A transfer robot for high-precision CBN grinding wheels

Abstract

The invention discloses a transfer robot for high-precision CBN grinding wheels, which relates to the technical field of grinding wheel production. The robot comprises a main frame: a robot arm arranged on the main frame, on which a mounting platform is fixedly installed; a blocking mechanism comprises a plurality of connecting rods installed on the mounting platform, a curved inclined surface block is fixedly installed on the surface of each connecting rod, a limit stopper is fixedly installed on the surface of the curved inclined surface block, and a plurality of rotating balls are rotatably installed on the surface of the limit stopper; a moving mechanism drives the blocking mechanism to limit the grinding wheel through the movement and extrusion of a feedback mechanism; the connecting rod is driven to rotate through the action of the rotating mechanism, and then the curved inclined surface block and the limit stopper are driven to rotate synchronously, and when the rotation is 180 degrees, the limit stopper no longer limits the grinding wheel, and at this time the grinding wheel slowly slides down on the inclined surface of the curved inclined surface block and separates from the curved inclined surface block and falls into a packaging box, thereby achieving the purpose of fast and stable transfer and unloading of a plurality of grinding wheels.

Description

Technical Field

[0001] The invention relates to the technical field of grinding wheel production, and in particular to a transfer manipulator for high-precision CBN grinding wheels. Background Art

[0002] At present, with the development of science and technology, robots have begun to enter factories. By cooperating with fixtures to complete the assembly of some parts, it reduces the input of manpower and improves the efficiency of factory production. The use of robots has improved the intelligence of production lines, especially for the production and processing of some finished precision parts. For example, high-precision CBN grinding wheels are gradually being used in the production process.

[0003] At present, when the CBN manipulator completes manufacturing and packaging, the grinding wheel needs to be placed in a packaging box for packaging. The efficiency of manual packaging in the traditional packaging process is very low. At the same time, if an operational error occurs during manual picking, the grinding wheel will fall and be damaged, seriously affecting the packaging efficiency. At the same time, the existing auxiliary packaging equipment only transports and packages a single grinding wheel, and the grasping stability is poor, which seriously affects the packaging efficiency.

[0004] Based on this, the present invention designs a transfer robot for high-precision CBN grinding wheels to solve the above problems. Summary of the invention

[0005] The purpose of the embodiments of the present invention is to provide a transfer robot for high-precision CBN grinding wheels, aiming to solve the technical problems existing in the prior art mentioned in the background technology.

[0006] The embodiment of the present invention is implemented as follows: a transfer manipulator for a high-precision CBN grinding wheel, the manipulator comprising:

[0007] Main frame: including a mechanical arm arranged on the main frame, on which a mounting platform is fixedly mounted;

[0008] The blocking mechanism comprises a plurality of connecting rods mounted on the mounting platform, each connecting rod having an arc-shaped inclined surface block fixedly mounted on its surface, a limit stopper fixedly mounted on its surface, and a plurality of rotating balls rotatably mounted on the surface of the limit stopper;

[0009] Moving mechanism: The movement and extrusion of the feedback mechanism drives the blocking mechanism to limit the grinding wheel;

[0010] Rotating mechanism: used to drive the blocking mechanism to rotate;

[0011] Gravity device: used to support the grinding wheel.

[0012] Furthermore, the moving mechanism includes a linkage slider rotatably connected to the connecting rod, the surface of the linkage slider is rotatably connected to a swing rod, one end of the swing rod away from the linkage slider is rotatably connected to the surface of the moving slider, an L-shaped rod is fixedly installed on the surface of the moving slider, and a tension spring is fixedly installed on the surface of the L-shaped rod.

[0013] Furthermore, the rotating mechanism includes a first bevel gear group slidingly connected to the connecting rod, a driven hemispherical gear is fixedly installed on the other end of the first bevel gear group, an active hemispherical gear matching with the driven hemispherical gear passes through the mounting platform, and the active hemispherical gear is rotatably connected to the mounting platform, a second bevel gear group is fixedly installed on the surface of the active hemispherical gear, the other ends of multiple second bevel gear groups are fixedly installed on the output end of the driving motor, the output end of the driving motor passes through the mounting platform and is rotatably connected to the mounting platform, and the driving motor is fixedly installed on the surface of the mounting platform.

