A grinding apparatus for rotary shavers outer knives

Abstract

The application discloses a kind of grinding equipment of rotary shaver outer knife, including feeding mechanism, feeding mechanism, discharging mechanism, take and place material mechanism, conveying belt mechanism and multiple grinding mechanism, the opening of bowl-shaped workpiece is sent to feeding mechanism with feeding mechanism, conveying belt mechanism includes two conveying belts, first conveying belt is feeding conveying belt, and second conveying belt is discharging conveying belt;Feeding mechanism moves workpiece to the feeding conveying belt of conveying belt mechanism, and take and place material mechanism moves the workpiece to be processed on the feeding conveying belt to the grinding base of the lower spindle device of multiple grinding mechanism, and the grinding tool of the lower end of the upper spindle device of multiple grinding mechanism is reset after grinding workpiece;Take and place material mechanism takes out the finished workpiece from the grinding base of the lower spindle device of multiple grinding mechanism and moves to discharging conveying belt;Discharging mechanism takes out the finished workpiece from discharging conveying belt and discharges.The grinding equipment of the application does not need artificial feeding and discharging, and the degree of automation is higher, and the labor intensity of operator is small.

Description

Technical Field

[0001] This invention relates to grinding equipment, and more particularly to a grinding equipment for the outer blades of a rotary razor. Background Technology

[0002] Rotary shavers are common household appliances. Their main structure consists of a fixed outer foil (foil cover) and rotating inner blades. During use, a motor rotates the inner blades at high speed, cutting the hair and beard that extend into the mesh of the outer foil. The fit and clearance between the inner and outer blades directly determines the shaver's performance and comfort. The grinding of the outer foil is one of the key technologies determining the quality of the shaver.

[0003] Grinding is an important machining method in ultra-precision machining, with advantages such as high machining accuracy and a wide range of workable materials. However, traditional manual grinding has disadvantages such as low processing efficiency, high processing cost, and unstable processing accuracy and quality, which limits its application to some extent.

[0004] Application number CN202111633355.0 discloses a grinding machine and grinding equipment for a rotary shaver mesh cover. The grinding machine includes a table, an upper spindle assembly, a lower spindle assembly, a workpiece fixture, and a control circuit. The lower spindle assembly is mounted on the table and includes a lower spindle driven by a first motor and a grinding fluid cylinder, with the grinding fluid cylinder fixed to the upper end of the lower spindle. The workpiece fixture is fixed to the top of the lower spindle and located within the inner cavity of the grinding fluid cylinder. The upper spindle assembly includes an upper spindle driven by a second motor, a grinding tool, and an upper spindle lifting mechanism. The grinding tool is mounted at the lower end of the upper spindle, directly above the workpiece fixture. This invention's rotary shaver mesh cover grinding equipment improves grinding efficiency and quality while reducing processing costs. However, the 20 grinding machines in this equipment require manual loading and unloading, resulting in low automation and high labor intensity for the operators. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a grinding device for the outer blades of a rotary shaver that has a high degree of automation and low labor intensity for operators.

[0006] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is a grinding device for a rotary shaver outer blade, comprising a frame, a feeding mechanism, a loading mechanism, a unloading mechanism, a picking and placing mechanism, a conveyor belt mechanism, and a plurality of grinding mechanisms. Each grinding mechanism includes an upper spindle assembly and a lower spindle assembly. The upper spindle assembly includes a grinding wheel, and the lower spindle assembly includes a grinding fixture. The workpiece to be processed is a rotary shaver outer blade. The feeding mechanism conveys the bowl-shaped workpiece with its opening facing upwards to the loading mechanism. The conveyor belt mechanism includes two conveyor belts, the first conveyor belt... The first conveyor belt is for loading, and the second conveyor belt is for unloading. The loading mechanism transfers the workpiece to the loading conveyor belt of the conveyor belt mechanism. The pick-and-place mechanism transfers the workpiece to be processed on the loading conveyor belt to the grinding base of the lower spindle device of the plurality of grinding mechanisms. The grinding wheel at the lower end of the upper spindle device of the plurality of grinding mechanisms grinds the workpiece and then resets it. The pick-and-place mechanism takes the finished workpiece out from the grinding base of the lower spindle device of the plurality of grinding mechanisms and transfers it to the unloading conveyor belt. The unloading mechanism takes the finished workpiece out from the unloading conveyor belt and unloads it.

[0007] The grinding equipment described above includes a feeding mechanism comprising a vibrating plate and a conveying trough; a loading mechanism comprising a feeding device and a distributing device, the distributing device being mounted on the frame and comprising a distributing block, a first linear guide pair, and a distributing cylinder; the first linear guide pair and the distributing cylinder are respectively arranged along the Y-axis direction, the distributing block being fixed on the slider of the first linear guide pair, and the piston rod of the distributing cylinder being connected to the distributing block; the top surface of the distributing block includes a receiving groove, the side of the receiving groove facing the conveying trough including a feed inlet, and the distributing block including a loading position and a unloading position along the Y-axis direction; when the distributing block is in the loading position, the feed inlet of the receiving groove is connected to the output of the vibrating plate through the conveying trough. The feed trough connects to the receiving trough, allowing the workpiece to be processed to be fed into it. The feeding device includes a feeding bracket, a first Z-axis motion mechanism, a first servo motor, a first rotary table, and two first finger cylinders. The first Z-axis motion mechanism is mounted on the frame via the feeding bracket and is located above the distributing device. The first rotary table is mounted on the first Z-axis motion mechanism and is driven by the first servo motor. The output receiving plate of the first rotary table rotates around the Z-axis, and the two first finger cylinders are vertically fixed below the output receiving plate of the first rotary table and symmetrically arranged at both ends of the radial direction of the output receiving plate of the first rotary table, with the fingers of the first finger cylinders pointing downwards.

[0008] The grinding equipment described above includes a first Z-axis motion mechanism comprising a feeder base, a first lifting bracket, two sets of second linear guide rail pairs, and a first Z-axis cylinder. The feeder base is fixed to the frame via the feeder bracket. The guide rails of the two sets of second linear guide rail pairs are vertically fixed to both sides of the first lifting bracket, and the sliders of the two sets of second linear guide rail pairs are fixed to the feeder base. The first Z-axis cylinder is fixed to the feeder base, and the first lifting bracket is connected to the piston rod of the first Z-axis cylinder. The first rotary table is fixed to the bottom surface of the horizontal plate of the first lifting bracket and is driven by a first servo motor fixed to the first lifting bracket. The material distribution mechanism... When the block is in the unloading position, the receiving groove is located directly below the first finger cylinder. The first finger cylinder moves downward under the drive of the first Z-axis motion mechanism to clamp the workpiece and then moves upward to reset. Then the first rotary table rotates 180°, and the two first finger cylinders switch positions. When the first Z-axis motion mechanism moves upward to reset and the first rotary table rotates, the material distribution block returns to the loading position to pick up the material and then returns to the unloading position. The first Z-axis motion mechanism drives the two first finger cylinders downward. At the same time that the first finger cylinder places the clamped workpiece onto the loading conveyor belt, the second first finger cylinder clamps the workpiece on the material distribution block.

[0009] The grinding equipment described above comprises a plurality of grinding mechanisms arranged separately along the X-axis and arranged on the inner side of the frame along the Y-axis; the conveyor belt mechanism moves along the X-axis, and the loading and unloading conveyor belts are arranged side-by-side in the middle of the frame along the Y-axis; the material handling mechanism includes a material handling support, a first Y-axis motion mechanism, and a material handling device corresponding to the grinding mechanism; the material handling support is fixed on the outer side of the frame along the Y-axis, and the first Y-axis motion mechanism is mounted on the material handling support; the material handling device is arranged above the conveyor belt mechanism and the lower spindle device, and includes a second Z-axis motion mechanism and a second finger cylinder, with the fingers of the second finger cylinder pointing downwards, mounted on the second Z-axis motion mechanism; the second Z-axis motion mechanism is mounted on the first Y-axis motion mechanism; the spacing of the material handling device along the X-axis is the same as the spacing of the grinding mechanism along the X-axis.

