. After all the tools in the upper material tray have completed the processing of one edge, the second edge is ground. At this time, the clamping component takes the tool from the intermediate material tray, and after the second edge is ground, the tool is placed on the lower material tray, thus completing the overall grinding process of the tool. Compared with directly grinding the second edge after flipping the tool and then placing it in the lower material tray, the existence of the intermediate material tray allows the conveying program to be set into two segments. The program of the conveying process is changed by a counter. Compared with completing the grinding of two edges simultaneously, the program is simpler, less prone to errors, and more efficient. The two segments of the program are independent of each other and do not interfere with each other. The intermediate material tray carries the tool in the intermediate state, and other programs such as inspection can be arranged for the tools on the intermediate material tray during the interval of the second edge processing, thereby improving the overall production efficiency.

[0023] Optionally, the intermediate material tray is disposed between the feed tray and the grinding device, and the position of the intermediate material tray is fixed.

[0024] By adopting the above technical solution, the intermediate material tray is set up independently of the upper and lower material trays. The entire grinding system retains the basic function of grinding a single edge without flipping the tool, and also has the optimized function of flipping the tool and processing two edges. The presence of the intermediate material tray does not affect the structure of the tray platform, and no structural improvements are needed for the intermediate material tray. The intermediate material tray does not affect the operation of grinding a single edge. At the same time, it also improves the loading and unloading speed when processing two edges of the tool. Since the left and right position relationship between the lower and intermediate material trays does not affect the loading and unloading speed of processing a single edge without flipping the tool, and the clamping block needs to rotate to adjust the use of the two pneumatic grippers during the process from the upper to the intermediate material tray, when the intermediate material tray is located on the far side, the clamping block can be rotated and adjusted during the left and right movement from the upper to the intermediate material tray. Compared with the intermediate material tray being located between the upper and lower material trays, there is no need to wait for the clamping block to rotate into place, which saves the time of the clamping block rotation and thus indirectly improves the loading speed.

[0025] Optionally, the clamping block and the material tray can slide relative to each other back and forth, and the material tray has multiple placement slots arranged in an array along its front and back and left and right sides for placing tools.

[0026] By adopting the above technical solution, the pneumatic grippers on the clamping block can pick up and place tools at different positions in the front-to-back direction on the material tray. The material tray has placement slots, which makes the placement of tools more stable. At the same time, each material tray can hold more tools with the same length. The length of the material tray in the left-to-right direction can hold more tools, which makes the left-to-right sliding length of the clamping block shorter, reducing the time required for loading and indirectly improving the processing efficiency. The processing efficiency mainly depends on the grinding efficiency of the grinding device. In conjunction with the three-axis robot, the above functions are completed. It can also further improve the speed of the tool getting onto the fixture and then the fixture transporting it to the grinding machine, and reduce the sliding structure.

[0027] In summary, during grinding, the loading and unloading device clamps the cutting tool from one tray and feeds it into the grinding device for grinding. Then, the ground cutting tool is placed in another tray. When all the cutting tools on one tray have been ground, the cutting tools are transferred from one tray to another. Then, the unloading drive component pushes the processed cutting tool and the corresponding tray out of the tray platform to complete the unloading. The changing drive component can push the empty tray to the position of the unloading tray to become a new tray to receive the ground cutting tools. Then, the tray filled with unground cutting tools is transported. This realizes the recycling of the trays and eliminates one of the tray recycling processes. The processing process is more reasonable and the overall processing efficiency is higher. The use of a multi-axis robot and two pneumatic grippers driven by a rotary drive can complete loading and unloading simultaneously in a sliding process, improving efficiency. Compared with a free robot, the control program is also simpler. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the tool structure in the embodiments of this application;

[0029] Figure 2 This is a schematic diagram of the grinding system in the embodiments of this application;

[0030] Figure 3 This is a schematic diagram of the structure of the workbench in an embodiment of this application;

[0031] Figure 4 This is a schematic diagram of the pneumatic gripper in the embodiments of this application;

[0032] Figure 5 This is a schematic diagram of the material tray platform in the embodiments of this application;

[0033] Figure 6 This is a cross-sectional view of the right positioning block in an embodiment of this application;

[0034] Figure 7 This is a schematic diagram of the installation structure of the feeding drive component in the embodiments of this application;

[0035] Figure 8 This is a partial structural schematic diagram of the feeding conveyor belt in the embodiments of this application;

[0036] Figure 9 This is a schematic diagram of the material tray structure in an embodiment of this application;

[0037] Figure 10 This is a schematic diagram of the grinding device in the embodiments of this application;

[0038] Figure 11 This is a schematic diagram of the fixture in the grinding apparatus of the present application embodiment;

[0039] Figure 12 This is a schematic diagram of the flipping mechanism in the embodiments of this application.

