Tool grinding machine

Abstract

The invention relates to the technical field of grinding machines, in particular to a tool grinding machine which comprises a machine body, a material rotating assembly, a mounting seat, a working rotary table, a left grinding wheel assembly, a right grinding wheel assembly, a supporting seat and a standby grinding wheel assembly. A clamping spindle used for driving a tool to be machined to rotate is fixedly installed on the upper side of the working rotary table. The tool grinding machine is reasonable and compact in structure, can be used for machining to-be-machined tools of different specifications, so that grinding equipment is more flexible, the grinding wheel can be automatically replaced according to the grinding technology, the grinding requirements of various tools are met, and the grinding efficiency is improved. Grinding wheels or grinding wheel combinations of various specifications can be prepared according to the grinding technology before the tool is ground, the time for replacing the grinding wheels is shortened, the safety risk existing in the manual grinding wheel replacing process is reduced, meanwhile, accurate matching can be achieved in the grinding wheel replacing process of the tool grinding machine, and therefore errors of the grinding tool are reduced, and the grinding quality is improved.

Description

Technical Field

[0001] The invention relates to the technical field of grinders and particularly relates to a tool grinder. Background Art

[0002] Tool grinders are grinders specially used for tool manufacturing and tool sharpening. There are universal tool grinders, drill bit grinders, broach grinders, tool curve grinders, etc. They are mostly used in tool workshops of tool manufacturers and machinery manufacturers. Tool grinders have high precision, good rigidity, and are economical and practical. They are particularly suitable for sharpening various small and medium-sized tools, such as reamers, taps, twist drills, reaming drills, various milling cutters, milling cutter heads, and gear shaping cutters. With the corresponding accessories, it can grind external circles, internal circles, and planes, and can also grind templates and molds. Diamond grinding wheels can be used to sharpen various carbide tools. In the manufacturing process of tools, loading and unloading equipment can transport the materials to be processed to the processing equipment for processing, and can output the materials processed by the processing equipment. During the loading and unloading process, traditional loading and unloading equipment provides trays carrying materials to be processed for the loading end of the processing equipment, and stacks the empty trays after the materials to be processed are taken out by the processing equipment. The stacked empty trays are transported to the unloading end manually or by a conveyor vehicle, and a large number of empty trays are provided at the unloading end to receive the materials processed by the processing equipment, resulting in insufficient utilization of tray resources by the loading and unloading equipment, wasting manpower, and occupying a large space.

[0003] A Chinese patent document with publication number CN107639537A discloses a five-axis CNC fully automatic tool grinder, which includes a machine tool base, a Y-axis support plate is arranged on the upper surface of the machine tool base inside the machine tool outer cover, a Y-axis guide rail is arranged at the bottom of the Y-axis support plate, a Y-axis front dust cover and a Y-axis rear dust cover are arranged at the front and rear ends of the Y-axis guide rail respectively, a Y-axis screw rod and a Y-axis oil drain are arranged on the bottom surface of the Y-axis support plate, a Y-axis servo motor is arranged on the upper surface of the machine tool base, and the Y The axis servo motor shaft is rotatably connected to the Y-axis lead screw, an X-axis lead screw is arranged on the upper surface of the Y-axis support plate, one end of the X-axis lead screw is connected to the X-axis servo motor, the left and right ends of the X-axis are respectively provided with an X-axis left dust cover and an X-axis right dust cover, an X-axis oil drain is arranged on one side of the X-axis servo motor, an X-axis support plate is arranged on the upper surface of the X-axis lead screw, a C-axis servo motor is arranged on the upper surface of the X-axis support plate, a C-axis turntable is rotatably connected to the upper end rotating shaft of the C-axis servo motor, and the C-axis The upper end of the turntable is connected to an A-axis bridge plate, the upper surface of the A-axis bridge plate is connected to an A-axis turntable, one side of the A-axis turntable is threadedly connected to a tool holder, a chuck is installed on the tool holder, a Z-axis column is installed on the upper surface of the machine tool base, a Z-axis guide rail is arranged on one side of the Z-axis column, a Z-axis lead screw is transmission-connected to the Z-axis guide rail, the top end of the Z-axis lead screw is rotationally connected to a Z-axis servo motor arranged on the top of the Z-axis column, and the upper and lower ends of the Z-axis lead screw are respectively provided with Z-axis upper and lower ends. Dust cover and Z-axis lower dust cover, the Z-axis column is provided with a Z-axis support plate on the same side as the Z-axis screw, the Z-axis support plate is provided with a Z-axis oil drain, an electric spindle is installed on the other side of the Z-axis support plate, the rotating shaft of the electric spindle is connected to the grinding wheel rod through a transmission, although the tool grinder has good stability and a wide range of applications, it cannot realize automatic loading and unloading operations. When the processed tool needs to be inspected, it is necessary to stop and wait, and the replacement of the grinding wheel also requires stopping and waiting, resulting in reduced processing time.

[0004] The grinding wheel magazine is one of the important parts of the CNC tool grinder. It mainly realizes the exchange of grinding wheels through actions such as taking and loading grinding wheels and cooling oil nozzles. Usually, a disc-type grinding wheel storage rack structure is adopted. The grinding wheel storage rack is equipped with multiple grinding wheel axis positions, and a maximum of grinding wheels can be installed at one time. This grinding wheel magazine can be used for the processing needs of various types of tools and complex-shaped tools. Before the workpiece is processed, the operator will compile the processing instructions and import them into the machine tool operating system, including the instructions for exchanging grinding wheels. During the processing of the machine tool, when the grinding wheel needs to be replaced, the system will guide the feed mechanism of the grinding wheel magazine to move according to the instructions, first remove the used grinding wheel and place it on the empty grinding wheel axis position of the grinding wheel storage rack, and then remove the new grinding wheel according to the instructions and install it on the grinding head spindle to complete the grinding wheel exchange process. This process is completed in a very short time, reducing the workload of the operator and improving the production efficiency of the machine tool.

[0005] A Chinese patent document with publication number CN109227386A discloses a grinding wheel magazine for replacing grinding wheels for a grinding machine. The grinding wheel magazine includes a fixed plate, a moving mechanism, a rotating mechanism and a plurality of clamping mechanisms. The fixed plate is used to connect the grinding machine externally. The moving mechanism includes a cantilever and a driving member. One end of the cantilever is pivotally connected to the fixed plate. The driving member is arranged on the fixed plate and the output shaft of the driving member is pivotally connected to the cantilever. The rotating mechanism is arranged at one end of the cantilever away from the fixed plate. Each of the clamping mechanisms includes a clamping member and two claw assemblies arranged on the clamping member opposite to each other. The clamping member The device is arranged on the rotating mechanism and can rotate under the driving of the rotating mechanism. A slot is provided at one end of the clamping member. Each of the clamping claw assemblies includes a clamping claw, an elastic member and a roller. The clamping claw is pivotally connected to one side of the clamping member. The two ends of the elastic member respectively support the clamping claw and the clamping member. The roller is rotatably arranged on one end of the clamping claw close to the slot. The roller can be elastically engaged in the annular groove of the grinding wheel rod of the grinding wheel under the action of the elastic member so that the grinding wheel rod can be inserted into or separated from the slot. The driving member can drive the cantilever to swing a preset angle so that each of the clamping mechanisms is away from the grinding machine. The grinding wheel magazine is arranged vertically, and the installation accuracy of the grinding wheel magazine is high. At the same time, the cantilever will swing during the replacement of the grinding wheel, which will occupy most of the space of the grinding machine, which is not convenient for the miniaturization design of the bed. In addition, the grinding wheel magazine has no cooling component. In the process of replacing the grinding wheel, if multiple cooling nozzles are encountered, interference will occur, and the replacement failure phenomenon is easy to occur.

[0006] On machining centers with a high degree of automation integration, the efficiency and stability of loading and unloading determine the overall efficiency and performance of the machining centers. Because machining centers are different from production lines or processing lines, the bed area of ​​machining centers is limited. How to reasonably arrange various components on the limited bed to improve the machining efficiency and performance of machining centers is a difficult problem that technical personnel in the industry need to continuously overcome and improve.

[0007] A Chinese patent document with publication number CN116900828A discloses an automatic loading and unloading five-axis CNC tool grinder and a processing method. The automatic loading and unloading five-axis CNC tool grinder includes a grinder mechanism, a protective cover mounted on the upper surface of the grinder mechanism, a control computer installed on one side of the grinder mechanism, and a grinding oil circulation treatment device connected to the grinder mechanism and the protective cover. The grinder mechanism includes a base, a workpiece moving mechanism installed on the base, a combined grinding wheel grinding mechanism, a workpiece loading and unloading mechanical mechanism and a magnetic suction mechanism; the workpiece moving mechanism includes a first moving seat for forward and backward movement of the X-axis, a fixture mounting frame mounted on the first moving seat, a fixture frame mounted on the fixture mounting frame through a rotating seat, a first rotating motor installed on the fixture mounting frame that can drive the fixture frame to rotate as a whole around the C-axis perpendicular to the first moving seat, a fixture movably mounted on the fixture frame, and a second rotating motor installed on the fixture frame that controls the fixture to rotate around the fixture's own rotating axis A-axis.

[0008] Most of the existing processing machine tools use material racks to store materials. Loading racks and unloading racks are set in front of the processing table. Manual personnel are required to pay attention to the material capacity in the racks at all times, and they need to manually replace the empty loading racks and remove the fully loaded unloading racks in time. Some processing machine tools are set in front of the machine tool processing table in the form of conveyor belts, which greatly improves the loading efficiency of the processing machine tools, but the conveyor line will occupy a large space on the bed, which is not conducive to the structural optimization and cost reduction of the bed. Some processing machine tools only use one material tray for material transfer. When it is necessary to conduct random inspections on multiple tools processed in this batch, a single material tray cannot meet the transportation needs of the random inspection tools. Summary of the invention

[0009] The present invention provides a tool grinder, which overcomes the above-mentioned deficiencies of the prior art and can effectively solve the problems of easy failure in replacing grinding wheels and inability to perform random inspection of tools without stopping the machine.