[0010] The grinding equipment described above includes a first Y-axis motion mechanism comprising a material pick-and-place bracket, two sets of third linear guide rail pairs, a first lead screw and nut pair, and a second servo motor. The guide rails of the two sets of third linear guide rail pairs are fixed on the material pick-and-place support and arranged along the Y-axis direction. The lower part of the material pick-and-place bracket is fixed on the sliders of the two sets of third linear guide rail pairs. The lead screw of the first lead screw and nut pair is mounted on the material pick-and-place support via a bearing seat, arranged along the Y-axis direction, and driven by the second servo motor. The lower part of the material pick-and-place bracket is connected to the nut of the first lead screw and nut pair. The second Z-axis motion mechanism includes an L-shaped bracket, a mounting plate, two sets of fourth linear guide rail pairs, and a second Z-axis cylinder. The mounting plate is vertically fixed on... The upper part of the material handling bracket has two sets of fourth linear guide rail pairs vertically fixed to the mounting plate; the upright plate of the L-shaped bracket is fixed to the slider of the two sets of fourth linear guide rail pairs and connected to the piston rod of the second Z-axis cylinder, which is fixed to the mounting plate; the material handling device includes two second finger cylinders, which are fixed below the horizontal plate of the L-shaped bracket and arranged separately along the Y-axis; the second finger cylinder closer to the grinding mechanism is the feeding finger cylinder, and the second finger cylinder farther from the grinding mechanism is the discharging finger cylinder; in the conveyor belt mechanism, the conveyor belt closer to the grinding mechanism is the discharging conveyor belt, and the conveyor belt farther from the grinding mechanism is the feeding conveyor belt.

[0011] The grinding equipment described above uses a chain conveyor belt. The conveyor belt chain includes multiple workpiece clamps arranged separately along the long axis of the chain. The distance between the workpiece clamps along the X-axis is equal to the distance between the grinding mechanisms. Each workpiece clamp includes a clamp base and a clamp top plate arranged above the clamp base and floating along the X-axis. The bottom of the clamp base is fixed to the conveyor belt chain, and the top surface of the clamp top plate includes a receiving hole for accommodating workpieces. The conveyor belt includes working positions corresponding to the grinding mechanisms, and these working positions are on the same Y-axis as the corresponding grinding mechanisms. Each working position includes a clamp correction device, which includes a correction mechanism. The device consists of a base plate, a calibration cylinder, a calibration fork, and two sets of fifth linear guide rail pairs. The calibration fork includes two calibration rods, each with a roller at its front end. The width between the rollers of the two calibration rods is equal to the width of the fixture top plate along the X-axis. The guide rails and calibration cylinder of the two sets of fifth linear guide rail pairs are fixed to the base plate of the calibration device along the Y-axis. The calibration fork is fixed to the sliders of the two sets of fifth linear guide rail pairs, with the two rollers of the calibration fork facing the workpiece fixture of the corresponding conveyor belt. The base plate of the calibration device is fixed to the frame and located outside the corresponding conveyor belt. The simultaneous loading and unloading of multiple grinding mechanisms includes the following steps:

[0012] After the workpieces of multiple grinding mechanisms have been ground, the grinding wheel of the upper spindle device rises upward;

[0013] All the fixture correction devices on the two conveyor belts corresponding to the grinding mechanism are activated to correct the position of the fixture top plate of the workpiece fixture corresponding to the grinding mechanism on the two conveyor belts along the X-axis.

[0014] Under the coordinated action of the first Y-axis motion mechanism and the second Z-axis motion mechanism, the unloading finger cylinder and the loading finger cylinder move simultaneously along the Y-axis and / or Z-axis. The loading finger cylinder takes out the workpiece to be processed from the workpiece fixture of the loading conveyor belt, and then the unloading finger cylinder takes out the finished workpiece from the grinding fixture of the lower spindle device. The loading finger cylinder and the unloading finger cylinder return along the Y-axis. The loading finger cylinder first places the clamped workpiece to be processed into the grinding fixture of the lower spindle device, and then the unloading finger cylinder places the clamped finished workpiece into the workpiece fixture of the unloading conveyor belt.

[0015] The first Y-axis motion mechanism and the material handling device are reset, and the clamping correction device is reset; the loading conveyor belt and the unloading conveyor belt continue to move along the X-axis direction according to the set rhythm.

[0016] The grinding equipment described above includes a workpiece fixture comprising a sixth linear guide pair and four compression springs. The guide rail of the sixth linear guide pair is fixed to the bottom surface of the fixture top plate and arranged along the X-axis. The slider of the sixth linear guide pair is fixed to the top of the fixture base. The four corners of the top of the fixture base include upward-protruding baffles. The middle part of the fixture top plate along the X-axis includes two downward-protruding partitions, which are arranged along the Y-axis. The four compression springs are respectively arranged in the gaps between the two partitions and the four baffles, with the axes of the compression springs arranged along the X-axis. The end of the feeding conveyor belt near the feeding mechanism includes a feeding position, where the fixture correction device is included. The end of the unloading conveyor belt near the unloading mechanism includes an unloading position, where the fixture correction device is included.

[0017] The grinding equipment described above includes an upper spindle assembly comprising an upper spindle support, an upper spindle, a lifting device, a third servo motor, a belt drive mechanism, an upper spindle bearing seat, a grinding head clamp, and the aforementioned grinding wheel. The lifting device includes a third Z-axis cylinder and a seventh linear guide pair. The belt drive mechanism is mounted on the upper part of the upper spindle support, with the drive wheel driven by the third servo motor and the driven wheel rotatably mounted on the upper spindle support. The upper part of the upper spindle includes a non-circular sliding shaft that passes through the non-circular inner hole of the driven wheel. The shape of the sliding shaft cross-section matches the shape of the non-circular inner hole of the driven wheel, and the sliding shaft slides into the non-circular inner hole of the driven wheel. The bottom of the upper spindle support is fixed to the frame, and the guide rail of the seventh linear guide pair is vertically fixed to the vertical surface of the upper spindle support. The upper spindle bearing seat is fixed to the slider of the seventh linear guide pair. The lower part of the upper spindle passes through the upper spindle bearing seat and is supported by it. The grinding wheel is fixed by the grinding head clamp. The lower end of the upper spindle; the third Z-axis cylinder is fixed to the upper part of the upper spindle support, and the upper spindle bearing seat is connected to the lower end of the piston rod of the third Z-axis cylinder; the lower spindle device includes a lower spindle support, a lower spindle, a bowl-shaped grinding fluid cylinder, a grinding fluid stirring bracket, a lower spindle bearing seat, a drive motor, and the aforementioned grinding fixture; the lower spindle support is fixed to the frame, and the lower spindle bearing seat is fixed to the upper part of the lower spindle support; the upper part of the lower spindle is supported by the lower spindle bearing seat, and the lower end of the lower spindle is connected to the lower spindle support mounted on the lower spindle support. The drive motor is connected via a coupling; the bottom of the grinding slurry cylinder is loosely fitted onto the journal at the upper end of the lower spindle, and the two are sealed by a sealing ring; the grinding fixture is fixed at the top of the lower spindle and located inside the grinding slurry cylinder; the grinding slurry stirring bracket is U-shaped, including a vertical rod and a stirring rod, and the top of the stirring rod is connected to the top of the vertical rod via a crossbar; the vertical rod of the grinding slurry stirring bracket is arranged on the outside of the grinding slurry cylinder, and its lower end is fixed to the lower spindle support; the stirring rod of the grinding slurry stirring bracket extends into the inner cavity of the grinding slurry cylinder.