[0014] Furthermore, the manipulator also includes a reset mechanism, which includes a reset drum fixedly mounted on the driven hemispherical gear, a circular slide and a spiral slide fixedly mounted on the surface of the reset drum, and the circular slide and the spiral slide are connected, a linkage rod fixedly mounted on the surface of the L-shaped rod, and a thrust rod fixedly mounted on the other end of the linkage rod.

[0015] Furthermore, the feedback mechanism includes a plurality of reverse thrust blocks mounted on a mounting platform, and two feedback connecting rods are rotatably mounted on the surface of each reverse thrust block, and one end of each feedback connecting rod away from the reverse thrust block is rotatably connected to a feedback slider, a compression spring is fixedly mounted on the surface of the feedback slider, and a linkage slide plate matching the L-shaped rod is fixedly mounted on the surface of the reverse thrust block.

[0016] Furthermore, the gravity device includes an oscillating table rotatably mounted on the mounting table, two connecting ropes are fixedly mounted on the surface of the oscillating table, the surface of each connecting rope is in contact with the rotating wheel, the rotating wheel is rotatably connected to the surface of the mounting table, the end of the connecting rope away from the oscillating table passes through the triangular block and is slidably connected to the triangular block, the triangular block is fixedly mounted on the surface of the mounting table, the end of the connecting rope away from the oscillating table is connected to the gravity ball, the gravity ball is connected to the triangular block through a buffer spring, a plurality of rotating cylinders are rotatably mounted on the oscillating table, the surface of the oscillating table is in contact with two limiting cylinders The movable slider is connected to the inner wall of the arc groove block in a sliding manner, the L-shaped rod passes through the arc groove block and is connected to the arc groove block in a sliding manner, the end of the tension spring away from the L-shaped rod is connected to the arc groove block, the first bevel gear set passes through the arc groove block and is connected to the arc groove block in rotation, the driven hemispherical gear passes through the arc groove block and is connected to the arc groove block in rotation, the feedback slider is connected to the arc groove block in a sliding manner, the end of the compression spring away from the feedback slider is connected to the arc groove block, and the linkage slider is connected to the surface of the arc groove block in a sliding manner.

[0017] Furthermore, a ball is provided at the mating end of the thrust rod, the circular slideway and the spiral slideway.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] 1. The present invention uses gravity to squeeze the feedback mechanism during the movement of the grinding wheel, thereby driving the feedback mechanism to move obliquely to the upper right. At this time, the feedback mechanism drives the moving mechanism to move through its own toggling action, and then drives the connecting rod to move obliquely to the upper right. At this time, the arc-shaped inclined surface block is located at the center of the grinding wheel, and after each grinding wheel falls into the gravity device, the robot arm moves the next gravity device to the conveyor line position under the action of the program, thereby achieving the purpose of transporting multiple grinding wheels at the same time.

[0020] 2. The present invention drives the connecting rod to rotate through the action of the rotating mechanism, and then drives the arc-shaped inclined plane block and the limit block to rotate synchronously. When rotating one hundred and eighty degrees, the limit block no longer restricts the grinding wheel. At this time, the grinding wheel slowly slides on the inclined plane of the arc-shaped inclined plane block and separates from the arc-shaped inclined plane block and falls into the packaging box, thereby achieving the purpose of fast and stable transportation and unloading of multiple grinding wheels. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 A schematic structural diagram of a transfer robot for a high-precision CBN grinding wheel provided in an embodiment of the present invention;

[0022] Figure 2 It is a structural schematic diagram of another perspective of a transfer robot for high-precision CBN grinding wheels of the present invention;

[0023] Figure 3 For the present invention Figure 1 A schematic cross-sectional structure diagram of ;

[0024] Figure 4 For the present invention Figure 3 A schematic diagram of the enlarged structure at point A;

[0025] Figure 5 For the present invention Figure 1 Another schematic diagram of a truncated structure of ;

[0026] Figure 6 For the present invention Figure 5 A schematic diagram of the enlarged structure at B;

[0027] Figure 7 For the present invention Figure 6 A schematic diagram of the enlarged structure at C;

[0028] Figure 8 For the present invention Figure 3 Another perspective structural diagram of;

[0029] Fig. 9 For the present invention Figure 8 Enlarged structural diagram at D.