[0040] Explanation of reference numerals in the attached drawings: 1. Feeding conveyor belt; 11. Left limiting block; 12. Right limiting block; 2. Discharging conveyor belt; 3. Tilting mechanism; 31. Tilting seat; 32. Tilting motor; 33. Tilting block; 331. Placement space; 34. Tilting support block; 35. Tilting cylinder; 36. Pneumatic ejector pin; 4. Material tray changing device; 41. Material tray platform; 411. Limiting groove; 4111. Positioning groove; 4112. Sliding positioning block; 4113. Positioning cylinder; 412. Feeding notch; 4121. Limiting surface; 413. Discharging notch; 414. Discharging support block; 415. Discharging cylinder; 416. Right positioning block; 4161. Right positioning groove; 417. Pushing hole; 418. Pushing cylinder; 419. Push block; 421. Loading tray; 422. Unloading tray; 423. Intermediate tray; 424. Tool slot; 43. Change drive assembly; 431. Change block; 432. Change cylinder; 433. Connecting plate; 44. Unloading drive assembly; 441. Unloading push cylinder; 442. Unloading block; 5. Loading / unloading device; 51. Multi-axis robot; 511. Clamping mounting part; 52. Clamping assembly; 521. Clamping block; 522. Pneumatic gripper; 5221. Claw; 5222. Clamping notch; 523. Rotary drive component; 6. Grinding device; 61. Housing; 611. Machining window; 62. Fixture; 63. Grinding machine; 7. Worktable; 8. Tool; 81. Mounting hole. Detailed Implementation

[0041] The following is in conjunction with the appendix Figure 2-12 This application will be described in further detail.

[0042] This application discloses an automatic grinding system for tool forming.

[0043] Reference Figure 2 and Figure 3An automatic tool forming and grinding system includes a feeding conveyor belt 1, a discharging conveyor belt 2, a flipping mechanism 3, a tray changing device 4, a loading and unloading device 5, and a grinding device 6. The flipping mechanism 3, the tray changing device 4, and the loading and unloading device 5 are installed on a workbench 7 next to the grinding device 6. The feeding conveyor belt 1 feeds the unprocessed tool 8 into the tray changing device 4. The tool 8 that has been processed on the tray changing device is sent to the next process via the discharging conveyor belt 2. The loading and unloading device 5 takes the tool 8 from the tray changing device 4 and sends it into the grinding device 6 for grinding. The processed tool 8 is sent back to the tray changing device 4 via the loading and unloading device 5. The flipping mechanism 3 is used to flip the tool 8 so that different edges of the tool 8 face upwards.

[0044] The flipping mechanism 3, the tray changing device 4, and the grinding device 6 are arranged from left to right, while the loading and unloading device 5 and the tray changing device 4 are arranged vertically, with the loading and unloading device 5 spanning across the flipping mechanism 3 and the tray changing device 4 up to the grinding device 6.

[0045] Reference Figure 3 The loading and unloading device 5 includes a multi-axis robot 51 and a clamping assembly 52 mounted on the multi-axis robot 51. In this embodiment, the multi-axis robot 51 is a three-axis robot with three degrees of freedom of movement: forward and backward, left and right, and up and down. The linear slide rail in the forward and backward direction is located behind the tray changing device 4. The linear slide rail in the left and right direction is mounted on the forward and backward linear slide rail. The linear slide rail in the up and down direction is mounted on the left and right linear slide rail. The slider of the linear slide rail in the up and down direction extends forward and is provided with a clamping mounting part 511. The clamping mounting part 511 can slide forward and move above the tray changing device 4.