[0010] The technical solution of the present invention is achieved through the following measures: a tool grinder, including a bed, a material transfer assembly, a mounting seat, a working turntable, a left grinding wheel assembly, a right grinding wheel assembly, a support seat and a spare grinding wheel assembly, a first machine tool slide capable of moving the working turntable forward and backward is installed on the upper front side of the bed, a clamping spindle for driving the tool to be processed to rotate is fixedly installed on the upper side of the working turntable, a feeding platform is fixedly installed on the upper left side of the bed, a material transfer assembly capable of clamping the tool to be processed in the clamping spindle or taking out the processed tool in the clamping spindle for storage is provided on the upper left side of the feeding platform, a tailstock is slidably installed on the upper right side of the working turntable, and a tailstock is fixedly installed on the left side of the tailstock. There is a top, and a second machine tool slide is installed on the upper side of the rear part of the bed, which can enable the mounting seat to move up and down and left and right. A grinding electric spindle is installed on the lower side of the mounting seat, and the left and right ends of the grinding electric spindle are both installed with a left grinding wheel assembly and a right grinding wheel assembly with the same structure and symmetrical arrangement. A rotating mechanism capable of driving the support seat to rotate is installed on the upper right side of the bed corresponding to the right position of the first machine tool slide, and a plurality of limiting mechanisms are arranged at intervals along the circumference on the upper side of the support seat, and a spare grinding wheel assembly is installed in at least one limiting mechanism. After the support seat is rotated a certain angle, the right grinding wheel assembly can be installed in the limiting mechanism, or the spare grinding wheel assembly can be installed together with the right end of the grinding electric spindle.

[0011] The following are further optimizations and / or improvements to the above technical solutions: The above-mentioned material transfer assembly may include a robotic arm, a material grabbing mechanism, a first material tray, a second material tray and a first drive assembly. The robotic arm is fixedly installed on the upper right side of the feeding platform, and the material grabbing mechanism is fixedly installed on the end of the robotic arm. Several first material trays are installed at front and rear intervals on the upper left side of the feeding platform. A detection frame is slidably installed in the middle of the feeding platform, and at least one second material tray is installed at upper and lower intervals in the detection frame. A first drive assembly that can move the detection frame forward and backward is provided at the rear of the feeding platform.

[0012] The above-mentioned right grinding wheel assembly may include a first grinding wheel shaft, a first grinding wheel, a first cooling mechanism, a first cooling pipe and a second cooling pipe. The first grinding wheel shaft is installed on the right end of the grinding electric spindle. At least one first grinding wheel is fixedly installed on the outside of the first grinding wheel shaft from left to right. A positioning seat is fixedly installed on the right side of the mounting seat corresponding to the position above the first grinding wheel shaft. A fixed cylinder is installed on the positioning seat. A first cooling mechanism installed together with the fixed cylinder on the upper middle side of the positioning seat is provided on the lower side of the positioning seat. A first cooling pipe and a second cooling pipe are provided inside the mounting seat, and the lower end of the first cooling pipe is connected to the interior of the first cooling mechanism.

[0013] The above-mentioned first cooling mechanism may include a first cooling module and a first supporting plate, the first supporting plate is fixedly installed on the lower side of the left end of the first cooling module, the front and rear sides of the first supporting plate are provided with slots that pass through from top to bottom, the cross-section of the slot is a trapezoid that is wide outside and narrow inside, the upper side of the first cooling module is installed together with the lower end of the piston rod of the fixed cylinder, the first cooling slot and the second cooling slot are arranged at intervals in front and back on the left side of the first cooling module, the front side of the first cooling module corresponding to each first grinding wheel position is provided with a first cooling hole connected with the first cooling slot at the rear, a first adjusting nozzle is fixedly installed in the first cooling hole, the rear side of the first cooling module corresponding to each first grinding wheel position is provided with a second cooling hole connected with the second cooling slot at the front, the second adjusting nozzle is fixedly installed in the second cooling hole, a first cooling pipe with a right end sealed and inserted in the first cooling slot is fixedly installed on the inner side of the front part of the mounting seat, and a second cooling pipe with a right end sealed and inserted in the second cooling slot is fixedly installed on the inner side of the rear part of the mounting seat.

[0014] The above-mentioned first cooling mechanism may also include a guide block, a guide rod and a positioning block. A first guide groove opening to the left is provided on the upper side of the first cooling module. A guide hole penetrating left and right is provided on the right side of the first cooling module corresponding to the position of the first guide groove. A guide block is fixedly installed on the right side of the positioning seat. The lower part of the guide block is slidably installed in the first guide groove. A guide rod with the right end sleeved in the guide hole is fixedly installed on the lower part of the guide block. A positioning groove penetrating front and back is provided on the upper side of the middle part of the first cooling module corresponding to the left position of the guide block. A positioning block is installed in the positioning groove, the upper side of which is fixedly installed with the lower end of the piston rod of the fixed cylinder.

[0015] The above-mentioned limiting mechanism may include a limiting plate, a first clamping plate, a second clamping plate and an elastic tool changing clamp. A plurality of limiting grooves opening outward are evenly distributed along the circumference on the upper side of the support seat. A limiting plate is fixedly installed in each limiting groove. The side surface of each limiting plate can be perpendicular to the central axis of the grinding electric spindle after the support seat rotates. The spare grinding wheel assembly includes a second grinding wheel shaft, a second grinding wheel and a second cooling mechanism. The upper side of the limiting plate is fixed with a first clamping plate and a second clamping plate at intervals along the width direction. The upper side of the first clamping plate and the second clamping plate are fixed with a The limit blocks have a trapezoidal cross-section, and the thickness of the two limit blocks gradually increases in the direction away from each other. An elastic tool changing clamp is fixedly installed on the side of the limit plate corresponding to the position between the first clamp and the second clamp. The upper end of the elastic tool changing clamp has an arc-shaped clamping groove opening upward. The outer side of the first end of the second grinding wheel shaft is tightly fitted in the clamping groove, and at least one second grinding wheel is fixedly installed at the second end of the second grinding wheel shaft at intervals along the axis. A second cooling mechanism identical to the first cooling mechanism is inserted between the first clamp and the second clamp corresponding to the position above the elastic tool changing clamp.

[0016] The second material tray described above may include a fixed plate, a blanking plate, and a loading plate that are spaced apart from bottom to top. The lower side of the fixed plate is fixedly installed with the detection frame, and between the upper side of the fixed plate and the lower side of the blanking plate, and between the upper side of the blanking plate and the lower side of the loading plate, there are correspondingly arranged lower spacers and upper spacers that are circumferentially spaced apart. The upper side of the loading plate is provided with connecting bolts whose lower ends sequentially pass through the upper spacer and the lower spacer and are fixedly installed with the fixed plate. The upper side of the loading plate is discretely distributed with a number of first material holes that penetrate up and down. Corresponding to each first material hole position, the upper side of the blanking plate is provided with a second material hole that penetrates up and down. The first driving assembly includes a linear module. A front-to-back linear module is fixedly installed in the middle of the feeding platform. The lower side of the detection frame is fixedly installed on the upper side of the slider of the linear module. The rear end of the linear module has a driving motor for driving the slider to move back and forth.

[0017] The above-mentioned material grasping mechanism may include a connecting flange, a first positioning gripper, a second positioning gripper, a first driven gripper, a second driven gripper, an upper swing assembly, and a lower swing assembly. The upper end of the connecting flange is fixedly installed with the end of the robotic arm. The lower end of the connecting flange is fixedly installed with a first connecting block. The lower part of the first connecting block is fixedly installed with a U-shaped fixed seat with an opening to the left. The lower end of the fixed seat is fixedly installed with the first positioning gripper and the second positioning gripper at intervals front and back. The second positioning gripper and the first positioning gripper have the same structure and are symmetrically distributed. On the right side of the rear part of the first positioning gripper, there are two first stepped surfaces arranged at intervals from right to left. On the front side and the rear side of each first stepped surface, there are first chamfers. Corresponding to the position between the first positioning gripper and the second positioning gripper, on the right side of the fixed seat, there are a lower mounting hole and an upper mounting hole that penetrate left and right and are spaced apart from bottom to top. The inner wall of the lower mounting hole is rotatably installed with a first rotating shaft whose lower end passes through the lower side of the fixed seat. The lower end of the first rotating shaft is installed with a first driven gripper. The first driven gripper includes a mounting block, a second connecting block, and a clamping finger. The lower end of the first rotating shaft and the left part of the mounting block are fixedly installed together. Corresponding to the position between the two first stepped surfaces, on the right side of the rear part of the mounting block, a second connecting block is fixed. The right side of the second connecting block is fixed with a clamping finger. The left part of the clamping finger is inclined backward relative to the right part. The inner wall of the upper mounting hole is rotatably installed with a second rotating shaft whose lower end is rotatably fixed to the lower side of the fixed seat. The lower end of the second rotating shaft is fixedly installed with a second driven gripper that has the same structure as the first driven gripper. The upper swing assembly and the lower swing assembly with the same structure are installed at intervals up and down in the fixed seat. The lower swing assembly can drive the first rotating shaft to rotate so that the front side of the clamping finger and the rear side of the first positioning gripper approach or move away from each other. The upper swing assembly can drive the second rotating shaft to rotate so that the rear side of the second driven gripper and the front side of the second positioning gripper move away from or approach each other.

[0018] The above-mentioned lower swing assembly may include a central shaft, a cylinder sleeve, a sealing piston and a lower rocker arm. A front-to-back hollow central shaft is fixedly installed inside the lower part of the fixed seat. An air inlet hole is provided on the left side of the front part of the fixed seat, and the other end of the air inlet hole communicates with the front end of the central shaft. An air outlet hole is provided on the left side of the rear part of the fixed seat, and the other end of the air outlet hole communicates with the rear end of the central shaft. A cylinder sleeve is hermetically sleeved outside the central shaft. A front air outlet and a rear air outlet that are internally and externally connected are arranged at intervals before and after the central shaft corresponding to the inner side of the cylinder sleeve. A sealing column is fixedly installed inside the central shaft corresponding to the position between the front air outlet and the rear air outlet in a sealed manner. A sealing piston is fixedly installed outside the central shaft corresponding to the position between the front air outlet and the rear air outlet. The outer side of the sealing piston is in sealed contact with the inner side of the cylinder sleeve. The lower rocker arm is in a C shape with an opening to the left. Long circular movable grooves are provided symmetrically up and down on the lower side and the upper side of the right part of the cylinder sleeve. An activity pin is provided in each movable groove, and each activity pin is fixedly installed together with the corresponding position on the left part of the lower rocker arm. A rotation hole that penetrates up and down is provided on the lower side of the right part of the lower rocker arm. The outer side of the upper part of the first rotating shaft is rotatably installed in the rotation hole. At least one positioning screw hole is provided at intervals up and down on the right side of the lower rocker arm. A positioning set screw with a left end abutted against the outer side of the right part of the first rotating shaft is screwed in each positioning screw hole. When air enters the air inlet hole, the cylinder sleeve moves forward. When the cylinder sleeve moves forward, it drives the lower rocker arm and the first rotating shaft to swing, so that the front side of the clamping finger is far away from the rear side of the first positioning gripper. When air enters the air outlet hole, the cylinder sleeve moves backward. When the cylinder sleeve moves backward, it drives the lower rocker arm and the first rotating shaft to swing, so that the front side of the clamping finger is close to the rear side of the first positioning gripper.