[0030] In the attached drawings: 1, main frame; 101, mechanical arm; 102, mounting platform; 2, blocking mechanism; 201, connecting rod; 202, arc-shaped inclined surface block; 203, limit stopper; 204, rotating ball; 3, moving mechanism; 301, linkage slider; 302, swing rod; 303, moving slider; 304, L-shaped rod; 305, tension spring; 4, rotating mechanism; 401, first bevel gear set; 402, driven hemispherical gear; 403, driving hemispherical gear; 404, second bevel gear set; 405, driving motor; 5, complex Positioning mechanism; 501, reset drum; 502, circular slide; 503, spiral slide; 504, thrust rod; 505, linkage rod; 6, feedback mechanism; 601, reverse thrust block; 602, feedback connecting rod; 603, feedback slider; 604, compression spring; 605, linkage slide; 7, gravity device; 701, swing table; 702, connecting rope; 703, rotating wheel; 704, gravity ball; 705, buffer spring; 706, rotating drum; 707, arc groove block; 708, limiting cylinder; 709, triangular block. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0032] It can be understood that the terms "first", "second", etc. used in the present application can be used in this article to describe various elements, but unless otherwise specified, these elements are not limited by these terms. These terms are only used to distinguish the first element from another element.

[0033] like Figure 1 , Figure 2 , Figure 3 , Figure 6 , Figure 7 , Figure 8 and Fig. 9 As shown, in one embodiment, a transfer robot for a high-precision CBN grinding wheel is proposed, the robot comprising:

[0034] The main frame 1 includes a mechanical arm 101 disposed on the main frame 1, and a mounting platform 102 is fixedly mounted on the mechanical arm 101;

[0035] Blocking mechanism 2: comprises a plurality of connecting rods 201 mounted on the mounting platform 102, each connecting rod 201 has a curved inclined surface block 202 fixedly mounted on its surface, a limited stopper 203 fixedly mounted on its surface, and a plurality of rotating balls 204 rotatably mounted on the surface of the limited stopper 203;

[0036] Moving mechanism 3: drives the blocking mechanism 2 to limit the grinding wheel through the movement and extrusion of the feedback mechanism 6;

[0037] Rotating mechanism 4: used to drive the blocking mechanism 2 to rotate;

[0038] Gravity device 7: used for supporting the grinding wheel.

[0039] In actual application of the embodiment of the present invention, when the grinding wheel is packaged, the grinding wheel transmitted by the conveyor line falls from the conveyor line onto the gravity device 7, such as Figure 3 As shown, due to the tilted state of the gravity device 7, the grinding wheel falls on the bottom of the gravity device 7, as shown in FIG. Figure 8 and Fig. 9 As shown, from Fig. 9 From the front view, the grinding wheel squeezes the feedback mechanism 6 by gravity during the movement, thereby driving the feedback mechanism 6 to move diagonally upward to the right. At this time, the feedback mechanism 6 drives the moving mechanism 3 to move by its own toggling action, such as Figure 6 and Figure 7 As shown, from Figure 7From the front view direction, the connecting rod 201 is driven to move obliquely to the upper right. At this time, the arc-shaped inclined plane block 202 is located at the center of the grinding wheel. After each grinding wheel falls into the gravity device 7, the robot arm 101 makes the next gravity device 7 move to the conveyor line position under the action of the program, so as to achieve the purpose of transporting multiple grinding wheels at the same time. When multiple gravity devices 7 complete the loading of the grinding wheels, the robot arm 101 drives the mounting table 102 to move parallel to the top of the packaging box under the action of the program. It should be noted here that the packaging box has been accurately positioned under the action of external equipment. At this time, the robot arm 101 drives the mounting table 102 to rotate 180 degrees under the action of the program, and at the same time moves vertically downward to approach the packaging box. When it moves to the horizontal direction, this At this time, the gravity device 7 is in a vertical downward state under the action of its own gravity, the grinding wheel is suspended on the connecting rod 201 and is limited by the limit block 203. When it moves to the top of the packaging box, the connecting rod 201 is driven to rotate under the action of the rotating mechanism 4, and then the arc-shaped inclined plane block 202 and the limit block 203 are driven to rotate synchronously. The rotating ball 204 is used to rotate on the surface of the grinding wheel when the limit block 203 rotates, so as to avoid scratches on the grinding wheel surface caused by hard contact. When it rotates one hundred and eighty degrees, the limit block 203 no longer restricts the grinding wheel. At this time, the grinding wheel slowly slides on the inclined surface of the arc-shaped inclined plane block 202 and separates from the arc-shaped inclined plane block 202, and falls into the packaging box, thereby achieving the purpose of fast and stable transportation and unloading of multiple grinding wheels.