[0046] Reference Figure 3 and Figure 4 The clamping assembly 52 includes a clamping block 521, two pneumatic grippers 522 mounted on the clamping block 521, and a rotary drive 523 that drives the clamping block 521 to rotate, thereby causing the pneumatic grippers 522 to rotate. Specifically, the clamping block 521 is located on the side wall of the clamping mounting portion 511 facing the grinding device 6, while the rotary drive 523 can be a servo motor and is mounted on the side wall of the clamping mounting portion 511 away from the clamping block 521. The motor shaft of the rotary drive 523 passes through the clamping mounting portion 511 and is parallel to the clamping block 521. 21 connection, two pneumatic grippers 522 are respectively installed on the two opposite side walls of the clamping block 521, and the two pneumatic grippers 522 are symmetrical about 180 degrees relative to the rotation axis. When the two claws 5221 of the pneumatic gripper 522 clamp the tool 8, they move closer together to clamp it. At the same time, the lower end of the claw 5221 is provided with a clamping notch 5222, so that when the tool 8 is put into the flipping mechanism 3 and the grinding device 6, the part of the tool 8 located in the clamping notch 5222 can be clamped, and the clamping change can be completed smoothly.

[0047] Reference Figure 3 and Figure 5 The material tray changing device 4 includes a material tray platform 41, a material tray, a changing drive assembly 43, and a discharging drive assembly 44. The top wall of the material tray platform 41 has a limiting groove 411 extending in a left-right direction. There are three material trays distributed from left to right: an upper material tray 421, a lower material tray 422, and a middle material tray 423. The upper material tray 421 and lower material tray 422 are located on the material tray platform 41, while the middle material tray 423 is located on the right side of the material tray platform 41. The upper material tray 421 and lower material tray 422 have identical structures. The feeding drive assembly 44 can push the feeding tray 422 onto the feeding conveyor belt 2, while the changing drive assembly 43 can push the feeding tray 421 to the position of the feeding tray 422 to become a new feeding tray 422. The feeding conveyor belt 1 transports the new feeding tray 421 to replace the feeding tray 421 that has become the feeding tray 422. The feeding tray 421 and the feeding tray 422 are placed side by side on the tray platform 41, with the feeding tray 421 close to the flipping mechanism 3 and the feeding tray 422 close to the grinding device 6.

[0048] Reference Figure 3 , Figure 5 and Figure 6 The material tray platform 41 has a feeding notch 412 with a connecting limiting groove 411 on the front side of the feeding tray 421. The material tray platform 41 has two feeding notches 413 with the front and rear connecting limiting grooves 411 on the lower tray 422. At the same time, the material tray platform 41 is open below the lower tray 422 and is provided with a feeding support block 414 and a feeding cylinder 415 that drives the vertical movement of the feeding support block 414. The feeding support block 414 fills the gap of the material tray platform 41 at the lower tray 422. The feeding tray 422 is supported by the feeding support block 414. At the same time, the tray platform 41 is provided with a right positioning block 416 on the side of the feeding tray 422 away from the feeding tray 421. The right positioning block 416 is partially suspended above the feeding support block 414. The right positioning block 416 has a positioning groove 4111 for the feeding tray 422 to enter. The front and rear walls of the positioning groove 4111 are set as positioning surfaces. The positioning surfaces abut against the side wall of the feeding tray 422. The positioning groove 4111 opens towards the side of the feeding support block 414.

[0049] Meanwhile, the right positioning block 416 has push holes 417 that connect to the positioning groove 4111 on the left and right sides. The right positioning block 416 has a push cylinder 418 installed on the side wall away from the feeding tray 422. A push block 419 connected to the piston rod of the push cylinder 418 is slidably installed in the push hole 417. The feeding tray 422 can be pushed to the left by the push block 419.

[0050] Reference Figure 3 and Figure 5The feeding conveyor belt 1 is located in front of the material tray platform 41 and corresponds to the feeding notch 412. The feeding conveyor belt 1 feeds the feeding tray 421 into the limiting groove 411 in a front-to-back direction. Specifically, the material tray platform 41 has a positioning groove 4111 on the side of the feeding tray 421 away from the unloading tray 422. A sliding positioning block 4112 is slidably installed in the positioning groove 4111. The interior of the material tray platform 41 is hollow and is designed as a driving cavity, which is open to the side facing the flipping mechanism 3. The top wall of the driving cavity is provided with a driving sliding positioning block 4112 that moves vertically in and out of the positioning groove 4111. The positioning cylinder 4113 and the transformation drive assembly 43 include a transformation block 431 and a transformation cylinder 432 that drives the transformation block 431 to move left and right. The transformation cylinder 432 is installed in the drive cavity, and the piston rod of the transformation cylinder 432 faces the flipping mechanism 3. An association plate 433 is installed on the piston rod of the transformation cylinder 432. The transformation block 431 is T-shaped and installed on the upper part of the association plate 433. The head of the transformation block 431 is located in the limiting groove 411. The transformation cylinder 432 is located in the drive cavity, so it does not easily occupy the space of the flipping mechanism 3.