[0019] The present invention has a reasonable and compact structure. By arranging a material transfer assembly, the tool to be processed can be transferred to the clamping spindle, and the processed tool can be taken out of the clamping spindle and stored for the turnover of the tool to be processed and the processed tool. In order to facilitate the replacement between the spare grinding wheel assembly and the right grinding wheel assembly, one of the several limiting mechanisms is not installed with the spare grinding wheel assembly. In this way, when the right grinding wheel assembly needs to be replaced due to the grinding process or excessive wear, the driving mechanism drives the support seat to rotate a certain angle, so that the vertical center plane of the limiting mechanism without the spare grinding wheel assembly installed is parallel to the central axis of the grinding electric spindle. The central axis of the grinding electric spindle is located above the spare grinding wheel assembly under the drive of the second machine tool slide, and the right end of the grinding electric spindle is close to the limiting mechanism. The grinding electric spindle releases the clamping mechanism after sending the right grinding wheel assembly into the limiting mechanism. After that, it moves to the left, and the right grinding wheel assembly can be installed in the limiting mechanism. After the grinding electric spindle is driven by the second machine tool slide, it moves to the left to make way for the rotation space of the support seat. Then, the limiting mechanism equipped with the spare grinding wheel assembly rotates under the drive of the rotating mechanism, so that the vertical center plane of the spare grinding wheel assembly coincides with the center axis of the grinding electric spindle. Then, the right end of the grinding electric spindle approaches the limiting mechanism again. When the spare grinding wheel assembly in the limiting mechanism is inserted into the right end of the grinding electric spindle, the grinding electric spindle can complete the clamping operation of the spare grinding wheel assembly, and subsequent grinding operations can be carried out. In this way, the replacement operation of grinding wheels of various specifications can be completed inside the tool grinder, and the grinding wheel or grinding wheel combination can be prepared in advance according to the grinding process, which shortens the time for replacing the grinding wheel and improves the grinding efficiency. At the same time, the replaced grinding wheel can also be trimmed and reused to reduce the grinding cost.

[0020] This tool grinder can be used to process tools of different specifications, making the grinding equipment more flexible. It can also automatically replace the grinding wheel according to the grinding process, and can meet the grinding needs of various tools. Before grinding the tool, grinding wheels or grinding wheel combinations of various specifications can be prepared according to the grinding process, shortening the time for manual replacement of grinding wheels and reducing the safety risks in the process of manual replacement of grinding wheels. At the same time, the tool grinder can achieve precise matching during the replacement of grinding wheels, thereby reducing the error of grinding tools and improving grinding quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Attached Figure 1 It is a schematic diagram of the main structure of embodiments one to nine of the present invention.

[0022] Attached Figure 2 It is a schematic diagram of the top structure of embodiments one to nine of the present invention.

[0023] Attached Figure 3 It is a schematic diagram of the right view structure of embodiments one to nine of the present invention.

[0024] Attached Figure 4It is a left-side structural schematic diagram of embodiments one to nine of the present invention.

[0025] Attached Figure 5 It is a schematic diagram of the three-dimensional structure of embodiments one to nine of the present invention.

[0026] Attached Figure 6 For attachment Figure 5 Schematic diagram of the enlarged structure at point A in the middle.

[0027] Attached Figure 7 For attachment Figure 5 Schematic diagram of the enlarged structure at point B in the middle.

[0028] Attached Figure 8 It is a schematic diagram of the three-dimensional structure of the material grabbing mechanism in Embodiments 2 to 9 of the present invention.

[0029] Attached Fig. 9 It is a schematic diagram of the cross-sectional structure of the material grabbing mechanism in embodiments 2 to 9 of the present invention when viewed from above.

[0030] Attached Fig.10 For attachment Figure 1 Schematic diagram of the rear cross-sectional structure of the first rotating shaft of the middle grabbing mechanism.

[0031] Attached Fig.11 For attachment Figure 1 Schematic diagram of the front cross-sectional structure of the second rotating shaft of the middle grabbing mechanism.

[0032] Attached Fig.12 For attachment Figure 1 A schematic diagram of the enlarged structure of the main cross-section of the first cooling module.

[0033] Attached Fig.13 For attachment Figure 1 A schematic diagram of the enlarged left-side sectional view of the first cooling module.

[0034] Attached Fig.14 For attachment Figure 1 Schematic diagram of the enlarged structure of the first support plate viewed from above.

[0035] Attached Fig.15 The three-dimensional structure of the tenth embodiment of the present invention is shown in FIG. Figure 1 .

[0036] Attached Fig.16 The three-dimensional structure of the tenth embodiment of the present invention is shown in FIG. Figure 2 .

[0037] Attached Fig.17 The three-dimensional structure of the tenth embodiment of the present invention is shown in FIG. Figure 3 .

[0038] The codes in the attached drawings are: 1 is the bed, 2 is the working turntable, 3 is the feeding platform, 4 is the robot arm, 5 is the first material tray, 6 is the detection frame, 7 is the first machine tool slide, 8 is the clamping spindle, 9 is the tailstock, 10 is the top, 11 is the second machine tool slide, 12 is the mounting seat, 13 is the grinding electric spindle, 14 is the left grinding wheel assembly, 15 is the fixed plate, 16 is the unloading plate, 17 is the loading plate, 18 is the upper spacer, 19 is the lower spacer, 20 is the connecting bolt, 21 is the first material hole, 22 is the material trough, 23 is the connecting flange, 24 is the first connecting block, 25 is the fixed seat , 26 is the first positioning gripper, 27 is the second positioning gripper, 28 is the first step surface, 29 is the first chamfer, 30 is the upper mounting hole, 31 is the lower mounting hole, 32 is the first rotating shaft, 33 is the second rotating shaft, 34 is the mounting block, 35 is the second connecting block, 36 is the clamping finger, 37 is the second driven gripper, 38 is the upper swing assembly, 39 is the sealing column, 40 is the center axis, 41 is the cylinder sleeve, 42 is the sealing piston, 43 is the lower rocker arm, 44 is the air inlet, 45 is the air outlet, 46 is the front air outlet, 47 is the rear air outlet, 48 is the movable groove, 49 is the movable pin, 50 is a positioning screw, 51 is a feed shell, 52 is a feed port, 53 is a discharge port, 54 is a first door guide rail, 55 is a first door slider, 56 is a trachea joint, 57 is a discharge door, 58 is a hood, 59 is a second door guide rail, 60 is a second door slider, 61 is a left operating door, 62 is a right operating door, 63 is a linear module, 64 is a drive motor, 65 is a first grinding wheel shaft, 66 is a first grinding wheel, 67 is a positioning seat, 68 is a first cooling pipe, 69 is a second cooling pipe, 70 is a second cooling mechanism, 71 is a rotating mechanism, 72 is Support seat, 73 is the tool to be processed, 74 is the fixed cylinder, 75 is the first cooling module, 76 is the first cooling groove, 77 is the second cooling groove, 78 is the first cooling hole, 79 is the second cooling hole, 80 is the guide block, 81 is the guide rod, 82 is the first guide groove, 83 is the guide hole, 84 is the positioning block, 85 is the positioning groove, 86 is the clamping groove, 87 is the limit block, 88 is the limit plate, 89 is the first clamping plate, 90 is the second clamping plate, 91 is the elastic tool changing clamp, 92 is the first support plate, 93 is the slot, 94 is the second grinding wheel shaft, and 95 is the second grinding wheel. DETAILED DESCRIPTION

[0039] The present invention is not limited by the following embodiments, and specific implementation methods can be determined based on the technical solution of the present invention and actual conditions.

[0040] In the present invention, for the convenience of description, the description of the relative position relationship of each component is described according to the layout of the drawings in the specification, such as: the position relationship of front, back, up, down, left, right, etc. is determined according to the layout direction of the drawings in the specification.

[0041] The present invention will be further described below in conjunction with embodiments and drawings: Embodiment 1: As shown in the attached Figures 1 to 5 As shown, the tool grinder includes a bed 1, a material transfer assembly, a mounting seat 12, a working turntable 2, a left grinding wheel assembly 14, a right grinding wheel assembly, a support seat 72 and a spare grinding wheel assembly. A first machine tool slide 7 capable of moving the working turntable 2 forward and backward is installed on the front upper side of the bed 1, a clamping spindle 8 for driving a tool 73 to be processed to rotate is fixedly installed on the upper side of the working turntable 2, a feeding platform 3 is fixedly installed on the upper left side of the bed 1, a material transfer assembly capable of clamping the tool 73 to be processed in the clamping spindle 8 or taking out the processed tool in the clamping spindle 8 and storing it is provided on the upper left side of the feeding platform 3, a tailstock 9 is slidably installed on the upper right side of the working turntable 2, a top 10 is fixedly installed on the left side of the tailstock 9, and a rear end 10 is fixedly installed on the back of the bed 1. A second machine tool slide 11 is installed on the upper side of the part, which can enable the mounting seat 12 to move up and down and left and right. A grinding electric spindle 13 is installed on the lower side of the mounting seat 12. The left and right ends of the grinding electric spindle 13 are both installed with a left grinding wheel assembly 14 and a right grinding wheel assembly with the same structure and symmetrical arrangement. A rotating mechanism 71 capable of driving a support seat 72 to rotate is installed on the upper side of the right part of the bed 1 corresponding to the right position of the first machine tool slide 7. A plurality of limiting mechanisms are provided at intervals along the circumference on the upper side of the support seat 72. A spare grinding wheel assembly is installed in at least one limiting mechanism. After the support seat 72 rotates a certain angle, the right grinding wheel assembly can be installed in the limiting mechanism, or the spare grinding wheel assembly can be installed together with the right end of the grinding electric spindle 13.