[0018] The grinding equipment described above includes two sets of feeding tray assemblies. The feeding mechanism includes a feeding bracket, two first linear modules, a second linear module, a feeding device, a transferring device, and a transfer fixture. The two first linear modules are arranged separately along the Y-axis and fixed to the upper part of the feeding bracket along the X-axis. The feeding bracket is fixed to the frame. The second linear module is arranged along the Y-axis, and its two ends along the Y-axis are fixed to the sliders of the two first linear modules. The feeding device includes a third Z-axis motion mechanism, a fourth servo motor, and a second... A rotary table and two third-finger cylinders; a third Z-axis motion mechanism is mounted on a crossbeam arranged along the Y-axis of the unloading bracket, located above the unloading conveyor belt and the transfer fixture; a second rotary table is mounted on the third Z-axis motion mechanism and driven by a fourth servo motor; the output plate of the second rotary table rotates around the Z-axis, and two third-finger cylinders are vertically fixed below the output plate of the second rotary table, symmetrically arranged at both ends of the radial direction of the output plate of the second rotary table, with the fingers of the third-finger cylinders pointing downwards; the transfer fixture includes a third... driven by a fifth servo motor. The system comprises a linear module and a fixture module. The third linear module is fixed to the frame and arranged along the Y-axis. The fixture module is fixed to the slider of the third linear module. The top surface of the fixture module includes a plurality of finished workpiece bearing holes, which are arranged separately along the Y-axis. The material transfer device includes a fourth Z-axis motion mechanism and a plurality of fourth finger cylinders, the same number as the number of finished workpiece bearing holes on the fixture module. The fourth Z-axis motion mechanism is mounted on the slider of the second linear module. The plurality of fourth finger cylinders are mounted on the fourth Z-axis motion mechanism along the Y-axis. The spacing between the finger cylinders is equal to the spacing between the finished workpiece bearing holes on the top surface of the fixture module, with the fingers of the fourth finger cylinder pointing downwards; two sets of unloading tray assemblies are arranged side by side along the Y-axis between the two first linear modules; the unloading tray assembly includes a material tray and a fourth linear module, the fourth linear module is fixed on the frame and arranged along the X-axis, and the material tray is fixed on the slider of the fourth linear module; the material tray includes a plurality of material bearing holes arranged in a matrix, and the number of material bearing holes along the Y-axis in the material tray is an integer multiple of the number of fourth finger cylinders in the transfer device.

[0019] The grinding equipment described above includes a first linear module drive mechanism. The first linear module includes a toothed belt drive device and a tenth linear guide pair. The slider of the tenth linear guide pair is connected to the belt clamp of the toothed belt drive device as the slider of the first linear module. The first linear module drive mechanism includes a drive shaft, a belt drive device, and a sixth servo motor. The drive shaft is arranged along the Y-axis and is mounted on the crossbeam of the unloading bracket through a plurality of drive shaft bearing seats. The drive shaft is driven by the sixth servo motor through the belt drive device, and both ends of the drive shaft are respectively connected to the drive pulleys of the two toothed belt drive devices of the first linear module. The third Z-axis motion mechanism includes an unloading machine base, a second lifting bracket, two sets of eighth linear guide pairs, and a fourth Z-axis cylinder. The unloading machine base is fixed on the crossbeam of the unloading bracket, and the guide rails of the two sets of eighth linear guide pairs are vertically fixed to the second lifting bracket. On both sides, the sliders of the two sets of eighth linear guide pairs are fixed on the feeder base; the fourth Z-axis cylinder is fixed on the feeder base, and the second lifting bracket is connected to the piston rod of the fourth Z-axis cylinder; the second rotary table is fixed on the bottom surface of the horizontal plate of the second lifting bracket and is driven by the fourth servo motor fixed on the second lifting bracket; the fourth Z-axis motion mechanism includes a material transfer bracket, a second lead screw and nut pair, two sets of ninth linear guide pairs, a finger cylinder mounting plate, and a seventh servo motor. The lead screw of the second lead screw and nut pair is vertically mounted on the material transfer bracket and driven by the seventh servo motor. The guide rails of the two sets of ninth linear guide pairs are vertically fixed on the material transfer bracket; the finger cylinder mounting plate is fixed on the sliders of the two sets of ninth linear guide pairs and connected to the nut of the second lead screw and nut pair; the material transfer bracket is fixed on the slider of the second linear module, and the fourth finger cylinder is fixed on the finger cylinder mounting plate.

[0020] The grinding equipment for the outer blade of the rotary shaver of the present invention does not require manual loading and unloading, has a high degree of automation, and reduces the labor intensity of the operator. Attached Figure Description

[0021] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0022] Figure 1 This is a perspective view of the grinding machine for the outer blade of a rotary shaver according to an embodiment of the present invention.

[0023] Figure 2 This is a perspective view of the grinding machine for the outer blade of a rotary shaver according to an embodiment of the present invention.

[0024] Figure 3 This is a front view of the grinding machine for the outer blade of a rotary shaver according to an embodiment of the present invention.

[0025] Figure 4 This is a top view of the grinding machine for the outer blade of a rotary shaver according to an embodiment of the present invention.

[0026] Figure 5This is a cross-sectional perspective view of the grinding mechanism and the material handling mechanism in an embodiment of the present invention.

[0027] Figure 6 This is a left-side sectional view of the grinding mechanism and the material handling mechanism in an embodiment of the present invention.

[0028] Figure 7 This is a left view of the grinding mechanism and the material handling mechanism in an embodiment of the present invention.

[0029] Figure 8 This is a perspective view of the feeding mechanism in an embodiment of the present invention.

[0030] Figure 9 This is a perspective view of the feeding mechanism in an embodiment of the present invention.

[0031] Figure 10 This is a perspective view of the spindle device in an embodiment of the present invention.

[0032] Figure 11 This is a perspective view of the spindle device according to an embodiment of the present invention.

[0033] Figure 12 This is a perspective view of a partial cross-section of the spindle device according to an embodiment of the present invention.

[0034] Figure 13 This is a perspective view of the workpiece fixture according to an embodiment of the present invention.

[0035] Figure 14 This is a sectional perspective view of the workpiece fixture according to an embodiment of the present invention.

[0036] Figure 15 This is a perspective view of the conveyor belt mechanism according to an embodiment of the present invention.

[0037] Figure 16 This is a top view of the conveyor belt mechanism according to an embodiment of the present invention.

[0038] Figure 17 This is a perspective view of the material handling mechanism according to an embodiment of the present invention.

[0039] Figure 18 This is a perspective view of the material handling mechanism in an embodiment of the present invention.

[0040] Figure 19 This is a perspective view of the feeding mechanism in an embodiment of the present invention.

[0041] Figure 20 This is a perspective view of the feeding mechanism in an embodiment of the present invention. Detailed Implementation

[0042] The structure of the rotary shaver blade grinder in this embodiment of the invention is as follows: Figures 1 to 20As shown, the system includes a frame and two sets of external blade grinding equipment. The frame includes a machine cover (not shown) and a machine base 10, on which both sets of external blade grinding equipment are mounted. Each external blade grinding equipment includes a feeding mechanism 20, a loading mechanism 30, a unloading mechanism 70, a pick-and-place mechanism 50, a conveyor belt mechanism 60, five grinding mechanisms 40, and a discharge tray assembly 80. The two sets of external blade grinding equipment are symmetrically arranged on the machine base 10 with the X-axis as the axis of symmetry and along the Y-axis. Each set of external blade grinding equipment has its own feeding mechanism 20, loading mechanism 30, pick-and-place mechanism 50, conveyor belt mechanism 60, and five grinding mechanisms 40, but they share the feeding bracket 34 of the loading mechanism 30 and the unloading mechanism 70. The workpiece 01 to be processed is the external blade of a rotary razor.

[0043] The feeding mechanism 20 conveys the bowl-shaped workpiece 01 with its opening facing upwards to the loading mechanism 30. The feeding mechanism 20 includes a vibratory plate 21 and a conveying trough 23 mounted on a vertical vibrator 22. The vibratory plate 21 and the vertical vibrator 22 are mounted on the machine base 10, and the conveying trough 23 is arranged along the X-axis.