[0051] Reference Figure 3 , Figure 7 and Figure 8 The sliding positioning block 4112 corresponds to the feeding notch 412. The feeding notch 412 on the material tray platform 41 forms a limiting surface 4121 facing the changing block 431. The feeding tray 421 on the feeding conveyor belt 1 is spaced apart from the limiting surface 4121. The side wall of the sliding positioning block 4112 facing the right positioning block 416 and the limiting surface 4121 are on the same plane. The changing block 431 moves to the right and can abut against the limiting surface 4121. The sliding positioning block 4112 and the changing block 431 restrict the feeding tray 421 on the feeding conveyor belt 1 from entering the feeding tray. The changing block 431 enters the limiting groove 411 and abuts against the feeding tray 421 on the feeding conveyor belt 1. The changing block 431 abuts against the left side wall of the feeding tray 421 on the feeding conveyor belt 1. At the same time, the left and right sides of the feeding conveyor belt 1 are provided with a left limiting block 11 and a right limiting block 12 to restrict the material tray from disengaging from the feeding conveyor belt 1. The right limiting block 12 has two sections, one of which is near the material tray and its outer edge extends to the outside of the feeding conveyor belt 1, so that the changing block 431 can push the feeding tray 421 on the feeding conveyor belt 1 to abut against the limiting surface 4121.

[0052] Reference Figure 3 and Figure 5The unloading conveyor belt 2 is located in front of the material tray platform 41 and corresponds to the unloading notch 413. The loading conveyor belt 1 transports the unloading tray 422 from back to front. Specifically, the unloading conveyor belt 2 is located below the unloading support block 414. The unloading drive assembly 44 drives the unloading tray 422 to move back and forth and be fed into the unloading conveyor belt 2 to complete the unloading. The unloading drive assembly 44 includes an unloading push cylinder 441 and an unloading block 442. The unloading push cylinder 441 can be installed on the lower side wall of the unloading support block 414. Furthermore, there can be two feeding cylinders 441, which are located on both sides of the feeding cylinder 415. The feeding block 442 is located behind the feeding support block 414 and is driven by the two feeding cylinders 441. Normally, the feeding block 442 can be used as a component to restrict the feeding disc 422. After the feeding support block 414 moves down to the feeding disc 422 and disengages from the right positioning block 416, the feeding block 442 pushes the feeding disc 422 to move outward into the feeding conveyor belt 2 and is eventually sent away under the drive of the feeding conveyor belt 2.

[0053] Reference Figure 9 The material tray is a square tray. The top wall of the material tray has a series of tool slots 424 arranged along the length and width direction for placing the tool 8. The cross-section of the tool slot 424 is triangular, so that one edge of the tool 8 is exposed above the material tray as the edge to be ground, and the other two edges are located inside the tool slot 424. The tool 8 fits into the tool slot 424 to keep the tool 8 stable.

[0054] Reference Figure 3 and Figure 9 The intermediate material tray 423 can have the same structure as the upper material tray 421 and the lower material tray 422. A platform can be set on the worktable 7 for the intermediate material tray 423 to be placed and its movement restricted. Alternatively, the intermediate material tray 423 can be directly fixed on the worktable 7, or the intermediate material tray 423 itself can be integrated with the worktable 7 as part of the worktable 7.

[0055] The intermediate tray 423 can also be set between the upper tray 421 and the lower tray 422. In this case, the overall length of the tray platform 41 is extended, and the intermediate tray 423 is also located in the limiting groove 411. The upper tray 421 first becomes the intermediate tray 423 and then becomes the lower tray 422.

[0056] Rollers or rollers can also be installed on the walls of the limiting groove 411 to make the material tray move more smoothly. Rollers or rollers can also be installed on other parts that come into contact with the material tray, such as the right positioning block 416.