[0042] According to the requirements, the working turntable 2 is located above the front part of the bed 1, the mounting seat 12 is located above the rear part of the bed 1, and the support seat 72 is located above the right part of the bed 1. The working turntable 2 is an existing well-known technology, which can realize the clamping spindle 8 to rotate 360 ​​degrees in the horizontal plane, thereby driving the clamping spindle 8 and the tailstock 9 to rotate in the horizontal plane. The clamping spindle 8 is an existing well-known technology, which is used to clamp the tool 73 to be processed and drive the tool 73 to be processed to rotate. The grinding electric spindle 13 is an existing well-known technology, such as a double-end electric spindle with clamping mechanisms at both ends. The rotating mechanism 71 is an existing well-known stepper motor. The first machine tool slide 7 and the second machine tool slide 11 are both existing well-known technologies. In order to protect the spare grinding wheel assembly, a waterproof cover can be installed on the outer side of the upper part of the spare grinding wheel assembly. The left grinding wheel assembly 14 can also be installed with an existing well-known grinding wheel on the inner side of the left end of the grinding electric spindle 13 according to the grinding process requirements.

[0043] During use, by setting up a material transfer component, the tool to be processed 73 can be transferred to the clamping spindle 8, and the processed tool can be taken out of the clamping spindle 8 and stored for the turnover of the tool to be processed 73 and the processed tool. In order to facilitate the replacement between the spare grinding wheel assembly and the right grinding wheel assembly, one of the several limiting mechanisms is not installed with the spare grinding wheel assembly. In this way, when the right grinding wheel assembly needs to be replaced due to the grinding process or excessive wear, the driving mechanism drives the support seat 72 to rotate a certain angle, so that the vertical center plane of the limiting mechanism without the spare grinding wheel assembly installed is parallel to the central axis of the grinding electric spindle 13. The central axis of the grinding electric spindle 13 is located above the spare grinding wheel assembly under the drive of the second machine tool slide 11, and the right end of the grinding electric spindle 13 is close to the limiting mechanism. After the grinding electric spindle 13 sends the right grinding wheel assembly into the limiting mechanism, the clamping mechanism is released and the right grinding wheel assembly is moved to the left, so that the right grinding wheel assembly can be installed in the limiting mechanism. The grinding electric spindle 13 moves to the left under the drive of the second machine tool slide 11 After the movement, the rotation space of the support seat 72 is cleared, and then the limiting mechanism equipped with the spare grinding wheel assembly is rotated under the drive of the rotating mechanism 71, so that the vertical center plane of the spare grinding wheel assembly coincides with the center axis of the grinding electric spindle 13, and then the right end of the grinding electric spindle 13 is close to the limiting mechanism again. When the spare grinding wheel assembly in the limiting mechanism is inserted into the right end of the grinding electric spindle 13, the grinding electric spindle 13 can complete the clamping operation of the spare grinding wheel assembly, and subsequent grinding operations can be performed. In this way, the replacement operation of grinding wheels of various specifications can be completed inside the tool grinder. The spare grinding wheel assembly can prepare the grinding wheel or grinding wheel combination in advance according to the grinding process, shorten the time for replacing the grinding wheel, and improve the grinding efficiency. At the same time, the replaced grinding wheel can also be trimmed and reused, thereby reducing the grinding cost.

[0044] The tool grinder can be used to process tools 73 of different specifications, making the grinding equipment more flexible. It can also automatically replace the grinding wheel according to the grinding process and can meet the grinding needs of various tools. Before grinding the tool, grinding wheels or grinding wheel combinations of various specifications can be prepared according to the grinding process, which shortens the time for manual replacement of grinding wheels and reduces the safety risks in the process of manual replacement of grinding wheels. At the same time, the tool grinder can achieve precise matching during the replacement of grinding wheels, thereby reducing the error of the grinding tool and improving the grinding quality.

[0045] The above tool grinder can be further optimized and / or improved according to actual needs: Embodiment 2: As an optimization of the above embodiment, as shown in the attached Figures 1 to 5As shown, the material transfer assembly includes a robotic arm 4, a material grabbing mechanism, a first material tray 5, a second material tray and a first driving assembly. The robotic arm 4 is fixedly installed on the upper right side of the feeding platform 3, and the material grabbing mechanism is fixedly installed on the end of the robotic arm 4. A plurality of first material trays 5 are installed at intervals at the front and rear sides of the upper left side of the feeding platform 3. A detection frame 6 is slidably installed in the middle of the feeding platform 3, and at least one second material tray is installed at intervals at upper and lower intervals in the detection frame 6. A first driving assembly that can move the detection frame 6 forward and backward is provided at the rear of the feeding platform 3.

[0046] According to the requirements, the robot arm 4 is an existing well-known technology, such as a six-axis robot arm. During use, by setting the robot arm 4 and the material grasping mechanism, the tool to be processed 73 can be transferred to the clamping spindle 8, and the processed tool can be taken out from the clamping spindle 8 and placed on the first tray 5 or the second tray. The first tray 5 can be used as a turnover tool for the turnover of the tool to be processed 73 and the processed tools, and the transportation is more convenient. Placing the processed tools on the second tray can meet the transportation requirements for sampling multiple finished tools in each batch. The setting of the first tray 5 and the second tray can also be used for the storage of tools to be processed 73 of different specifications, which is convenient for the processing of tools to be processed 73 of different specifications, making the grinding equipment more flexible. At the same time, the first tray 5 and the second tray in this application can reduce the occupation of the space of the bed 1 and improve the utilization rate of the space of the bed 1.

[0047] Embodiment 3: As an optimization of the above embodiment, as shown in the attached Figures 1 to 5 As shown, the right grinding wheel assembly includes a first grinding wheel shaft 65, a first grinding wheel 66, a first cooling mechanism, a first cooling pipe 68 and a second cooling pipe 69. The first grinding wheel shaft 65 is installed on the right end of the grinding electric spindle 13. At least one first grinding wheel 66 is fixedly installed on the outside of the first grinding wheel shaft 65 from left to right. A positioning seat 67 is fixedly installed on the right side of the mounting seat 12 corresponding to the upper position of the first grinding wheel shaft 65. A fixed cylinder 74 is installed on the positioning seat 67. A first cooling mechanism installed together with the fixed cylinder 74 on the upper middle side of the positioning seat 67 is provided on the lower side of the positioning seat 67. A first cooling pipe 68 and a second cooling pipe 69, which are connected to the inside of the first cooling mechanism at the lower end, are provided inside the mounting seat 12.

[0048] According to the requirements, the right end of the grinding electric spindle 13 is installed with the first grinding wheel shaft 65 through the existing known technology. The inner side of the right end of the grinding electric spindle 13 is provided with a clamping mechanism to realize the detachable fixed installation with the outer side of the left end of the first grinding wheel shaft 65. The grinding electric spindle 8 can be a 50100AC-duo dual-output processing electric spindle. The first grinding wheel 66 is the existing known technology. Three first grinding wheels 66 are fixedly installed at intervals from left to right on the outer side of the first grinding wheel shaft 65. The three first grinding wheels 66 are 1A1 grinding wheel, 1V1 grinding wheel and 11A2 grinding wheel from left to right. Spacers can be installed between the three first grinding wheels 66 as required to ensure the spacing between the first grinding wheels 66. The left side of the mounting seat 12 is also fixedly installed together with the left grinding wheel assembly 14 through the positioning seat 67 and the fixed cylinder 74.

[0049] During use, by setting the positioning seat 67, the grinding electric spindle 13 can ensure the precise matching of the first cooling mechanism with the first cooling tube 68 and the second cooling tube 69 during the matching process with the first grinding wheel shaft 65, so as to ensure the cooling effect of the first grinding wheel 66 during the grinding of the tool to be processed 73. The setting of the positioning seat 67 can also ensure the precise assembly between the grinding electric spindle 13, the first cooling tube 68 and the second cooling tube 69 and the spare grinding wheel assembly in each limiting mechanism. The first cooling mechanism and the first grinding wheel 66 are replaced synchronously, so as to avoid the interference of the cooling mechanism when the first grinding wheels 66 of multiple diameter specifications outside the first grinding wheel shaft 65 are replaced separately, so as to improve the replacement efficiency of the first grinding wheel 66.

[0050] Embodiment 4: As an optimization of the above embodiment, as shown in the attached Figures 1 to 5 , 12 to 14, the first cooling mechanism includes a first cooling module 75 and a first support plate 92. The first support plate 92 is fixedly installed on the lower side of the left end of the first cooling module 75. The front and rear sides of the first support plate 92 are provided with slots 93 that pass through from top to bottom. The cross-section of the slot 93 is a trapezoid that is wide outside and narrow inside. The upper side of the first cooling module 75 is installed together with the lower end of the piston rod of the fixed cylinder 74. The first cooling module 75 is provided with a first cooling groove 76 and a second cooling groove 77 at intervals on the front and rear sides. The front side of the first cooling module 75 corresponding to each position of the first grinding wheel 66 is provided with There is a first cooling hole 78 connected to the first cooling groove 76 at the rear, and a first adjusting nozzle is fixedly installed in the first cooling hole 78. The rear side of the first cooling module 75 corresponding to each position of the first grinding wheel 66 is provided with a second cooling hole 79 connected to the second cooling groove 77 at the front, and a second adjusting nozzle is fixedly installed in the second cooling hole 79. A first cooling pipe 68 with its right end sealed and inserted in the first cooling groove 76 is fixedly installed on the inner side of the front of the mounting seat 12, and a second cooling pipe 69 with its right end sealed and inserted in the second cooling groove 77 is fixedly installed on the inner side of the rear of the mounting seat 12.

[0051] According to the requirements, the first cooling module 75 is a plate-shaped structure, and the first adjusting nozzle and the second adjusting nozzle are both existing well-known technologies, such as a universal bamboo tube adjusting nozzle (not shown in the drawings).

[0052] During use, by setting the first adjustment nozzle and the second adjustment nozzle, the angle of the coolant outflow in the first adjustment nozzle and the second adjustment nozzle can be adjusted, which can cool the first grinding wheel 66 and the tool to be processed 73 while washing away the grinding debris, thereby extending the service life of the first grinding wheel 66.