[0040] like Figure 6 and Fig. 9 As shown, as a preferred embodiment of the present invention, the moving mechanism 3 includes a linkage slider 301 rotatably connected to the connecting rod 201, the surface of the linkage slider 301 is rotatably connected to a swing rod 302, the end of the swing rod 302 away from the linkage slider 301 is rotatably connected to the surface of a moving slider 303, an L-shaped rod 304 is fixedly installed on the surface of the moving slider 303, and a tension spring 305 is fixedly installed on the surface of the L-shaped rod 304.

[0041] In practical application, the embodiment of the present invention is as follows: Fig. 9 As shown, from Fig. 9 When the feedback mechanism 6 is squeezed by the grinding wheel and moves, the feedback mechanism 6 is moved and pushes the L-shaped rod 304 to move obliquely to the upper right, such as Figure 6 As shown, from Figure 6 When viewed from the front, the movement of the L-shaped rod 304 drives the movable slider 303 to move obliquely to the lower right, and then drives the linkage slider 301 to move obliquely to the upper right through the swing rod 302. The linkage slider 301 drives the connecting rod 201 to move obliquely to the upper right, so that the arc-shaped inclined surface block 202 moves to the center position of the grinding wheel, thereby achieving the purpose of limiting the grinding wheel by the arc-shaped inclined surface block 202 and the limit block 203 in the later stage.

[0042] like Figure 5 and Figure 6 As shown, as another preferred embodiment of the present invention, the rotating mechanism 4 includes a first bevel gear set 401 slidably connected to the connecting rod 201, a driven hemispherical gear 402 is fixedly installed on the other end of the first bevel gear set 401, a driving hemispherical gear 403 matching the driven hemispherical gear 402 is passed through the mounting platform 102, and the driving hemispherical gear 403 is rotatably connected to the mounting platform 102, a second bevel gear set 404 is fixedly installed on the surface of the driving hemispherical gear 403, the other ends of the plurality of second bevel gear sets 404 are fixedly installed on the output end of a driving motor 405, the output end of the driving motor 405 passes through the mounting platform 102 and is rotatably connected to the mounting platform 102, and the driving motor 405 is fixedly installed on the surface of the mounting platform 102.

[0043] In actual application of the embodiment of the present invention, when the mechanical arm 101 drives the mounting platform 102 to rotate 180 degrees, the gravity device 7 is made to move vertically downward under the action of its own gravity, thereby driving the driven hemispherical gear 402 to mesh with the active hemispherical gear 403. When the mechanical arm 101 drives the gravity device 7 to approach the packaging box, as shown in FIG. Figure 5 and Figure 6 As shown, at this time, the driving motor 405 starts to run, and the operation of the driving motor 405 drives the first bevel gear set 401 to rotate through the meshing action of the bevel gear set and the gears. The rotation of the first bevel gear set 401 drives the connecting rod 201 to rotate, and then drives the limit block 203 and the rotating ball 204 to rotate, thereby achieving the purpose of stable feeding of the grinding wheel.

[0044] like Figure 4 As shown, as another preferred embodiment of the present invention, the manipulator also includes a reset mechanism 5, the reset mechanism 5 includes a reset drum 501 fixedly mounted on the driven hemispherical gear 402, a circular slide 502 and a spiral slide 503 are fixedly mounted on the surface of the reset drum 501, and the circular slide 502 and the spiral slide 503 are connected, a linkage rod 505 is fixedly mounted on the surface of the L-shaped rod 304, and a thrust rod 504 is fixedly mounted on the other end of the linkage rod 505.