[0044] like Figure 8 and Figure 9 As shown, the feeding mechanism 30 includes a material distribution device 30A and a feeding device 30B. The material distribution device 30A is mounted on the machine base 10 and includes a material distribution block 31, a first linear guide pair 32, and a material distribution cylinder 33. The first linear guide pair 32 and the material distribution cylinder 33 are arranged along the Y-axis direction, and the guide rail of the first linear guide pair 32 and the material distribution cylinder 33 are fixed to the machine base 10 by a base 39. The material distribution block 31 is fixed on the slider of the first linear guide pair 32, and the piston rod of the material distribution cylinder 33 is connected to the material distribution block 31. The top surface of the material distribution block 31 has a receiving groove 311. The receiving groove 311 has a feed inlet 312 on the side facing the conveying groove 23. The material distribution block 31 includes a loading position and a unloading position along the Y-axis. When the material distribution block 31 is in the loading position, the feed inlet 312 of the receiving groove 311 is connected to the outlet of the vibrating plate 21 through the conveying groove. The conveying groove 23 inputs the workpiece 01 to be processed with the opening facing upward into the receiving groove 311.

[0045] The feeding device 30B includes a feeding bracket 34, a first Z-axis motion mechanism 35, a first servo motor 36, a first rotary table 37, and two first finger cylinders 38. The first Z-axis motion mechanism 35 is mounted on the machine base 10 via the feeding bracket 34, located above the dispensing device 30A. The first rotary table 37 is mounted on the first Z-axis motion mechanism 35 and driven by the first servo motor 36. The output plate of the first rotary table 37 rotates around the Z-axis. The two first finger cylinders 38 are vertically fixed below the output plate of the first rotary table 37 and symmetrically arranged at both ends of the radial direction of the output plate of the first rotary table 37, with the fingers of the first finger cylinders 38 pointing downwards.

[0046] The first Z-axis motion mechanism 35 includes a feeder base 351, a first lifting bracket 352, two sets of second linear guide rail pairs 353, and a first Z-axis cylinder 354. The top of the feeder base 351 is fixed below one end of the upper crossbeam of the feeder bracket 34, and the bottom of the column of the feeder bracket 34 is fixed on the machine base 10. The guide rails of the two sets of second linear guide rail pairs 353 are vertically fixed on both sides of the first lifting bracket 352, and the sliders of the two sets of second linear guide rail pairs 353 are fixed on the feeder base 351. The first Z-axis cylinder 354 is fixed in the middle of the feeder base 351, and the first lifting bracket 352 is connected to the piston rod of the first Z-axis cylinder 354. The first rotary table 37 is fixed on the bottom surface of the lower cross plate of the first lifting bracket 352 and is driven by a first servo motor 36 fixed on the first lifting bracket 352.

[0047] When the material distribution block 31 is in the unloading position, the receiving groove 311 is located directly below the first first finger cylinder 38. Driven by the first Z-axis motion mechanism 35, the first first finger cylinder 38 moves downwards to grip the workpiece 01, then moves upwards to reset. Then, the first rotary table 37 rotates 180°, and the two first finger cylinders 38 switch positions. During the upward reset of the first Z-axis motion mechanism 35 and the rotation of the first rotary table 37, the material distribution block 31 returns to the loading position to pick up material and then returns to the unloading position. The first Z-axis motion mechanism 35 drives the two first finger cylinders 38 downwards. While the first first finger cylinder 38 places the gripped workpiece 01 onto the workpiece clamp 62 on the loading position 65 of the loading conveyor belt 60A, the second first finger cylinder 38 grips the workpiece 01 on the material distribution block 31, thus achieving continuous, rhythmic feeding from the material distribution device 30A to the loading position 65 of the loading conveyor belt 60A.

[0048] Five grinding mechanisms 40 are arranged equidistantly along the X-axis and along the Y-axis on the inner side of the machine base 10. The conveyor belt mechanism 60 moves along the X-axis and includes a feeding conveyor belt 60A and a discharging conveyor belt 60B. In the conveyor belt mechanism 60, the feeding conveyor belt 60A and the discharging conveyor belt 60B are arranged side by side along the Y-axis in the middle of the machine base 10 near the inner side. The conveyor belt closer to the grinding mechanism 40 is the discharging conveyor belt 60B, and the conveyor belt farther away from the grinding mechanism 40 is the feeding conveyor belt 60A.

[0049] like Figure 17 and Figure 18As shown, the material handling mechanism 50 includes a material handling support 51, a first Y-axis motion mechanism 52, and five material handling devices 53 corresponding to the grinding mechanism 40. The material handling support 51 is fixed to the outer side of the machine base 10 along the Y-axis direction, and the first Y-axis motion mechanism 52 is mounted on the material handling support 51. The material handling devices 53 are arranged above the conveyor belt mechanism 60 and the lower spindle device 40B. Each material handling device 53 includes a second Z-axis motion mechanism 53A and two second finger cylinders 531, with the fingers of the second finger cylinders 531 pointing downwards, mounted on the second Z-axis motion mechanism 53A. The second Z-axis motion mechanism 53A is mounted on the first Y-axis motion mechanism 52. The spacing of the material handling devices 53 along the X-axis direction is the same as the spacing of the grinding mechanism 40 along the X-axis direction.

[0050] The first Y-axis motion mechanism 52 includes a pick-and-place bracket 521, two sets of third linear guide rail pairs 522, a first lead screw and nut pair 523, and a second servo motor 524. The guide rails of the two sets of third linear guide rail pairs 522 are fixed on the pick-and-place support 51 and arranged along the Y-axis direction. The lower part of the pick-and-place bracket 521 is fixed on two sliders of the two sets of third linear guide rail pairs 522. The lead screw of the first lead screw and nut pair 523 is mounted on the pick-and-place support 51 through a bearing seat 525, arranged along the Y-axis direction, and driven by the second servo motor 524. The lower part of the pick-and-place bracket 521 is connected to the nut of the first lead screw and nut pair 523.

[0051] The second Z-axis motion mechanism 53A includes an L-shaped bracket 532, a mounting plate 533, two sets of fourth linear guide rail pairs 534, and a second Z-axis cylinder 535. The mounting plate 533 is vertically fixed to the upper part of the material handling bracket 521, and the guide rails of the two sets of fourth linear guide rail pairs 534 are vertically fixed to the mounting plate 533. The upright plate of the L-shaped bracket 532 is fixed to the two sliders of the two sets of fourth linear guide rail pairs 534 and connected to the piston rod of the second Z-axis cylinder 535, which is fixed to the mounting plate 533. Two second finger cylinders 531 are fixed below the horizontal plate of the L-shaped bracket 532 and are arranged separately along the Y-axis. The second finger cylinder closer to the grinding mechanism 40 is the feeding finger cylinder 531A, and the second finger cylinder farther from the grinding mechanism 40 is the unloading finger cylinder 531B.

[0052] The two conveyor belts are chain conveyor belts. Each chain 61 includes multiple workpiece clamps 62 arranged separately along the long axis of the chain 61. The distance between adjacent workpiece clamps 62 along the X-axis is equal to the distance between adjacent grinding mechanisms 60 along the X-axis. Each workpiece clamp 62 includes a clamp base 62A and a clamp top plate 62B arranged above the clamp base 62A and floating along the X-axis. The bottom of the clamp base 62A is fixed to the chain 61 of the conveyor belt, and the top surface of the clamp top plate 62B includes a receiving hole 621 for accommodating workpiece 01. The conveyor belt includes five working positions 64 corresponding to the grinding mechanisms 40, and the working positions 64 of the conveyor belt and their corresponding grinding mechanisms 60 are on the same Y-axis. Each workstation 64 on the conveyor belt has a corresponding fixture correction device 63. The fixture correction device 63 includes a correction device base plate 631, a correction cylinder 632, a correction fork 633, and two sets of fifth linear guide rail pairs 636. The correction fork 633 includes two correction rods 6331, with rollers 6332 at the front end of each rod. The width between the rollers 6332 on the two correction rods 6331 is equal to the width of the fixture top plate 62B along the X-axis. The guide rails of the two sets of fifth linear guide rail pairs 636 and the correction cylinder 632 are fixed to the correction device base plate 631 along the Y-axis. The correction fork 633 is fixed to the sliders of the two sets of fifth linear guide rail pairs 636, with the two rollers 6332 of the correction fork 633 facing the corresponding workpiece fixture 62 on the conveyor belt. The correction device base plate 631 is fixed on the machine base 10, located on the outer side of the corresponding conveyor belt.