[0053] The cross-section of the slot 93 is a trapezoid that is wide on the outside and narrow on the inside, that is, the cross-section of the front slot 93 is a trapezoid that is wide in the front and narrow in the back, and the cross-section of the rear slot 93 is a trapezoid that is narrow in the front and wide in the back. The first cooling slot 76 and the second cooling slot 77 both open to the left. Through such an arrangement, coolant can be sprayed to the front and rear sides of each first grinding wheel 66, so that the coolant in front of the first grinding wheel 66 and the coolant at the rear block each other, which can prevent the coolant from spraying outward, so that all the coolant flows back to the bed 1 and is reused by the circulation pump again, which can improve the utilization efficiency of the coolant. At the same time, the coolant sprayed from the first cooling hole 78 and the second cooling hole 79 can also increase the cooling area of ​​the first grinding wheel 66, and can quickly reduce the temperature of the first grinding wheel 66 when grinding the tool 73 to be processed, thereby extending the service life. At the same time, it can also improve the flushing effect, and can quickly wash away the grinding debris to avoid affecting the first grinding wheel 66.

[0054] Embodiment 5: As an optimization of the above embodiment, as shown in the attached Figures 1 to 5 As shown in Figures 12 and 13, the first cooling mechanism also includes a guide block 80, a guide rod 81 and a positioning block 84. A first guide groove 82 opening to the left is provided on the upper side of the first cooling module 75. A guide hole 83 extending from left to right is provided on the right side of the first cooling module 75 corresponding to the position of the first guide groove 82. A guide block 80 is fixedly installed on the right side of the positioning seat 67. The lower part of the guide block 80 is slidably installed in the first guide groove 82. A guide rod 81 with a right end sleeved in the guide hole 83 is fixedly installed on the lower part of the guide block 80. A positioning groove 85 extending from front to back is provided on the upper middle part of the first cooling module 75 corresponding to the left side of the guide block 80. A positioning block 84 is installed in the positioning groove 85, the upper side of which is fixedly installed with the lower end of the piston rod of the fixed cylinder 74.

[0055] When the first cooling module 75 is installed close to the mounting seat 12, a guide block 80 is set, and the guide block 80 slides along the first guide groove 82, so that the guide block 80 can limit the first cooling module 75 in the front and rear directions, so that the right end of the first cooling tube 68 and the right end of the second cooling tube 69 can be smoothly sealed and inserted in the first cooling groove 76 and the second cooling groove 77, thereby avoiding the first cooling tube 68 and the second cooling tube 69 being misaligned with the first cooling groove 76 and the second cooling groove 77 respectively, resulting in sealing failure, thereby improving the sealing performance between the first cooling tube 68 and the second cooling tube 69 and the first cooling module 75; when the guide rod 81 is inserted into the guide hole 83, the positioning seat 67 can also support the first cooling module 75 through the guide rod 81, thereby avoiding the first cooling module 75 from separating from the mounting seat 12 after the coolant flows into the first cooling module 75.

[0056] After the first cooling module 75 is installed with the mounting seat 12, the piston rod of the fixed cylinder 74 is extended and the positioning block 84 is inserted into the positioning groove 85, so that the fixed cylinder 74 and the positioning block 84 can prevent the first cooling module 75 from moving left and right, and the positioning block 84 limits the first cooling module 75 in the left and right directions. In this way, after the coolant flows into the first cooling module 75, it can prevent the pressurized coolant from exerting a rightward force on the first cooling module 75, so that the first cooling module 75 is separated from the mounting seat 12 after moving right. At the same time, it can also ensure the correspondence between the first cooling hole 78, the second cooling hole 79 and the first grinding wheel 66, so that the coolant flowing out of the first cooling hole 78 and the second cooling hole 79 can cool and flush the corresponding first grinding wheel 66.

[0057] Embodiment 6: As an optimization of the above embodiment, as shown in the attached Figures 1 to 6As shown in 12 to 14, the limiting mechanism includes a limiting plate 88, a first clamping plate 89, a second clamping plate 90 and an elastic tool changing clamp 91. A plurality of limiting grooves opening outward are evenly spaced along the circumference on the upper side of the support seat 72, and a limiting plate 88 is fixedly installed in each limiting groove. The side surface of each limiting plate 88 can be perpendicular to the central axis of the grinding electric spindle 13 after the support seat 72 rotates. The spare grinding wheel assembly includes a second grinding wheel shaft 94, a second grinding wheel 95 and a second cooling mechanism 70. The first clamping plate 89 and the second clamping plate 90 are fixed at intervals on the upper side of the limiting plate 88 along the width direction. The upper ends of the first clamping plate 89 and the second clamping plate 90 are close to each other on one side. A limit block 87 with a trapezoidal cross-section is fixed to each of them, and the thickness of the two limit blocks 87 gradually increases in the direction away from each other. An elastic tool changing clamp 91 is fixedly installed on the side of the limit plate 88 corresponding to the position between the first clamp plate 89 and the second clamp plate 90. The upper end of the elastic tool changing clamp 91 has an arc-shaped clamping groove 86 opening upward, and the outer side of the first end of the second grinding wheel shaft 94 is tightly fitted in the clamping groove 86. At least one second grinding wheel 95 is fixedly installed at the second end of the second grinding wheel shaft 94 along the axis at intervals, and a second cooling mechanism 70 identical to the first cooling mechanism is inserted between the first clamp plate 89 and the second clamp plate 90 corresponding to the position above the elastic tool changing clamp 91.

[0058] According to the needs, the elastic tool changing clamp 91 is an existing well-known technology, which can support and limit the second grinding wheel shaft 94. The cross-section of the limit block 87 is an isosceles trapezoid, and the thickness of the two limit blocks 87 gradually increases in the direction away from each other, that is, when the left side of the limit plate 88 is parallel to the front-to-back vertical plane, the thickness of the front limit block 87 gradually increases from back to front, and the thickness of the rear limit block 87 gradually decreases from back to front. At the same time, the first clamping plate 89 and the second clamping plate 90 are fixed at intervals on the upper side of the limit plate 88 along the width direction, that is, the first clamping plate 89 and the second clamping plate 90 are fixed at intervals on the front and back of the upper side of the limit plate 88.

[0059] During use, the second cooling mechanism 70 is replaced synchronously with the first grinding wheel 66, so that the interference of the cooling mechanism can be avoided when the second grinding wheels 95 of multiple diameter specifications on the outside of the second grinding wheel shaft 94 are replaced separately, so as to improve the replacement efficiency of the second grinding wheel 95. At the same time, the second grinding wheel 95 can also be installed on the outside of the second grinding wheel shaft 94 with various specifications of grinding wheels or combinations according to processing requirements, so that the corresponding second cooling mechanism 70 can be selected, which can adapt to the grinding of various specifications of tools 73 to be processed. By setting the limit block 87, the limit block 87 can be respectively inserted into the slot 93 on the front and rear sides of the first support plate 92, that is, the first clamping plate 89 and the second clamping plate 90 can support and limit the second cooling mechanism 70, so as to facilitate the grinding electric spindle 13 to quickly complete the rapid replacement of the grinding wheel and the cooling mechanism.

[0060] When the side surface of the limit plate 88 is perpendicular to the center axis of the grinding electric spindle 13, a distance is provided between the vertical center plane of the limit plate 88 and the vertical center plane of the support seat 72. In this way, when the support seat 72 rotates under the action of the rotating mechanism 71, the second machine tool slide 11 moves up and down and left and right so that a distance is provided between the center axis of the grinding electric spindle 13 and the vertical center plane of the support seat 72, that is, the center axis of the grinding electric spindle 13 is located behind the vertical center plane of the support seat 72. In this way, a distance can be maintained between the second machine tool slide 11 and the rotating mechanism 71 used to drive the support seat 72 to rotate, thereby avoiding mutual interference between the second machine tool slide 11 and the rotating mechanism 71, and making the structure of the device more compact.

[0061] The process of replacing the grinding wheel in this embodiment: six outward-opening limit grooves are evenly distributed along the circumference on the upper side of the support seat 72, and a limit plate 88 is fixedly installed in each limit groove. The side surface of each limit plate 88 can be perpendicular to the central axis of the grinding electric spindle 13 after the support seat 72 rotates, and one of the limit mechanisms is not installed with a spare grinding wheel assembly.

[0062] When the first grinding wheel 66 of the right grinding wheel assembly needs to be replaced due to the grinding process or excessive wear, the rotating mechanism 71 drives the support seat 72 to rotate a certain angle so that the vertical center plane of the limit plate 88 without the spare grinding wheel assembly installed is coplanar with the central axis of the grinding electric spindle 13. The central axis of the grinding electric spindle 13 is located above the spare grinding wheel assembly under the drive of the second machine tool slide 11. The right end of the grinding electric spindle 13 is close to the limit plate 88. The grinding electric spindle 13 puts the first grinding wheel shaft 65 of the right grinding wheel assembly from top to bottom (the second machine tool slide 11 moves downward) into the clamping groove 86 of the elastic tool changing clamp 91. At the same time, the first support plate 92 is inserted between the first clamp plate 89 and the second clamp plate 90. When the lower side of the first cooling module 75 is in contact with the first clamp plate 89 and the upper ends of the second clamping plate 90 contact each other, the first grinding wheel shaft 65 is placed in the clamping groove 86, and the first clamping plate 89, the second clamping plate 90 and the first support plate 92 support and limit the first cooling mechanism. After the grinding electric spindle 13 releases the clamping mechanism, the first grinding wheel shaft 65 and the first grinding wheel 66 are supported and limited by the elastic tool changing clamp 91, and the first grinding wheel shaft 65 is placed from top to bottom in the clamping groove 86 of the elastic tool changing clamp 91. The second machine tool slide 11 moves to the left and the piston rod of the fixed cylinder 74 contracts after the action, and the positioning block 84 and the positioning groove 85 are separated from each other. The grinding electric spindle 13 moves to the left under the action of the second machine tool slide 11, so that the guide rod 81 and the guide hole 83 are separated, so that the right grinding wheel assembly can be placed in the limiting mechanism.