[0045] In practical application, the embodiment of the present invention is as follows: Figure 4 As shown, from Figure 4As viewed from the front, the moving mechanism 3 drives the linkage rod 505 to move rightward during the movement, thereby driving the thrust rod 504 to contact the circular slide 502. When the grinding wheel is transported and unloaded under the action of the rotating mechanism 4, the continued rotation of the rotating mechanism 4 drives the reset drum 501 to rotate synchronously. The rotation of the reset drum 501 causes the thrust rod 504 to rotate from the circular slide 502 to the spiral slide 503. As the spiral slide 503 rotates, the thrust rod 504 is driven through the trajectory of the spiral slide 503. Move to the left. It should be noted here that the spiral angle of the spiral slide 503 is less than one hundred and eighty degrees, so as to avoid interference with the state of the moving mechanism 3 when the blocking mechanism 2 is driven to rotate by the rotating mechanism 4, and also avoid the thrust rod 504 being blocked by the spiral slide 503 when moving to the right. At this time, the moving mechanism 3 is driven to move to the left by the linkage rod 505, and the feedback mechanism 6 is squeezed by the moving mechanism 3 to move in the opposite direction, so that the feedback mechanism 6 is moved again to complete the reset, thereby achieving the purpose of automatically circulating the grinding wheel.

[0046] like Figure 8 and Fig. 9 As shown, as another preferred embodiment of the present invention, the feedback mechanism 6 includes a plurality of reverse thrust blocks 601 mounted on the mounting platform 102, and two feedback connecting rods 602 are rotatably mounted on the surface of each reverse thrust block 601, and one end of each feedback connecting rod 602 away from the reverse thrust block 601 is rotatably connected to a feedback slider 603, a compression spring 604 is fixedly mounted on the surface of the feedback slider 603, and a linkage slide 605 matching the L-shaped rod 304 is fixedly mounted on the surface of the reverse thrust block 601.

[0047] In practical application of the embodiment of the present invention, when the grinding wheel moves onto the gravity device 7, as shown in FIG. Figure 8 and Fig. 9 As shown, from Fig. 9 When viewed from the front, due to the tilting effect of the gravity device 7, the grinding wheel squeezes the reverse push block 601. After being squeezed, the reverse push block 601 moves obliquely to the upper right, driving the feedback link 602 to swing. The swing of the feedback link 602 drives the feedback slider 603 to slide on the gravity device 7. At the same time, the feedback slider 603 moves to compress the compression spring 604. When the two feedback links 602 swing to the same straight line, the continued movement of the reverse push block 601 causes the feedback link 602 to swing instantaneously. The elastic potential energy of the compression spring 604 drives the reverse push block 601 to move rapidly obliquely to the upper right, thereby pushing the moving mechanism 3 to move. The movement of the moving mechanism 3 drives the arc-shaped inclined surface block 202 to move to the center position of the grinding wheel, thereby achieving the purpose of limiting the grinding wheel through gravity.

[0048] like Figure 3As shown, as another preferred embodiment of the present invention, the gravity device 7 includes a swinging table 701 rotatably mounted on the mounting table 102, two connecting ropes 702 are fixedly mounted on the surface of the swinging table 701, and the surface of each connecting rope 702 is in contact with a rotating wheel 703, and the rotating wheel 703 is rotatably connected to the surface of the mounting table 102, and one end of the connecting rope 702 away from the swinging table 701 passes through a triangular block 709 and is slidably connected to the triangular block 709, and the triangular block 709 is fixedly mounted on the surface of the mounting table 102, and one end of the connecting rope 702 away from the swinging table 701 is connected to a gravity ball 704, and the gravity ball 704 is connected to the triangular block 709 through a buffer spring 705. A plurality of rotating cylinders 706 are rotatably mounted on the swinging table 701, and the surface of the swinging table 701 is in contact with two limiting springs. The limiting cylinder 708 is in contact with each other, and each limiting cylinder 708 is fixedly mounted on the mounting table 102. The linkage slider 301 and the movable slider 303 are both slidably connected to the inner wall of the arc groove block 707. The L-shaped rod 304 passes through the arc groove block 707 and is slidably connected to the arc groove block 707. The end of the tension spring 305 away from the L-shaped rod 304 is connected to the arc groove block 707. The first bevel gear set 401 passes through the arc groove block 707 and is rotatably connected to the arc groove block 707. The driven hemispherical gear 402 passes through the arc groove block 707 and is rotatably connected to the arc groove block 707. The feedback slider 603 is slidably connected to the arc groove block 707. The end of the compression spring 604 away from the feedback slider 603 is connected to the arc groove block 707. The linkage slider 605 is slidably connected to the surface of the arc groove block 707.