[0053] Since the grinding of the workpiece requires a relatively long time, in this embodiment of the invention, the grinding mechanism 40 occupies a total of 5 cycles of the conveyor belt stepping for grinding and loading / unloading. Among them, the workpiece grinding occupies the first 4 cycles of the 5 cycles, and the 5 grinding mechanisms 40 complete the simultaneous loading and unloading in the last cycle of the 5 cycles of the conveyor belt stepping. The simultaneous loading and unloading of the 5 grinding mechanisms 40 includes the following steps:

[0054] 1) After the workpiece 01 of the five grinding mechanisms 40 is ground, the grinding wheel 423 of the upper spindle device 40A rises upward.

[0055] 2) All the clamping correction devices 63 on the two conveyor belts corresponding to the grinding mechanism 40 are activated to correct the position of the clamping top plate 62B of the workpiece clamping fixture 62 on the two conveyor belts corresponding to the grinding mechanism 40 along the X-axis.

[0056] 3) Under the coordinated action of the first Y-axis motion mechanism 52 and the second Z-axis motion mechanism 53A, the unloading finger cylinder 531B and the loading finger cylinder 531A move simultaneously along the Y-axis and / or Z-axis directions. The loading finger cylinder 531A takes out the workpiece 01 to be processed from the workpiece fixture 62 corresponding to the working position 64 of the loading conveyor belt 60A. Then, the unloading finger cylinder 531B takes out the finished workpiece 01 from the grinding fixture 49 of the lower spindle device 40B. The loading finger cylinder 531A and the unloading finger cylinder 531B return along the Y-axis direction. The loading finger cylinder 531A first places the clamped workpiece 01 to be processed into the grinding fixture 49 of the lower spindle device 40B, and the unloading finger cylinder 531B then places the clamped finished workpiece 01 into the workpiece fixture 62 corresponding to the working position 64 of the unloading conveyor belt 60B.

[0057] 4) The first Y-axis motion mechanism 52 and the material handling device 53 are reset, and the fixture correction device 63 is reset. The loading conveyor belt 60A and the unloading conveyor belt 60B continue to move along the X-axis direction according to the set rhythm.

[0058] like Figure 13 and Figure 14 As shown, the workpiece fixture 62 includes a sixth linear guide pair 621 and six compression springs 622. The guide rail of the sixth linear guide pair 621 is fixed to the bottom surface of the fixture top plate 62B and arranged along the X-axis direction. The slider of the sixth linear guide pair 621 is fixed to the top of the fixture base 62A. The four corners of the top of the fixture base 62A include upwardly protruding baffles 623. The middle part of the fixture top plate 62B along the X-axis direction includes two downwardly protruding partitions 624, which are arranged along the Y-axis direction. The four compression springs 622 are respectively arranged in the gaps between the two partitions 624 and the four baffles 623 along the X-axis direction, and the axis of the compression springs 622 is arranged along the X-axis direction.

[0059] The feeding conveyor belt 60A has a feeding position 65 at one end near the feeding mechanism 30, and a clamping correction device 63 at the feeding position 65. The unloading conveyor belt 60B has an unloading position 66 at one end near the unloading mechanism 70, and a clamping correction device 63 at the unloading position 66.

[0060] like Figures 10 to 12 As shown, the grinding mechanism 40 includes an upper spindle assembly 40A and a lower spindle assembly 40B.

[0061] The upper spindle assembly 40A includes an upper spindle support 41, an upper spindle 42, a lifting device 43, a belt drive mechanism 44, a third servo motor 441, an upper spindle bearing seat 421, a grinding head clamp 422, and a grinding wheel 423. The lifting device 43 includes a third Z-axis cylinder 431 and a seventh linear guide pair 432. The belt drive mechanism 44 is mounted on the upper part of the upper spindle support 41. The driving wheel 442 of the belt drive mechanism 44 is driven by the third servo motor 441, and the driven wheel 443 of the belt drive mechanism 44 is rotatably mounted on the upper part of the upper spindle support 41. The upper part of the upper spindle 42 includes a non-circular sliding shaft 424, which passes through the non-circular inner hole of the driven wheel 443. The shape of the cross-section of the non-circular sliding shaft 424 is adapted to the shape of the non-circular inner hole of the driven wheel 443, and the sliding shaft 424 slides in contact with the non-circular inner hole of the driven wheel. The bottom of the upper spindle support 41 is fixed to the machine base 10. The guide rail of the seventh linear guide pair 432 is vertically fixed to the vertical surface of the upper spindle support 41. The upper spindle bearing seat 421 is fixed to the two sliders of the seventh linear guide pair 432. The lower part of the upper spindle 42 passes through the upper spindle bearing seat 421 and is supported by the upper spindle bearing seat 421. The grinding wheel 423 is fixed to the lower end of the upper spindle 42 by the grinding head clamp 422. The third Z-axis cylinder 431 is fixed to the upper part of the upper spindle support 41, and the upper spindle bearing seat 421 is connected to the lower end of the piston rod of the third Z-axis cylinder 431.

[0062] The lower spindle assembly 40B includes a lower spindle support 45, a lower spindle 46, a bowl-shaped grinding slurry cylinder 47, a grinding slurry stirring bracket 48, a lower spindle bearing seat 461, a drive motor 462, and a grinding fixture 49. The lower spindle support 45 is fixed to the machine base 10, and the lower spindle bearing seat 461 is fixed to the upper part of the lower spindle support 45. The upper part of the lower spindle 46 is supported by the lower spindle bearing seat 461, and the lower end of the lower spindle 46 is connected to the drive motor 462 mounted on the lower spindle support 45 via a coupling 463. The bottom of the grinding slurry cylinder 47 is loosely fitted onto the journal 464 at the upper end of the lower spindle 46, and the two are sealed by a sealing ring. The grinding fixture 49 is fixed to the top of the lower spindle 46 and located inside the grinding slurry cylinder 47. The grinding slurry stirring support 48 is U-shaped, including a vertical rod 481 and a stirring rod 482. The top end of the stirring rod 482 is connected to the top end of the vertical rod 481 via a crossbar 483. The vertical rod 481 of the grinding slurry stirring support 48 is arranged on the outside of the grinding slurry cylinder 47, and its lower end is fixed to the lower main shaft support 45. The stirring rod 482 of the grinding slurry stirring support 48 extends into the inner cavity of the grinding slurry cylinder 47.