[0057] Reference Figure 10 and Figure 11The grinding device 6 is a CNC machine. The grinding device 6 includes a housing 61 and a jig 62 and a grinding machine 63 that slide back and forth inside the housing 61. The grinding machine 63 is located behind the jig 62. After receiving the tool 8, the jig 62 slides to the grinding machine 63 to complete the grinding. The housing 61 has a processing window 611 on the side facing the loading and unloading device 5 for the pneumatic gripper 522 to enter. The pneumatic gripper 522 carries the tool 8 into the housing 61, rotates and sends the tool 8 into the jig 62 for clamping. Specifically, the jig 62 clamps the tool 8 from the front and back. One of the clamping blocks of the jig 62 is fixed and the other is movable. The movable clamping block is located on the rear side. The jig 62 slides towards the grinding machine 63. The pneumatic gripper 522 above flips down from front to back. At the same time, the pneumatic gripper 522 also slides towards the grinding machine 63 until the tool 8 enters the jig 62, and then the clamping process of the tool 8 on the jig 62 is completed.

[0058] Reference Figure 12 The flipping mechanism 3 includes a flipping base 31, a flipping motor 32, a flipping block 33, a flipping support block 34, a flipping cylinder 35, and a pneumatic ejector pin 36. The flipping base 31 has a vertically opening space for mounting the flipping cylinder 35. The flipping support block 34 is mounted on the piston rod of the flipping cylinder 35. Driven by the flipping cylinder 35, the flipping support block 34 can move upwards and out of the flipping base 31. The top of the flipping base 31 has a protruding mounting protrusion. The flipping motor 32 is mounted on the mounting protrusion. The flipping block 33 is mounted on the motor shaft of the flipping motor 32 and extends out of the flipping support block 34. Above, the flipping block 33 is U-shaped and has a placement space 331 for placing the tool 8. Two pneumatic ejector pins 36 are installed one-to-one on the two opposite side walls of the placement space 331. In use, the flipping support block 34 moves up to place the tool 8, and then the two pneumatic ejector pins 36 extend to clamp the tool 8 in the flipping block 33. The flipping support block 34 moves down, and the flipping motor 32 drives the flipping block 33 to rotate to complete the flipping of the tool 8. The flipping support block 34 moves up again to support the tool 8, and the pneumatic ejector pins 36 no longer clamp. The pneumatic clamp 62 clamps the tool 8 and takes it away.

[0059] The implementation principle of the automatic tool forming and grinding system in this application embodiment is as follows: When completing the processing of one edge: the loading and unloading process is as follows: the pneumatic gripper 522 picks up the tool 8 from the unloading tray 422 and feeds it into the fixture 62. Then, the pneumatic gripper 522 moves over and picks up another tool 8 and feeds it into the fixture 62. During this process, the pneumatic gripper 522 rotates, and another pneumatic gripper 522 picks up the ground tool 8 from the fixture 62. Then, the pneumatic gripper 522 rotates again and simultaneously feeds the new tool 8 into the fixture 62. The pneumatic gripper 522 then goes to the loading tray 421 to pick up the tool 8 again. During the process from the loading tray 421 to the flipping mechanism 3, the pneumatic gripper 522 rotates again and feeds the processed tool 8 into the flipping mechanism 3. 522 slides without rotating to the grinding device 6 to pick up the already ground tool 8. The pneumatic gripper 522 rotates again to send the unground tool 8 into the fixture 62. The pneumatic gripper 522 moves without rotating to the flipping mechanism 3 to pick up the flipped tool 8. Then the pneumatic gripper 522 rotates again to send the ground tool 8 into the flipping mechanism 3. The pneumatic gripper 522 moves without rotating to the loading tray 421 to pick up the tool 8. Then, during the process from the loading tray 421 to the unloading tray 422, the pneumatic gripper 522 rotates to send the flipped tool 8 into the unloading tray 422 to complete the processing. The pneumatic gripper 522 slides back to the grinding device 6 without rotating to pick up the ground tool 8. The grinding process of other tools 8 is continued in the same way.

[0060] If two blades are used for processing simultaneously, one edge can be processed first, then fed into the intermediate tray 423, and then the cutting tool 8 can be taken from the intermediate tray 423 for grinding and then fed into the unloading tray 422 to complete the grinding.