[0063] Then the rotating mechanism 71 drives the supporting seat 72 to rotate a certain angle, so that the central axis of the second grinding wheel 95 to be replaced is colinear with the central axis of the grinding electric spindle 13. The central axis of the grinding electric spindle 13 coincides with the central axis of the second grinding wheel shaft 94 under the drive of the second machine tool slide 11, and the right end of the grinding electric spindle 13 is close to the limit plate 88. After the left end of the second grinding wheel shaft 94 is inserted into the inner side of the right end of the grinding electric spindle 13, the clamping mechanism of the grinding electric spindle 13 clamps the second grinding wheel shaft 94. At the same time, the right ends of the first cooling pipe 68 and the second cooling pipe 69 are respectively inserted into the first cooling groove 76 and the second cooling groove 77, and the right end of the guide rod 81 is inserted into the guide hole 83. At this time, the mounting seat 12 supports the second cooling mechanism 70. Then, after the fixed cylinder 74 is actuated, the piston rod extends out, and the positioning block 84 is inserted into the positioning groove 85, so that the installation of the spare grinding wheel assembly can be completed, so that the online replacement between the right grinding wheel assembly and the spare grinding wheel assembly can be realized.

[0064] Embodiment 7: As an optimization of the above embodiment, as shown in the attached Figures 1 to 5 As shown, the second material tray includes a fixed plate 15, a lower material plate 16 and a loading plate 17 which are spaced from bottom to top. The lower side of the fixed plate 15 is fixedly installed with the detection frame 6. There are corresponding lower spacers 19 and upper spacers 18 spaced circumferentially between the upper side of the fixed plate 15 and the lower side of the lower material plate 16, and between the upper side of the lower material plate 16 and the lower side of the loading plate 17. The upper side of the loading plate 17 is provided with a connecting bolt 20 whose lower end passes through the upper spacer 18 and the lower spacer 19 in sequence and is fixedly installed with the fixed plate 15. A plurality of first material holes 21 which pass through the upper and lower sides are discretely distributed on the upper side of the loading plate 17. A second material hole which passes through the upper and lower sides is provided on the upper side of the lower material plate 16 corresponding to the position of each first material hole 21. The first driving assembly includes a linear module 63. A front-to-rear linear module 63 is fixedly installed in the middle of the feeding platform 3. The lower side of the detection frame 6 is fixedly installed on the upper side of the slider of the linear module 63. A driving motor 64 for driving the slider to move forward and backward is provided at the rear end of the linear module 63.

[0065] According to the requirements, a first connecting hole is provided on the upper left side of the fixing plate 15, and a U-shaped positioning groove opening forward is provided on the upper right side of the fixing plate 15. The linear module 63 is a known technology, such as the KE series. In use, such a setting makes the second tray lighter, which can reduce the load requirement when the second tray is transported. The setting of the upper spacer 18 and the lower spacer 19 can ensure the spacing between the upper plate 17 and the lower plate 16 to avoid deformation of the second tray during transportation, and the processed tools can be placed on the second tray regularly for inspection during batch tool processing.

[0066] The driving motor 64 can adjust the position of the detection frame 6, so that after the robot arm 4 places the processed tool on the second material tray, the linear module 63 moves the detection frame 6 backward, and the robot arm 4 can take and place the tool 73 to be processed to provide a wider moving channel, avoid interference between the detection frame 6 and the robot arm 4, and increase the speed of the robot arm 4 to take and place the tool 73 to be processed, and reduce the waiting time when clamping and taking and placing the tool. The driving motor 64 can adjust the front and rear position of the detection frame 6 according to the second material tray where the robot arm 4 takes and places the tool, so as to make room for the robot arm 4 to move.

[0067] A number of material troughs 22 opening upward are distributed at intervals on the upper side of the first material tray 5, and a number of support columns are fixedly installed at intervals along the circumferential direction on the lower side of the first material tray 5. The support columns are in the shape of a stepped shaft that is thick at the top and thin at the bottom. A fixed groove opening upward is provided on the upper side of the feeding platform 3 corresponding to the position of each support column, and the lower end of the support column is inserted in the fixed groove. By setting the first material tray 5 and the material trough 22, the storage of the tools to be processed 73 and the processed tools can be facilitated, and the moving distance and movement difficulty of the robot arm 4 can be reduced, thereby shortening the time for moving the tools to be processed 73 on the first material tray 5 to the clamping spindle 8, and improving the processing efficiency of the tools to be processed 73. The support columns are in the shape of a stepped shaft that is thick at the top and thin at the bottom. In this way, the lower end of the support column is inserted in the fixed groove, so that a distance is provided between the lower side of the first material tray 5 and the upper side of the detection platform, which is convenient for the transportation of the first material tray 5.

[0068] Embodiment 8: As an optimization of the above embodiment, as shown in the attached Figures 1 to 5As shown in FIGS. 7 and 8, the material grabbing mechanism includes a connecting flange 23, a first positioning gripper 26, a second positioning gripper 27, a first driven gripper, a second driven gripper 37, an upper swing assembly 38 and a lower swing assembly. The upper end of the connecting flange 23 is fixedly installed with the end of the robotic arm 4. The lower end of the connecting flange 23 is fixedly installed with a first connecting block 24. A C-shaped fixing seat 25 with an opening to the left is fixedly installed at the lower part of the first connecting block 24. The first positioning gripper 26 and the second positioning gripper 27 are fixedly installed at the front and rear intervals at the lower end of the fixing seat 25. The second positioning gripper 27 and the first positioning gripper 26 have the same structure and are symmetrically distributed. Two first step surfaces 28 are arranged at the right rear of the first positioning gripper 26 at intervals from right to left. A first chamfer 29 is provided on the front side and the rear side of each first step surface 28. A lower mounting hole 31 and an upper mounting hole 30 that penetrate through from left to right are arranged at intervals from bottom to top on the right side of the fixing seat 25 corresponding to the positions between the first positioning gripper 26 and the second positioning gripper 27. A first rotating shaft 32 is rotatably installed on the inner wall of the lower mounting hole 31, and the lower end of the first rotating shaft 32 passes through the lower side of the fixing seat 25. The lower end of the first rotating shaft 32 is installed with a first driven gripper. The first driven gripper includes a mounting block 34, a second connecting block 35 and a clamping finger 36. The lower end of the first rotating shaft 32 is fixedly installed with the left part of the mounting block 34. A second connecting block 35 is fixed to the right rear of the mounting block 34 corresponding to the position between the two first step surfaces 28. A clamping finger 36 is fixed to the right side of the second connecting block 35. The left part of the clamping finger 36 is inclined backward relative to the right part. A second rotating shaft 33 is rotatably installed on the inner wall of the upper mounting hole 30, and the lower end of the second rotating shaft 33 is fixedly installed with a second driven gripper 37 having the same structure as the first driven gripper. The upper swing assembly 38 and the lower swing assembly with the same structure are installed at the upper and lower intervals in the fixing seat 25. The lower swing assembly can drive the first rotating shaft 32 to rotate so that the front side of the clamping finger 36 approaches or moves away from the rear side of the first positioning gripper 26. The upper swing assembly 38 can drive the second rotating shaft 33 to rotate so that the rear side of the second driven gripper 37 moves away from or approaches the front side of the second positioning gripper 27.

[0069] During the use process, by setting the first positioning gripper 26 and the second positioning gripper 27, the first positioning gripper 26 can place the processed tool on the first material tray 5, and at the same time, the second positioning gripper 27 grabs the next to-be-processed tool 73 into the clamping spindle 8. In this way, the movement of the robotic arm 4 can be reduced, thereby saving the transfer time of the tool and improving the production efficiency.

[0070] Embodiment Nine: As an optimization of the above embodiment, as shown in the appendix Figures 1 to 5As shown in FIGS. 7 to 11, the lower swing assembly includes a central shaft 40, a cylinder sleeve 41, a sealing piston 42 and a lower rocker arm 43. A forward and backward hollow central shaft 40 is fixedly installed inside the lower part of the fixed seat 25. An air inlet hole 44 is provided on the left side of the front part of the fixed seat 25, and the other end of the air inlet hole 44 communicates with the front end of the central shaft 40. An air outlet hole 45 is provided on the left side of the rear part of the fixed seat 25, and the other end of the air outlet hole 45 communicates with the rear end of the central shaft 40. A cylinder sleeve 41 is hermetically sleeved outside the central shaft 40. The central shaft 40 is provided with a front air outlet 46 and a rear air outlet 47 that communicate inside and outside at intervals in the front and rear positions corresponding to the inside of the cylinder sleeve 41. A sealing column 39 is fixedly installed inside the central shaft 40 at a position corresponding to the middle between the front air outlet 46 and the rear air outlet 47 in a sealed manner. A sealing piston 42 is fixedly installed outside the central shaft 40 at a position corresponding to the middle between the front air outlet 46 and the rear air outlet 47. The outside of the sealing piston 42 is in sealing contact with the inside of the cylinder sleeve 41. The lower rocker arm 43 is in a U-shape with an opening to the left. Long circular movable grooves 48 are provided symmetrically up and down on the lower side and the upper side of the right part of the cylinder sleeve 41. An activity pin 49 is provided in each movable groove 48, and each activity pin 49 is fixedly installed together with the corresponding position on the left part of the lower rocker arm 43. A through rotation hole is provided on the lower side of the right part of the lower rocker arm 43, and the upper outside of the first rotating shaft 32 is rotatably installed in the rotation hole. At least one positioning screw hole is provided at intervals up and down on the right side of the lower rocker arm 43. A positioning set screw 50 with its left end abutted against the outside of the right part of the first rotating shaft 32 is screwed in each positioning screw hole. When air enters through the air inlet hole 44, the cylinder sleeve 41 moves forward. When the cylinder sleeve 41 moves forward, it drives the lower rocker arm 43 and the first rotating shaft 32 to swing, so that the front side of the clamping finger 36 is far away from the rear side of the first positioning gripper 26. When air enters through the air outlet hole 45, the cylinder sleeve 41 moves backward. When the cylinder sleeve 41 moves backward, it drives the lower rocker arm 43 and the first rotating shaft 32 to swing, so that the front side of the clamping finger 36 is close to the rear side of the first positioning gripper 26.

[0071] According to requirements, a ring groove is provided on the outside of the sealing piston 42, and a sealing ring is installed in the ring groove to ensure the sealing contact between the outside of the sealing piston 42 and the inside of the cylinder sleeve 41. Through holes for passing through the central shaft 40 are provided at the front and rear end faces of the cylinder sleeve 41. An O-shaped sealing ring hermetically sleeved outside the central shaft 40 is installed in each through hole. O-shaped sealing rings are also installed on the outside of the front end and the outside of the rear end of the central shaft 40 to improve the sealing performance of the front end and the rear end of the central shaft 40. One or more front air outlets 46 and rear air outlets 47 can be evenly distributed at intervals along the circumference. The cylinder sleeve 41 can be made of two flanges fixedly installed at the front end and the rear end of the connecting sleeve. In order to facilitate the quick connection between the air inlet hole 44, the air outlet hole 45 and the air pipe, air pipe connectors 56 known in the art are installed in both the air inlet hole 44 and the air outlet hole 45.