[0063] The unloading mechanism 70 includes an unloading bracket 71, two first linear modules 72, a second linear module 73, an unloading device 74, a transferring device 75, a first linear module drive mechanism 76, and a transfer fixture 77. The two first linear modules 72 are arranged separately along the Y-axis and fixed along the X-axis to the upper parts of the two sub-branch 711s of the unloading bracket 71, which are fixed to the machine base 10. The second linear module 73 is arranged along the Y-axis, and its two ends along the Y-axis are fixed to the sliders 724 of the two first linear modules 72. The structure and operation of the unloading device 74 are the same as those of the feeding device 30B, except that the feeding device 30B is used for feeding onto the conveyor belt, while the unloading device 74 is used for unloading onto the unloading conveyor belt. The unloading device 74 includes a third Z-axis motion mechanism, a fourth servo motor 741, a second rotary table 742, and two third finger cylinders 743. The third Z-axis motion mechanism is mounted on the crossbeam 712 of the unloading bracket 71, arranged along the Y-axis direction, above the unloading conveyor belt 60B and the transfer fixture 77. The second rotary table 742 is mounted on the third Z-axis motion mechanism and driven by the fourth servo motor 741. The output plate of the second rotary table 742 rotates around the Z-axis. Two third finger cylinders 743 are vertically fixed below the output plate of the second rotary table 742, symmetrically arranged at both ends of the radial direction of the output plate, with the fingers of the third finger cylinders 743 pointing downwards. The transfer fixture 77 includes a third linear module 772 driven by the fifth servo motor 771 and a fixture module 77A. The third linear module 772 is fixed on the machine base 10 and arranged along the Y-axis direction. The fixture module 77A is fixed on the slider of the third linear module 772. The top surface of the fixture module 773 includes five finished workpiece bearing holes 774, which are arranged separately along the Y-axis direction. The material transfer device 75 includes a fourth Z-axis motion mechanism and five fourth finger cylinders 751 corresponding to the finished workpiece bearing holes 774 on the fixture module 773. The fourth Z-axis motion mechanism is mounted on the slider of the second linear module 73. The five fourth finger cylinders 751 are mounted on the fourth Z-axis motion mechanism along the Y-axis direction. The distance between adjacent fourth finger cylinders 751 along the Y-axis direction is equal to the distance between adjacent finished workpiece bearing holes 774 on the top surface of the fixture module 773 along the Y-axis direction. The fingers of the fourth finger cylinders 751 face downwards.

[0064] The two first linear modules 72 are toothed belt driven linear modules. Each first linear module 72 includes a toothed belt drive device 721 and a tenth linear guide pair 722. The two sliders 724 of the tenth linear guide pair 722 are connected to the belt clamps of the toothed belt drive device 721 as sliders of the first linear module. The first linear module drive mechanism 76 includes a drive shaft 761, a belt drive device 762, and a sixth servo motor 763. The drive shaft 761 is arranged along the Y-axis and is mounted on the crossbeam 712 of the unloading bracket 71 through multiple drive shaft bearing seats 764. The drive shaft 761 is driven by the sixth servo motor 763 through the belt drive device 762. Both ends of the drive shaft 761 are connected to the drive pulleys 723 of the first linear module 72. The third Z-axis motion mechanism includes a feeding machine base 744, a second lifting bracket 745, two sets of eighth linear guide rail pairs (not shown in the figure), and a fourth Z-axis cylinder 747. The feeding machine base 744 is fixed on the crossbeam 712 of the feeding bracket 71. The guide rails of the two sets of eighth linear guide rail pairs are vertically fixed on both sides of the second lifting bracket 745, and the sliders of the two sets of eighth linear guide rail pairs are fixed on the feeding machine base 351. The fourth Z-axis cylinder 747 is fixed in the feeding machine base 351, and the second lifting bracket 745 is connected to the piston rod of the fourth Z-axis cylinder 747. The second rotary table 742 is fixed on the bottom surface of the cross plate of the second lifting bracket 745 and is driven by a fourth servo motor 741 fixed on the second lifting bracket 745.

[0065] The fourth Z-axis motion mechanism includes a transfer bracket 752, a second lead screw and nut assembly 753, two sets of ninth linear guide assemblies 754, a finger cylinder mounting plate 755, and a seventh servo motor 756. The lead screw of the second lead screw and nut assembly 753 is vertically mounted on the transfer bracket 752 and driven by the seventh servo motor 756. The guide rails of the two sets of ninth linear guide assemblies 754 are vertically fixed on the transfer bracket 752. The finger cylinder mounting plate 755 is fixed on the two sliders of the two sets of ninth linear guide assemblies 754 and connected to the nut of the second lead screw and nut assembly 753. The transfer bracket 752 is fixed on the slider of the second linear module 73, and the fourth finger cylinder 751 is fixed on the finger cylinder mounting plate 755, with the finger of the fourth finger cylinder 751 pointing downwards.

[0066] like Figures 2 to 4 As shown, two sets of feeding tray assemblies 80 are arranged side-by-side along the Y-axis between two first linear modules 72. Each feeding tray assembly 80 includes a material tray 81 and a fourth linear module 82. The fourth linear module 82 is fixed to the machine base 10 and arranged along the X-axis. The material tray 81 is fixed to the slider of the fourth linear module 82. The material tray 81 includes material receiving holes 811 arranged in a 10×12 matrix. The number of material receiving holes along the Y-axis in the material tray 81 is twice the number of the 755 fourth finger cylinders 751 in the material transfer device.

[0067] When the unloading mechanism 70 unloads materials, the unloading position 66 of the unloading conveyor belt 60B is located directly below the third finger cylinder 743. Driven by the third Z-axis motion mechanism, the first third finger cylinder 743 takes out a completed workpiece 01 from the workpiece clamp 62 at the unloading position 66 of the unloading conveyor belt 60B, and then the third Z-axis motion mechanism resets upward. The second rotary table 742 rotates 180°, and the two third finger cylinders 743 switch positions. The third Z-axis motion mechanism moves downward again, and the first third finger cylinder 743 places the clamped workpiece 01 into a completed workpiece bearing hole 774 in the transfer fixture 77. At the same time, the second third finger cylinder 743 takes out a completed workpiece 01 from the workpiece clamp 62 at the unloading position 66 of the unloading conveyor belt 60B, and so on in a reciprocating cycle. Each time the third finger cylinder 743 places one workpiece 01 in the finished workpiece bearing hole 774 of the transfer fixture 77, the clamping module 77A of the transfer fixture 77 moves along the Y-axis by the distance between the finished workpiece bearing holes 774. After the five finished workpiece bearing holes 774 of the clamping module 77A of the transfer fixture 77 are filled, the clamping module 77A moves towards the transfer fixture 77 which is filled with five finished workpieces 01. The clamping module 77A of the transfer fixture 77 moves to below the material transfer device 75. The five fourth finger cylinders 751 of the material transfer device 75 clamp five workpieces 01 from the clamping module 77A of the transfer fixture 77 at once, and under the drive of the first linear module 72 and the second linear module 73, place the clamped five workpieces 01 onto the material tray 81 of the unloading tray assembly 80 to complete the unloading.

[0068] The grinding machine for the outer blades of the rotary shaver in the above embodiments of the present invention does not require manual loading and unloading, has a high degree of automation, reduces the labor intensity of operators, and ensures stable product quality.