[0049] In practical application, the embodiment of the present invention is as follows: Figure 3 As shown, when the grinding wheel is transported, after the grinding wheel moves to the rotating cylinder 706 through the transmission line, the grinding wheel slides along the rotating cylinder 706 to the position of the arc groove block 707 through the tilting effect of the swing table 701. At this time, the grinding wheel extrusion feedback mechanism 6 moves, and the blocking mechanism 2 is driven by the moving mechanism 3 to limit the grinding wheel. After the limiting effect of multiple grinding wheels is completed, the mounting table 102 is driven to translate through the mechanical arm 101. After the translation is completed, the mounting table 102 is driven to rotate. At this time, in the process of rotating to the horizontal level of the mounting table 102, due to the previous swing table 701 through the gravity ball 7 04 is tilted by the gravity of the gravity ball 704, at this time, the gravity of the gravity ball 704 is weakened, and when the mounting table 102 is horizontal, the gravity ball 704 reversely squeezes the buffer spring 705 along the triangular block 709, and the buffer spring 705 is used to reduce the movement amplitude of the gravity ball 704, so as to ensure the stability of the movement. At this time, the swing table 701 is made vertically downward by connecting the pull rope 702, so as to achieve the purpose of facilitating the vertical unloading of the grinding wheel. After the unloading is completed, the robot arm 101 drives the mounting table 102 to rotate in the opposite direction and reset again, and drives the swing table 701 to reset under the gravity of the gravity ball 704.

[0050] like Figure 4 As shown, as another preferred embodiment of the present invention, the mating ends of the thrust rod 504, the circular slide 502 and the spiral slide 503 are provided with balls.

[0051] In practical application, the embodiment of the present invention is as follows: Figure 4 As shown, by means of the round ball arranged on the thrust rod 504, the sliding friction between the thrust rod 504 and the circular slideway 502 and the spiral slideway 503 is converted into rolling friction, thereby increasing the service life of the device.

[0052] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0053] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

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

Claims

1. A transfer manipulator for high-precision CBN grinding wheels, characterized in that: The manipulator comprises: The main frame (1) comprises a mechanical arm (101) arranged on the main frame (1), and a mounting platform (102) is fixedly mounted on the mechanical arm (101); The blocking mechanism (2) comprises a plurality of connecting rods (201) mounted on the mounting platform (102), each connecting rod (201) having a curved inclined surface block (202) fixedly mounted on its surface, a limited stopper (203) fixedly mounted on its surface, and a plurality of rotating balls (204) rotatably mounted on the surface of the limited stopper (203); Moving mechanism (3): driving the blocking mechanism (2) to limit the grinding wheel through the movement and extrusion of the feedback mechanism (6); Rotating mechanism (4): used to drive the blocking mechanism (2) to rotate; Gravity device (7): used to support the grinding wheel; The gravity device (7) comprises an oscillating table (701) rotatably mounted on a mounting table (102); two connecting ropes (702) are fixedly mounted on the surface of the oscillating table (701); the surface of each connecting rope (702) is in contact with a rotating wheel (703); the rotating wheel (703) is rotatably connected to the surface of the mounting table (102); one end of the connecting rope (702) away from the oscillating table (701) passes through a triangular block (709) and is slidably connected to the triangular block (709); the triangular block ( 709) is fixedly mounted on the surface of the mounting platform (102), one end of the connecting rope (702) away from the swing platform (701) is connected to the gravity ball (704), the gravity ball (704) is connected to the triangular block (709) through a buffer spring (705), a plurality of rotating cylinders (706) are rotatably mounted on the swing platform (701), the surface of the swing platform (701) is in contact with two limiting cylinders (708), and each limiting cylinder (708) is fixedly mounted on the mounting platform (102).