[0061] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. An automatic grinding system for tool forming, characterized in that: The device includes a loading and unloading device (5), a grinding device (6), and a tray changing device (4). The loading and unloading device (5) and the grinding device (6) are arranged left and right, and the loading and unloading device (5) and the tray changing device (4) are arranged vertically. The loading and unloading device (5) includes a multi-axis manipulator (51) with at least two degrees of freedom in the left and right and up and down, and a clamping assembly (52) mounted on the multi-axis manipulator (51). The clamping assembly (52) includes a clamping block (521), two pneumatic grippers (522) mounted on the clamping block (521), and a rotary drive (523) that drives the clamping block (521) to rotate, thereby driving the pneumatic grippers (522) to rotate. The tray changing device (4) includes a tray platform (41), at least two trays placed on the tray platform (41), a changing drive assembly (43) that pushes the trays to slide left and right, and a loading drive assembly (44) that pushes the trays to move back and forth. The trays are placed side by side in the left and right directions. It also includes a flipping mechanism (3), which and the grinding device (6) are respectively located on the left and right sides of the material tray changing device (4). The two material trays include an upper material tray (421) near the flipping mechanism (3) and a lower material tray (422) near the grinding device (6). The changing drive component (43) pushes the upper material tray (421) to slide towards the lower material tray (422) and become the lower material tray (422). The lower material drive component (44) drives the lower material tray (422) to move back and forth to complete the material feeding. It also includes an intermediate material tray (423), wherein the upper material tray (421), the lower material tray (422) and the intermediate material tray (423) are arranged in the left-right direction; The intermediate material tray (423) is disposed between the feed tray (422) and the grinding device (6), and the position of the intermediate material tray (423) is fixed; The material tray platform (41) is provided with a left-right direction limiting groove (411), the material tray is located in the limiting groove (411), the material tray platform (41) is provided with a feeding notch (412) communicating with the limiting groove (411) on one side of the upper material tray (421), the material tray platform (41) is provided with a feeding notch (413) penetrating the limiting groove (411) from front to back on the lower material tray (422), and a right positioning block (416) is provided on the side of the lower material tray (422) away from the upper material tray (421). The material tray platform (41) is open below the material tray (422) and is provided with a material support block (414) and a material cylinder (415) for driving the material support block (414) to move vertically. The right positioning block (416) is provided with a positioning groove (4111) for the material tray (422) to enter. The front and rear groove walls of the positioning groove (4111) are provided as positioning surfaces. The positioning surfaces abut against the side wall of the material tray (422). The positioning groove (4111) opens to the side facing the material support block (414). It also includes a feeding conveyor belt (1), which corresponds to the feeding notch (412). The material tray platform (41) has a positioning groove (4111) on the side of the feeding tray (421) away from the unloading tray (422). A sliding positioning block (4112) is slidably installed in the positioning groove (4111). The material tray platform (41) is also provided with a positioning cylinder (4113) that drives the sliding positioning block (4112) to move vertically in and out of the positioning groove (4111). The shifting positioning block (4112) corresponds to the feeding notch (412), the feeding conveyor belt (1) conveys the feeding tray (421) and abuts against the shifting positioning block (4112), the transformation drive assembly (43) includes a transformation block (431) and a transformation cylinder (432) that drives the transformation block (431) to move left and right, the shifting positioning block (4112) and the transformation block (431) restrict the feeding tray (421) on the feeding conveyor belt (1) from entering the restricting groove (411).

2. The automatic tool forming and grinding system according to claim 1, characterized in that: The multi-axis manipulator (51) is a three-axis manipulator with three degrees of freedom: up and down, left and right, and front and back. The grinding device (6) includes a jig (62) that slides back and forth and a grinding machine (63). The jig (62) receives the cutting tool (8) and slides to the grinding machine (63) to complete the grinding. The pneumatic gripper (522) rotates and feeds the cutting tool (8) into the jig (62) for clamping.

3. The automatic tool forming and grinding system according to claim 1, characterized in that: The material tray platform (41) has a feeding notch (412) forming a limiting surface (4121) facing the changing block (431). The feeding tray (421) on the feeding conveyor belt (1) is spaced apart from the limiting surface (4121). The side wall of the sliding positioning block (4112) facing the right positioning block (416) and the limiting surface (4121) are located on the same plane. The changing block (431) moves to the right and abuts against the limiting surface (4121). The changing block (431) abuts against the feeding tray (421) on the feeding conveyor belt (1) and restricts the feeding tray (421) on the feeding conveyor belt (1) from entering the limiting groove (411).

4. The automatic tool forming and grinding system according to claim 1, characterized in that: The clamping block (521) and the material tray slide back and forth relative to each other. The material tray has multiple placement slots arranged in a front-back and left-right array along its upper edge for placing the cutting tool (8).

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