Claims

1. A grinding device for the outer blade of a rotary shaver, comprising a frame and a plurality of grinding mechanisms, each grinding mechanism including an upper spindle assembly and a lower spindle assembly, the upper spindle assembly including a grinding wheel, the lower spindle assembly including a grinding fixture, and the workpiece to be processed being the outer blade of a rotary shaver; characterized in that, The system includes a feeding mechanism, a loading mechanism, a unloading mechanism, a pick-and-place mechanism, and a conveyor belt mechanism. The feeding mechanism transports the bowl-shaped workpiece with its opening facing upwards to the loading mechanism. The conveyor belt mechanism includes two conveyor belts: a first loading conveyor belt and a second unloading conveyor belt. The loading mechanism transfers the workpiece to the loading conveyor belt of the conveyor belt mechanism. The pick-and-place mechanism transfers the workpiece to be processed from the loading conveyor belt to the grinding base of the lower spindle device of a plurality of grinding mechanisms. The grinding wheel at the lower end of the upper spindle device of the plurality of grinding mechanisms grinds the workpiece and then resets. The pick-and-place mechanism removes the finished workpiece from the grinding base of the lower spindle device of the plurality of grinding mechanisms and transfers it to the unloading conveyor belt. The unloading mechanism removes the finished workpiece from the unloading conveyor belt and unloads it. The conveyor belt is a chain conveyor belt, and the chain of the conveyor belt includes multiple workpiece clamps arranged separately along the long axis of the chain. The distance between the workpiece clamps along the X-axis is equal to the distance between the grinding mechanisms. Each workpiece clamp includes a clamp base and a clamp top plate arranged above the clamp base and floating along the X-axis. The bottom of the clamp base is fixed to the chain of the conveyor belt, and the top surface of the clamp top plate includes a receiving hole for accommodating the workpiece. The conveyor belt includes a working position corresponding to the grinding mechanism, and the working position of the conveyor belt and the corresponding grinding mechanism are on the same Y-axis. The working position of the conveyor belt includes a clamp correction device, which includes a correction device base plate, a correction cylinder, a correction fork, and two sets of fifth linear guide pairs. The correction fork includes two correction rods, the front end of which... The device includes rollers, with the width between the two straightening rod rollers equal to the width of the fixture top plate along the X-axis; the guide rails and straightening cylinders of the two sets of fifth linear guide pairs are fixed to the base plate of the straightening device along the Y-axis; the straightening fork is fixed to the slider of the two sets of fifth linear guide pairs, and the two rollers of the straightening fork face the workpiece fixtures of the corresponding conveyor belts; the base plate of the straightening device is fixed to the frame and located outside the corresponding conveyor belts; the simultaneous loading and unloading of multiple grinding mechanisms includes the following steps: 601) After the workpieces of the multiple grinding mechanisms are finished grinding, the grinding wheel of the upper spindle device rises upward; 602) All the fixture straightening devices corresponding to the grinding mechanisms on the two conveyor belts are activated, moving the workpieces corresponding to the grinding mechanisms on the two conveyor belts. The position of the fixture top plate along the X-axis is corrected; 603) Under the coordinated action of the first Y-axis motion mechanism and the second Z-axis motion mechanism, the unloading finger cylinder and the loading finger cylinder move simultaneously along the Y-axis and / or Z-axis. The loading finger cylinder takes out the workpiece to be processed from the workpiece fixture of the loading conveyor belt. Then, the unloading finger cylinder takes out the finished workpiece from the grinding fixture of the lower spindle device. The loading finger cylinder and the unloading finger cylinder return along the Y-axis. The loading finger cylinder first places the clamped workpiece to be processed into the grinding fixture of the lower spindle device. Then, the unloading finger cylinder places the clamped finished workpiece into the workpiece fixture of the unloading conveyor belt; 604) The first Y-axis motion mechanism and the picking and unloading device are reset, and the fixture correction device is reset.The loading and unloading conveyors continue to move along the X-axis at a set pace. The workpiece fixture includes a sixth linear guide pair and four compression springs. The guide rail of the sixth linear guide pair is fixed to the bottom surface of the fixture top plate and arranged along the X-axis. The slider of the sixth linear guide pair is fixed to the top of the fixture base. The four corners of the top of the fixture base include upward-protruding baffles. The middle part of the fixture top plate along the X-axis includes two downward-protruding partitions, which are arranged along the Y-axis. The four compression springs are respectively arranged in the gaps between the two partitions and the four baffles, and the axes of the compression springs are arranged along the X-axis. The end of the loading conveyor near the loading mechanism includes a loading position, where the fixture correction device is included. The end of the unloading conveyor near the unloading mechanism includes an unloading position, where the fixture correction device is included.

2. The grinding equipment according to claim 1, characterized in that, The feeding mechanism includes a vibratory feeder and a conveying trough; the loading mechanism includes a feeding device and a distributing device. The distributing device is mounted on the frame and includes a distributing block, a first linear guide pair, and a distributing cylinder. The first linear guide pair and the distributing cylinder are arranged along the Y-axis. The distributing block is fixed on the slider of the first linear guide pair, and the piston rod of the distributing cylinder is connected to the distributing block. The top surface of the distributing block includes a receiving groove, and the side of the receiving groove facing the conveying trough includes a feed inlet. The distributing block includes a loading position and a unloading position along the Y-axis. When the distributing block is in the loading position, the feed inlet of the receiving groove is connected to the outlet of the vibratory feeder through the conveying trough. The material trough inputs the workpiece to be processed into the receiving trough; the feeding device includes a feeding bracket, a first Z-axis motion mechanism, a first servo motor, a first rotary table, and two first finger cylinders; the first Z-axis motion mechanism is mounted on the frame via the feeding bracket and is located above the material distribution device; the first rotary table is mounted on the first Z-axis motion mechanism and is driven by the first servo motor; the output receiving plate of the first rotary table rotates around the Z-axis, and the two first finger cylinders are vertically fixed below the output receiving plate of the first rotary table and symmetrically arranged at both ends of the radial direction of the output receiving plate of the first rotary table, with the fingers of the first finger cylinders pointing downwards.

3. The grinding equipment according to claim 2, characterized in that, The first Z-axis motion mechanism includes a feeder base, a first lifting bracket, two sets of second linear guide rail pairs, and a first Z-axis cylinder. The feeder base is fixed to the frame via the feeder bracket. The guide rails of the two sets of second linear guide rail pairs are vertically fixed to both sides of the first lifting bracket, and the sliders of the two sets of second linear guide rail pairs are fixed to the feeder base. The first Z-axis cylinder is fixed to the feeder base, and the first lifting bracket is connected to the piston rod of the first Z-axis cylinder. The first rotary table is fixed to the bottom surface of the horizontal plate of the first lifting bracket and is driven by a first servo motor fixed to the first lifting bracket. The material distribution block is at the unloading position. At that time, the receiving groove is located directly below the first finger cylinder. The first finger cylinder moves downward under the drive of the first Z-axis motion mechanism to clamp the workpiece and then moves upward to reset. Then the first rotary table rotates 180°, and the two first finger cylinders switch positions. When the first Z-axis motion mechanism moves upward to reset and the first rotary table rotates, the material distribution block returns to the upper material position to pick up the material and then returns to the lower material position. The first Z-axis motion mechanism drives the two first finger cylinders downward. At the same time that the first finger cylinder places the clamped workpiece onto the upper conveyor belt, the second first finger cylinder clamps the workpiece on the material distribution block.

4. The grinding equipment according to claim 1, characterized in that, Multiple grinding mechanisms are arranged separately along the X-axis and along the Y-axis on the inner side of the frame; the conveyor belt mechanism moves along the X-axis, and the loading and unloading conveyor belts are arranged side-by-side along the Y-axis in the middle of the frame; the pick-and-place mechanism includes a pick-and-place support, a first Y-axis motion mechanism, and a pick-and-place device corresponding to the grinding mechanism. The pick-and-place support is fixed on the outer side of the frame along the Y-axis, and the first Y-axis motion mechanism is mounted on the pick-and-place support; the pick-and-place device is arranged above the conveyor belt mechanism and the lower spindle device, and includes a second Z-axis motion mechanism and a second finger cylinder. The fingers of the second finger cylinder face downwards and are mounted on the second Z-axis motion mechanism; the second Z-axis motion mechanism is mounted on the first Y-axis motion mechanism; the spacing of the pick-and-place device along the X-axis is the same as the spacing of the grinding mechanism along the X-axis.