2. A transfer robot for high-precision CBN grinding wheels according to claim 1, characterized in that: The moving mechanism (3) comprises a linkage slider (301) rotatably connected to the connecting rod (201); a swing rod (302) is rotatably connected to the surface of the linkage slider (301); an end of the swing rod (302) away from the linkage slider (301) is rotatably connected to the surface of a moving slider (303); an L-shaped rod (304) is fixedly mounted on the surface of the moving slider (303); and a tension spring (305) is fixedly mounted on the surface of the L-shaped rod (304).

3. A transfer robot for high-precision CBN grinding wheels according to claim 2, characterized in that: The rotating mechanism (4) comprises a first bevel gear set (401) slidably connected to the connecting rod (201); a driven hemispherical gear (402) is fixedly mounted on the other end of the first bevel gear set (401); a driving hemispherical gear (403) matching with the driven hemispherical gear (402) is passed through the mounting platform (102); the driving hemispherical gear (403) is rotationally connected to the mounting platform (102); a second bevel gear set (404) is fixedly mounted on the surface of the driving hemispherical gear (403); the other ends of the plurality of second bevel gear sets (404) are fixedly mounted on the output end of a driving motor (405); the output end of the driving motor (405) passes through the mounting platform (102) and is rotationally connected to the mounting platform (102); and the driving motor (405) is fixedly mounted on the surface of the mounting platform (102).

4. A transfer robot for high-precision CBN grinding wheels according to claim 3, characterized in that: The manipulator further comprises a reset mechanism (5), the reset mechanism (5) comprising a reset drum (501) fixedly mounted on the driven hemispherical gear (402), a circular slideway (502) and a spiral slideway (503) fixedly mounted on the surface of the reset drum (501), and the circular slideway (502) and the spiral slideway (503) are connected, a linkage rod (505) is fixedly mounted on the surface of the L-shaped rod (304), and a thrust rod (504) is fixedly mounted on the other end of the linkage rod (505).

5. A transfer robot for high-precision CBN grinding wheels according to claim 3, characterized in that: The feedback mechanism (6) comprises a plurality of reverse thrust round blocks (601) mounted on a mounting platform (102); two feedback connecting rods (602) are rotatably mounted on the surface of each reverse thrust round block (601); one end of each feedback connecting rod (602) away from the reverse thrust round block (601) is rotatably connected to a feedback slider (603); a compression spring (604) is fixedly mounted on the surface of the feedback slider (603); and a linkage sliding plate (605) matched with the L-shaped rod (304) is fixedly mounted on the surface of the reverse thrust round block (601).

6. A transfer robot for high-precision CBN grinding wheels according to claim 5, characterized in that: The linkage slider (301) and the moving slider (303) are both slidably connected to the inner wall of the arc-shaped slot block (707); the L-shaped rod (304) passes through the arc-shaped slot block (707) and is slidably connected to the arc-shaped slot block (707); one end of the tension spring (305) away from the L-shaped rod (304) is connected to the arc-shaped slot block (707); the first bevel gear set (401) passes through the arc-shaped slot block (707) and is rotationally connected to the arc-shaped slot block (707); the driven hemispherical gear (402) passes through the arc-shaped slot block (707) and is rotationally connected to the arc-shaped slot block (707); the feedback slider (603) is slidably connected to the arc-shaped slot block (707); one end of the compression spring (604) away from the feedback slider (603) is connected to the arc-shaped slot block (707); and the linkage slider (605) is slidably connected to the surface of the arc-shaped slot block (707).

7. A transfer robot for high-precision CBN grinding wheels according to claim 4, characterized in that: Round balls are provided at the mating ends of the thrust rod (504), the circular slideway (502) and the spiral slideway (503).

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