[0072] During use, when air is ventilated into the air inlet 44, the gas enters the cylinder sleeve 41 in front of the sealing piston 42 through the air inlet 44 and the front air outlet 46. The gas pressure increases (the pressure in the cavity in front of the sealing piston 42 is greater than the pressure in the cavity behind the sealing piston 42), causing the cylinder sleeve 41 to move forward. When the cylinder sleeve 41 moves forward, it drives the lower rocker arm 43 and the first rotating shaft 32 to swing forward, so that the front side of the clamping finger 36 and the rear side of the first positioning gripper 26 are separated from each other, so that the end of the tool 73 to be processed between the clamping finger 36 and the first positioning gripper 26 can be placed in the clamping spindle 8 or the material tray. If the end of the tool 73 to be processed is placed in the clamping spindle 8, after the clamping spindle 8 clamps the tool 73 to be processed, the clamping finger 36 and the first positioning gripper 26 move away from each other and then release the tool 73 to be processed; if the end of the tool 73 to be processed is placed in the first material hole 21 or the material groove 22, after the end of the tool 73 to be processed is inserted into the first material hole 21 or the material groove 22, the clamping finger 36 and the first positioning gripper 26 move away from each other and then release the tool 73 to be processed, the clamping position of the tool 73 to be processed is attached Figure 7 At the position indicated by the lead line of the mark 28 (first step surface), the vertically arranged tool 73 to be processed is clamped by the first step surface 28 , the rear side surface of the first positioning gripper 26 and the inclined surface of the clamping finger 36 .

[0073] When air is ventilated into the air outlet 45, the gas enters the cylinder sleeve 41 behind the sealing piston 42 through the air outlet 45 and the rear air outlet 47. The pressure of the gas increases (the pressure in the cavity in front of the sealing piston 42 is less than the pressure in the cavity behind the sealing piston 42), causing the cylinder sleeve 41 to move backward. When the cylinder sleeve 41 moves backward, it drives the lower rocker arm 43 and the first rotating shaft 32 to swing backward so that the front side of the clamping finger 36 and the rear side of the first positioning gripper 26 are close to each other, so that the clamping finger 36 and the first positioning gripper 26 can clamp and remove the processed tool in the clamping spindle 8.

[0074] When the lower rocker arm 43 is swinging, the front inner wall and the rear inner wall of the lower mounting hole 31 abut against the lower rocker arm 43, so as to limit the lower rocker arm 43 and prevent the lower rocker arm 43 from swinging too much. The movable groove 48 is arranged so that when the lower rocker arm 43 swings, the two movable pins 49 on the left part of the lower rocker arm 43 respectively move in the movable grooves 48 at corresponding positions, so as to avoid the phenomenon that the lower rocker arm 43 swings unsmoothly when the cylinder sleeve 41 moves back and forth. The arrangement of the positioning top screw 50 can, on the one hand, make the first rotating shaft 32 and the lower rocker arm 43 swing synchronously, and on the other hand, can adjust the initial position of the lower rocker arm 43, so as to realize the adjustment of the swing angle of the clamping finger 36, and can realize the clamping operation of various specifications of the processing tools 73, which is convenient to adjust and has a wide range of applications.

[0075] Embodiment 10: As an optimization of the above embodiment, as shown in the attached Figures 1 to 17As shown, in order to improve the protection performance of the material transfer assembly, a feed shell 51 is fixed on the upper left side of the bed 1 and is covered on the outside of the robot arm 4. A feed port 52 connected inside and outside is provided on the left side of the feed shell 51, and a discharge port 53 connected inside and outside is provided on the right side of the feed shell 51. A vertical first door opening guide rail 54 is fixedly installed on the front right side and the rear right side of the feed shell 51 corresponding to the position of the discharge port 53, and a first door opening slider 55 is slidably installed on the outside of each first door opening guide rail 54. A driving cylinder is fixedly installed on the right side of the lower part of the feed shell 51, and a discharge door 57 is fixedly installed on the upper end of the piston rod of the driving cylinder. The front and rear parts of the discharge door 57 are respectively fixedly installed with the first door opening slider 55 at the corresponding position.

[0076] In this way, the discharge door 57 closes the feed port 52 during the process of the robot arm 4 picking up and discharging materials, so that the feed bin inside the feed shell 51 and the processing area of ​​the tool can be isolated, which can prevent the coolant or waste chips in the processing process from being discharged into the feed bin and causing malfunctions of the robot arm 4 and the gripping mechanism, and can protect the equipment and tools in the feed bin and reduce the failure rate.

[0077] A machine cover 58 is provided on the right side of the feed shell 51 and is arranged on the outer side of the front part of the bed 1. An operating channel communicating inside and outside is provided on the front side of the middle part of the machine cover 58. Second door opening guide rails 59 in left and right directions are fixedly installed on the inner side of the lower part and the inner side of the upper part of the machine cover 58. Two second door opening sliders 60 are installed on the outer side of each second door opening guide rail 59 for sliding at intervals on the left and right. A left operating door 61 and a right operating door 62 are provided in the machine cover 58 corresponding to the position of the operating channel. The left operating door 61 is fixedly installed with four second door opening sliders 60 on the left, and the right operating door 62 is fixedly installed with four second door opening sliders 60 on the right. A plurality of first magnets and second magnets that attract each other are fixedly installed on the right side of the left operating door 61 and on the left side of the right operating door 62.

[0078] This can isolate the grinder and tools during the processing and play a protective role, ensuring the safety of equipment and operators. It can also fix the feed shell 51 to prevent coolant or waste chips from being discharged into the external environment during the processing and causing pollution, thereby improving the working environment.

[0079] The above technical features respectively constitute various embodiments of the present invention, which have strong adaptability and implementation effect. Non-essential technical features can be added or reduced according to actual needs to meet the requirements of different situations.

Claims

1. A tool grinder, characterized in that The invention comprises a bed (1), a material transfer assembly, a mounting seat (12), a working turntable (2), a left grinding wheel assembly (14), a right grinding wheel assembly, a support seat (72) and a spare grinding wheel assembly. A first machine tool slide (7) capable of enabling the working turntable (2) to move forward and backward is mounted on the front upper side of the bed (1). A clamping spindle (8) for driving a tool to be processed (73) to rotate is fixedly mounted on the upper side of the working turntable (2). A feeding platform (3) is fixedly mounted on the upper left side of the bed (1). A material transfer assembly capable of clamping the tool to be processed (73) in the clamping spindle (8) or removing the processed tool in the clamping spindle (8) and storing it is provided on the upper left side of the feeding platform (3). A tailstock (9) is slidably mounted on the upper right side of the working turntable (2). A top (10) is fixedly mounted on the left side of the tailstock (9). A second machine tool slide (11) capable of enabling a mounting seat (12) to move up and down and left and right is installed on the upper rear side of the machine tool bed (1), a grinding electric spindle (13) is installed on the lower side of the mounting seat (12), a left grinding wheel assembly (14) and a right grinding wheel assembly having the same structure and being symmetrically arranged are installed on the left and right ends of the grinding electric spindle (13), a rotating mechanism (71) capable of driving a support seat (72) to rotate is installed on the upper right side of the machine tool bed (1) corresponding to the right side of the first machine tool slide (7), a plurality of limiting mechanisms are arranged at intervals along the circumference of the upper side of the support seat (72), at least one of the limiting mechanisms having a spare grinding wheel assembly installed therein, and after the support seat (72) rotates a certain angle, the right grinding wheel assembly can be installed in the limiting mechanism, or the spare grinding wheel assembly can be installed together with the right end of the grinding electric spindle (13).

2. The tool grinder according to claim 1, characterized in that The material transfer assembly comprises a mechanical arm (4), a material grabbing mechanism, a first material tray (5), a second material tray and a first drive assembly. The mechanical arm (4) is fixedly mounted on the upper right side of the feeding platform (3), the material grabbing mechanism is fixedly mounted on the end of the mechanical arm (4), a plurality of first material trays (5) are installed at intervals on the upper left side of the feeding platform (3), a detection frame (6) is slidably mounted in the middle of the feeding platform (3), at least one second material tray is installed at intervals in the detection frame (6), and a first drive assembly capable of moving the detection frame (6) forward and backward is provided at the rear of the feeding platform (3).

3. The tool grinder according to claim 1 or 2, characterized in that The right grinding wheel assembly comprises a first grinding wheel shaft (65), a first grinding wheel (66), a first cooling mechanism, a first cooling pipe (68) and a second cooling pipe (69); the first grinding wheel shaft (65) is installed on the right end of the grinding electric spindle (13); at least one first grinding wheel (66) is fixedly installed at intervals from left to right on the outer side of the first grinding wheel shaft (65); a positioning seat (67) is fixedly installed on the right side of the mounting seat (12) corresponding to the upper position of the first grinding wheel shaft (65); a fixed cylinder (74) is installed on the positioning seat (67); a first cooling mechanism is installed on the lower side of the positioning seat (67) and the upper side of the middle part is installed together with the fixed cylinder (74); a first cooling pipe (68) and a second cooling pipe (69) are arranged in the mounting seat (12) at intervals, and the lower end of the first cooling pipe is connected to the inside of the first cooling mechanism.

4. The tool grinder according to claim 3, characterized in that The first cooling mechanism comprises a first cooling module (75) and a first support plate (92). The first support plate (92) is fixedly mounted on the lower left end of the first cooling module (75). The front and rear sides of the first support plate (92) are provided with slots (93) that penetrate from top to bottom. The cross section of the slots (93) is trapezoidal in shape, wide outside and narrow inside. The upper side of the first cooling module (75) is mounted together with the lower end of the piston rod of the fixed cylinder (74). The left side of the first cooling module (75) is provided with a first cooling groove (76) and a second cooling groove (77) at intervals in front and back. The front side of the first cooling module (75) corresponding to each position of the first grinding wheel (66) is provided with a rear portion and a A first cooling hole (78) connected to the first cooling groove (76), a first adjusting nozzle is fixedly installed in the first cooling hole (78), a second cooling hole (79) connected to the front of the second cooling groove (77) is provided on the rear side of the first cooling module (75) corresponding to each first grinding wheel (66) position, a second adjusting nozzle is fixedly installed in the second cooling hole (79), a first cooling pipe (68) with a right end sealed and inserted in the first cooling groove (76) is fixedly installed on the inner side of the front part of the mounting seat (12), and a second cooling pipe (69) with a right end sealed and inserted in the second cooling groove (77) is fixedly installed on the inner side of the rear part of the mounting seat (12).