5. The grinding equipment according to claim 4, characterized in that, The first Y-axis motion mechanism includes a pick-and-place bracket, two sets of third linear guide rail pairs, a first lead screw and nut pair, and a second servo motor. The guide rails of the two sets of third linear guide rail pairs are fixed on the pick-and-place support and arranged along the Y-axis direction. The lower part of the pick-and-place bracket is fixed on the slider of the two sets of third linear guide rail pairs. The lead screw of the first lead screw and nut pair is mounted on the pick-and-place support through a bearing seat, arranged along the Y-axis direction, and driven by the second servo motor. The lower part of the pick-and-place bracket is connected to the nut of the first lead screw and nut pair. The second Z-axis motion mechanism includes an L-shaped bracket, a mounting plate, two sets of fourth linear guide rail pairs, and a second Z-axis cylinder. The mounting plate is vertically fixed on the pick-and-place bracket. At the top, the guide rails of the two sets of fourth linear guide pairs are vertically fixed on the mounting plate; the upright plate of the L-shaped bracket is fixed on the slider of the two sets of fourth linear guide pairs and connected to the piston rod of the second Z-axis cylinder, which is fixed on the mounting plate; the material handling device includes two second finger cylinders, which are fixed below the horizontal plate of the L-shaped bracket and arranged separately along the Y-axis; the second finger cylinder closer to the grinding mechanism is the feeding finger cylinder, and the second finger cylinder farther from the grinding mechanism is the discharging finger cylinder; in the conveyor belt mechanism, the conveyor belt closer to the grinding mechanism is the discharging conveyor belt, and the conveyor belt farther from the grinding mechanism is the feeding conveyor belt.

6. The grinding equipment according to claim 1, characterized in that, The upper spindle assembly includes an upper spindle support, an upper spindle, a lifting device, a third servo motor, a belt drive mechanism, an upper spindle bearing seat, a grinding head clamp, and the aforementioned grinding wheel. The lifting device includes a third Z-axis cylinder and a seventh linear guide pair. The belt drive mechanism is mounted on the upper part of the upper spindle support. The drive wheel of the belt drive mechanism is driven by the third servo motor, and the driven wheel of the belt drive mechanism is rotatably mounted on the upper spindle support. The upper part of the upper spindle includes a non-circular sliding shaft that passes through the non-circular inner hole of the driven wheel. The shape of the sliding shaft cross-section is adapted to the shape of the non-circular inner hole of the driven wheel, and the sliding shaft slides into the non-circular inner hole of the driven wheel. The bottom of the upper spindle support is fixed to the frame, and the guide rail of the seventh linear guide pair is vertically fixed to the vertical surface of the upper spindle support. The upper spindle bearing seat is fixed to the slider of the seventh linear guide pair. The lower part of the upper spindle passes through the upper spindle bearing seat and is supported by the upper spindle bearing seat. The grinding wheel is fixed to the lower part of the upper spindle by the grinding head clamp. The third Z-axis cylinder is fixed to the upper part of the upper spindle support, and the upper spindle bearing seat is connected to the lower end of the piston rod of the third Z-axis cylinder; the lower spindle device includes a lower spindle support, a lower spindle, a bowl-shaped grinding fluid cylinder, a grinding fluid stirring bracket, a lower spindle bearing seat, a drive motor, and the aforementioned grinding fixture; the lower spindle support is fixed to the frame, and the lower spindle bearing seat is fixed to the upper part of the lower spindle support; the upper part of the lower spindle is supported by the lower spindle bearing seat, and the lower end of the lower spindle is connected to the drive motor mounted on the lower spindle support. The machine is connected by a coupling; the bottom of the grinding slurry cylinder is loosely fitted onto the journal at the upper end of the lower main shaft, and the two are sealed by a sealing ring; the grinding fixture is fixed at the top of the lower main shaft and located in the inner cavity of the grinding slurry cylinder; the grinding slurry stirring support is U-shaped, including a vertical rod and a stirring rod, and the top of the stirring rod is connected to the top of the vertical rod through a crossbar; the vertical rod of the grinding slurry stirring support is arranged on the outside of the grinding slurry cylinder, and the lower end is fixed on the lower main shaft support; the stirring rod of the grinding slurry stirring support extends into the inner cavity of the grinding slurry cylinder.

7. The grinding equipment according to claim 1, characterized in that, It includes two sets of feeding tray assemblies. The feeding mechanism includes a feeding bracket, two first linear modules, a second linear module, a feeding device, a transferring device, and a transfer fixture. The two first linear modules are arranged separately along the Y-axis and fixed to the upper part of the feeding bracket along the X-axis. The feeding bracket is fixed on the frame. The second linear module is arranged along the Y-axis, and its two ends along the Y-axis are respectively fixed to the sliders of the two first linear modules. The unloading device includes a third Z-axis motion mechanism, a fourth servo motor, a second rotary table, and two third finger cylinders. The third Z-axis motion mechanism is mounted on a crossbeam of the unloading bracket arranged along the Y-axis, located above the unloading conveyor belt and the transfer fixture. The second rotary table is mounted on the third Z-axis motion mechanism and driven by the fourth servo motor. The output plate of the second rotary table rotates around the Z-axis, and the two third finger cylinders are vertically fixed below the output plate of the second rotary table, symmetrically arranged at both ends of the radial direction of the output plate of the second rotary table, with the fingers of the third finger cylinders pointing downwards. The transfer fixture includes a third linear module driven by a fifth servo motor and a fixture module. The third linear module is fixed on the frame and arranged along the Y-axis. The fixture module is fixed on the slider of the third linear module, and the top of the fixture module... The surface includes a plurality of finished workpiece bearing holes, which are arranged separately along the Y-axis. The material transfer device includes a fourth Z-axis motion mechanism and a plurality of fourth finger cylinders, which are the same number as the number of finished workpiece bearing holes on the fixture module. The fourth Z-axis motion mechanism is mounted on the slider of the second linear module. The plurality of fourth finger cylinders are mounted on the fourth Z-axis motion mechanism along the Y-axis, and the distance between the fourth finger cylinders is equal to the distance between the finished workpiece bearing holes on the top surface of the fixture module. The fingers of the fourth finger cylinders face downwards. Two sets of unloading tray assemblies are arranged side by side along the Y-axis between the two first linear modules. The unloading tray assembly includes a material tray and a fourth linear module. The fourth linear module is fixed on the frame and arranged along the X-axis. The material tray is fixed on the slider of the fourth linear module. The material tray includes a plurality of material bearing holes arranged in a matrix. The number of material bearing holes in the material tray along the Y-axis is an integer multiple of the number of fourth finger cylinders in the material transfer device.

8. The grinding equipment according to claim 7, characterized in that, The system includes a first linear module drive mechanism. The first linear module includes a toothed belt drive device and a tenth linear guide pair. The slider of the tenth linear guide pair is connected to the belt clamp of the toothed belt drive device as the slider of the first linear module. The first linear module drive mechanism includes a drive shaft, a belt drive device, and a sixth servo motor. The drive shaft is arranged along the Y-axis and is mounted on the crossbeam of the unloading bracket through a plurality of drive shaft bearing seats. The drive shaft is driven by the sixth servo motor through the belt drive device, and both ends of the drive shaft are respectively connected to the drive pulleys of the two toothed belt drives of the first linear module. The third Z-axis motion mechanism includes an unloading machine base, a second lifting bracket, two sets of eighth linear guide pairs, and a fourth Z-axis cylinder. The unloading machine base is fixed on the crossbeam of the unloading bracket, and the guide rails of the two sets of eighth linear guide pairs are vertically fixed on both sides of the second lifting bracket. The slider of the eighth linear guide pair is fixed on the feeder base; the fourth Z-axis cylinder is fixed on the feeder base, and the second lifting bracket is connected to the piston rod of the fourth Z-axis cylinder; the second rotary table is fixed on the bottom surface of the horizontal plate of the second lifting bracket and is driven by the fourth servo motor fixed on the second lifting bracket; the fourth Z-axis motion mechanism includes a material transfer bracket, a second lead screw and nut pair, two sets of ninth linear guide pairs, a finger cylinder mounting plate, and a seventh servo motor. The lead screw of the second lead screw and nut pair is vertically mounted on the material transfer bracket and driven by the seventh servo motor. The guide rails of the two sets of ninth linear guide pairs are vertically fixed on the material transfer bracket; the finger cylinder mounting plate is fixed on the slider of the two sets of ninth linear guide pairs and connected to the nut of the second lead screw and nut pair; the material transfer bracket is fixed on the slider of the second linear module, and the fourth finger cylinder is fixed on the finger cylinder mounting plate.

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