5. The tool grinder according to claim 4, characterized in that The first cooling mechanism also includes a guide block (80), a guide rod (81) and a positioning block (84); a first guide groove (82) opening to the left is provided on the upper side of the first cooling module (75); a guide hole (83) extending from left to right is provided on the right side of the first cooling module (75) corresponding to the position of the first guide groove (82); a guide block (80) is fixedly installed on the right side of the positioning seat (67); the lower part of the guide block (80) is slidably installed in the first guide groove (82); a guide rod (81) with its right end sleeved in the guide hole (83) is fixedly installed on the lower part of the guide block (80); a positioning groove (85) extending from front to back is provided on the upper middle part of the first cooling module (75) corresponding to the position to the left of the guide block (80); a positioning block (84) is installed in the positioning groove (85) whose upper side is fixedly installed with the lower end of the piston rod of the fixed cylinder (74).

6. The tool grinder according to claim 5, characterized in that The limiting mechanism comprises a limiting plate (88), a first clamping plate (89), a second clamping plate (90) and an elastic tool changing clamp (91); a plurality of limiting grooves opening outward are evenly distributed along the circumference of the upper side of the support seat (72); a limiting plate (88) is fixedly installed in each limiting groove; the side surface of each limiting plate (88) can be perpendicular to the central axis of the grinding electric spindle (13) after rotating with the support seat (72); the spare grinding wheel assembly comprises a second grinding wheel shaft (94), a second grinding wheel (95) and a second cooling mechanism (70); a first clamping plate (89) and a second clamping plate (90) are fixedly installed on the upper side of the limiting plate (88) along the width direction; and a first clamping plate (89) and a second clamping plate (90) are fixed on the side where the upper ends of the first clamping plate (89) and the second clamping plate (90) are close to each other. The limit blocks (87) have a trapezoidal cross section, and the thickness of the two limit blocks (87) gradually increases in the direction away from each other. An elastic tool change clamp (91) is fixedly installed on the side of the limit plate (88) corresponding to the position between the first clamp plate (89) and the second clamp plate (90). The upper end of the elastic tool change clamp (91) has an arc-shaped clamping groove (86) opening upward. The outer side of the first end of the second grinding wheel shaft (94) is tightly fitted in the clamping groove (86). At least one second grinding wheel (95) is fixedly installed at the second end of the second grinding wheel shaft (94) along the axis at intervals. A second cooling mechanism (70) identical to the first cooling mechanism is inserted between the first clamp plate (89) and the second clamp plate (90) corresponding to the position above the elastic tool change clamp (91).

7. The tool grinder according to claim 2, 4, 5 or 6, characterized in that The second material tray comprises a fixed plate (15), a lower material plate (16) and a loading plate (17) which are arranged at intervals from bottom to top. The lower side of the fixed plate (15) is fixedly mounted on the detection frame (6). A corresponding lower spacer (19) and an upper spacer (18) are arranged at intervals along the circumferential direction between the upper side of the fixed plate (15) and the lower side of the lower material plate (16), and between the upper side of the lower material plate (16) and the lower side of the loading plate (17). The upper side of the loading plate (17) is provided with a lower end which passes through the upper spacer (18) and the lower spacer (19) in sequence and is then fixedly mounted on the fixed plate (15). The upper side of the loading plate (17) is provided with a plurality of first material holes (21) which are connected vertically and are discretely distributed, and the upper side of the unloading plate (16) corresponding to the position of each first material hole (21) is provided with a second material hole which is connected vertically and is provided, and the first driving component includes a linear module (63), a front-to-back linear module (63) is fixedly installed in the middle of the feeding platform (3), the lower side of the detection frame (6) is fixedly installed on the upper side of the slider of the linear module (63), and a driving motor (64) for driving the slider to move forward and backward is provided at the rear end of the linear module (63).

8. The tool grinder according to claim 3, characterized in that The second material tray comprises a fixed plate (15), a lower material plate (16) and a loading plate (17) which are arranged at intervals from bottom to top. The lower side of the fixed plate (15) is fixedly mounted on the detection frame (6). A corresponding lower spacer (19) and an upper spacer (18) are arranged at intervals along the circumferential direction between the upper side of the fixed plate (15) and the lower side of the lower material plate (16), and between the upper side of the lower material plate (16) and the lower side of the loading plate (17). The upper side of the loading plate (17) is provided with a lower end which passes through the upper spacer (18) and the lower spacer (19) in sequence and is then fixedly mounted on the fixed plate (15). The upper side of the loading plate (17) is provided with a plurality of first material holes (21) which are connected vertically and are discretely distributed, and the upper side of the unloading plate (16) corresponding to the position of each first material hole (21) is provided with a second material hole which is connected vertically and is provided, and the first driving component includes a linear module (63), a front-to-back linear module (63) is fixedly installed in the middle of the feeding platform (3), the lower side of the detection frame (6) is fixedly installed on the upper side of the slider of the linear module (63), and a driving motor (64) for driving the slider to move forward and backward is provided at the rear end of the linear module (63).

9. The tool grinder according to claim 1 or 2 or 4 or 5 or 6 or 8, characterized in that The material grasping mechanism includes a connecting flange (23), a first positioning gripper (26), a second positioning gripper (27), a first driven gripper, a second driven gripper (37), an upper swing assembly (38) and a lower swing assembly. The upper end of the connecting flange (23) is fixedly installed with the end of the robotic arm (4). The lower end of the connecting flange (23) is fixedly installed with a first connecting block (24). The lower part of the first connecting block (24) is fixedly installed with a U-shaped fixed seat (25) with an opening to the left. The lower end of the fixed seat (25) is fixedly installed with the first positioning gripper (26) and the second positioning gripper (27) at intervals in the front and back. The second positioning gripper (27) and the first positioning gripper (26) have the same structure and are symmetrically distributed. On the right side of the rear part of the first positioning gripper (26), two first stepped surfaces (28) are arranged at intervals from right to left. The front side and the rear side of each first stepped surface (28) are provided with first chamfers (29). On the right side of the fixed seat (25) corresponding to the position between the first positioning gripper (26) and the second positioning gripper (27), a lower mounting hole (31) and an upper mounting hole (30) that penetrate from left to right are arranged at intervals from bottom to top. A first rotating shaft (32) with its lower end passing through the lower side of the fixed seat (25) is rotatably installed on the inner wall of the lower mounting hole (31). The lower end of the first rotating shaft (32) is installed with a first driven gripper. The first driven gripper includes a mounting block (34), a second connecting block (35) and a clamping finger (36). The lower end of the first rotating shaft (32) and the left part of the mounting block (34) are fixedly installed together. The rear right side of the mounting block (34) corresponding to the position between the two first stepped surfaces (28) is fixed with a second connecting block (35). The right side of the second connecting block (35) is fixed with a clamping finger (36). The left part of the clamping finger (36) is inclined backward relative to the right part. A second rotating shaft (33) with its lower end rotatably fixed to the lower side of the fixed seat (25) is rotatably installed on the inner wall of the upper mounting hole (30). The lower end of the second rotating shaft (33) is fixedly installed with a second driven gripper (37) having the same structure as the first driven gripper. The upper swing assembly (38) and the lower swing assembly with the same structure are installed at intervals up and down in the fixed seat (25). The lower swing assembly can drive the first rotating shaft (32) to rotate so that the front side of the clamping finger (36) and the rear side of the first positioning gripper (26) approach or move away from each other. The upper swing assembly (38) can drive the second rotating shaft (33) to rotate so that the rear side of the second driven gripper (37) and the front side of the second positioning gripper (27) move away from or approach each other.

10. The tool grinder according to claim 9, characterized in that The lower swing assembly comprises a central shaft (40), a cylinder sleeve (41), a sealing piston (42) and a lower rocker arm (43); a front-to-back hollow central shaft (40) is fixedly mounted on the inner side of the lower portion of the fixing seat (25); an air inlet (44) is provided on the left side of the front portion of the fixing seat (25); the other end of the air inlet (44) is communicated with the front end of the central shaft (40); an air outlet (45) is provided on the left side of the rear portion of the fixing seat (25); the other end of the air outlet (45) is communicated with the rear end of the central shaft (40); and a cylinder sleeve (41) is provided on the outer sealing sleeve of the central shaft (40). A front air outlet (46) and a rear air outlet (47) are provided at intervals in front and rear of the central axis (40) at the inner side of the cylinder sleeve (41), and the front air outlet (46) and the rear air outlet (47) are connected to each other. A sealing column (39) is fixedly installed on the inner side of the central axis (40) at the position between the front air outlet (46) and the rear air outlet (47). A sealing piston (42) is fixedly installed on the outer side of the central axis (40) at the position between the front air outlet (46) and the rear air outlet (47). The outer side of the sealing piston (42) is in sealing contact with the inner side of the cylinder sleeve (41). The lower rocker arm (43) is open to the left. The lower right side and the upper right side of the cylinder sleeve (41) are provided with oblong movable grooves (48) symmetrical in the upper and lower parts, each movable groove (48) is provided with a movable pin (49), each movable pin (49) is fixedly installed with the corresponding position of the left part of the lower rocker arm (43), the lower right side of the lower rocker arm (43) is provided with a rotating hole that passes through the upper and lower parts, the upper outer side of the first rotating shaft (32) is rotatably installed in the rotating hole, and at least one positioning screw hole is provided at intervals in the upper and lower parts of the right side of the lower rocker arm (43), and each positioning screw hole is screwed with a left end that is connected to the right outer side of the first rotating shaft (32). The cylinder sleeve (41) is moved forward by the intake of air into the air inlet hole (44). When the cylinder sleeve (41) moves forward, the lower rocker arm (43) and the first rotating shaft (32) are driven to swing so that the front side of the clamping finger (36) and the rear side of the first positioning gripper (26) move away from each other. When air is taken into the air outlet hole (45), the cylinder sleeve (41) is moved backward. When the cylinder sleeve (41) moves backward, the lower rocker arm (43) and the first rotating shaft (32) are driven to swing so that the front side of the clamping finger (36) and the rear side of the first positioning gripper (26) move toward each other.

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