Double-layer track grinding robot automation line and using method thereof

Abstract

The invention provides a double-layer track grinding robot automation line and a using method thereof, and the double-layer track grinding robot automation line comprises an upper layer track, a lower layer track, a conveying mechanism, a cleaning station, a feeding machine station, a grinding machine station, a discharging machine station, a feeding and discharging mechanism and a main control system, a conveying mechanism used for conveying molds and products is installed on the upper layer track and the lower layer track, a cleaning station, a feeding machine station, a grinding machine station and a discharging machine station are sequentially distributed on the upper layer track and the lower layer track in the mold conveying direction, and feeding and discharging mechanisms are installed on the feeding machine station, the grinding machine station and the discharging machine station. And a grabbing robot for grabbing the mold and the product to the feeding equipment, the grinding machine equipment or the discharging equipment is arranged outside the feeding and discharging mechanism. According to the automatic feeding and discharging device, automatic feeding and discharging of products and transferring of the products to a grinding machine table are achieved, the production and machining efficiency is higher, and the manual use requirement is greatly reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic transport lines, and in particular to a double-layer track grinding robot automatic line and a use method thereof. Background Art

[0002] With the development of manufacturing technology, automated production equipment and automatic lines for workpiece and material transmission are widely used in the processing and production of various products. Using automated production equipment and automatic lines to build automated production lines for production is conducive to improving production efficiency, and is easy to control, making product quality more stable. In an automated production line, various automated production equipment are distributed along the automatic line at intervals; the workpieces complete the corresponding processing on each automated production equipment in turn, and are transmitted by the automatic line. The automatic line generally includes a conveyor belt, which is used to transmit materials or workpieces to achieve automatic loading and unloading and automated continuous production.

[0003] In the prior art, the length of the conveyor belt is difficult to match with the required transmission distance; when the conveyor belt is too long, it is easy to interfere with the production equipment; when the conveyor belt is too short, the distance between the conveyor belt and the production equipment is too large, and the product mold is easy to collide, affecting the smooth transmission of the glass.

[0004] Moreover, the existing conveyor belt automatic line cannot simultaneously convey and process different products, and the production and processing efficiency is lower when manual handling is used.

[0005] There is a need for a new type of automatic grinding line and a method of using the same, which can solve the above-mentioned problems. Summary of the invention

[0006] The present invention provides a double-layer track grinding robot automatic line and a method for using the same. By technically transforming the existing automatic line, the present invention solves the problems of low product transportation efficiency of the existing grinding processing production line and the inability of a single conveyor belt to be compatible with different products for diversion processing.

[0007] To achieve the above object, the technical solution adopted by the present invention is:

[0008] A double-layer track grinding robot automatic line, including an upper track, a lower track, a conveying mechanism, a cleaning station, a feeder station, a grinder station, a feeder station, a feeding and discharging mechanism and a main control system, wherein the machine platform is provided with an upper track and a lower track in a continuous ring shape, wherein the upper track is set up directly above the lower track, and a conveying mechanism for conveying molds and products is installed on the upper track and the lower track, and the cleaning station, the feeder station, the grinder station, the feeder station, the feeding and discharging mechanism and the main control system are sequentially distributed on the upper track and the lower track along the direction of mold conveyance The feeder station, grinder station and unloading machine station are all equipped with a feed in and out mechanism for transferring molds and products. A code reader is also installed on the feed in and out mechanism. A QR code label is provided on the mold. The code reader is arranged opposite to the QR code label on the mold. A grabbing robot that grabs the mold and the product to the feeder, grinder or unloading device is arranged outside the feed in and out mechanism. The transmission mechanism, feed in and out mechanism and grabbing robot are electrically connected to the main control system.

[0009] Preferably, the conveying mechanism includes a conveying chain, a conveying roller and a conveying drive motor. The conveying roller is rotatably installed on the upper track and the lower track. Several conveying rollers are evenly spaced and arranged parallel to each other. A conveying drive motor is also installed on the machine. The output end of the conveying drive motor is connected to the conveying roller through a conveying chain.

[0010] Preferably, a spray assembly, a roller brush assembly and an air-drying mechanism are installed at the cleaning station. The roller brush assembly is installed directly above the upper track. The front and rear ends of the roller brush assembly are both installed with spray assemblies. The rear end of the roller brush assembly is also installed with an air-drying mechanism for blowing the mold dry.

[0011] Preferably, the air-drying mechanism includes a blower, an air outlet duct and an air outlet nozzle, the blower is connected to the air outlet nozzle through the air outlet duct, and the air outlet nozzle is arranged directly facing the empty mold on the conveying structure.

[0012] Preferably, the feed in and out mechanism includes a feed in and out mechanism for a loader, a feed in and out mechanism for a grinder, and a feed in and out mechanism for a unloader. The feed in and out mechanism for a loader is used to transport the empty mold on the upper track to the loading equipment for loading and to transfer the mold of the loaded product to the lower track. The lower track at the output end of the loader station is connected to the upper track at the input end of the grinder station via a ramp track. The feed in and out mechanism for the grinder is used to transport the mold and the product to the grinder equipment for grinding and to transfer the ground product and the mold to the lower track. The feed in and out mechanism for a unloader is used to transport the mold and the product on the lower track to the unloader and to transfer the empty mold to the upper track for circulation.

[0013] Preferably, the feeder station is also equipped with a cleaning and air-drying mechanism, which is mounted on the lower track at the input end of the feeder station.

[0014] Preferably, a blocking mechanism for blocking the mold is installed at the bottom of the upper rail and the lower rail, and the blocking mechanism is arranged at the installation position of the feeding and discharging mechanism. The blocking mechanism includes a blocking block and a blocking driving device. A blocking block is installed at the output end of the blocking driving device, and the blocking driving device is used to drive the blocking block to extend or retract in the vertical direction.

[0015] Preferably, the feeding and unloading mechanism includes an installation frame, a side pushing device, a side transfer rail and a positioning robot assembly. The installation frame is erected on the upper rail and the lower rail, and the installation frame is installed with a side pushing device. A side transfer rail is installed on one side of the upper rail and the lower rail. The side pushing device is used to push the mold between the upper rail, the lower rail and the side transfer rail. A positioning robot assembly for positioning the mold is installed at the outermost end of the side transfer rail. The positioning robot assembly is arranged directly below the grasping robot, and the grasping robot is used to grasp the mold and transfer it between the side transfer rail at the upper rail and the side transfer rail at the lower rail.

[0016] Preferably, a code reader is also installed on the mounting frame, a two-dimensional code label is provided on the mold, and the code reader is arranged opposite to the position of the two-dimensional code label on the mold.

[0017] Preferably, the side-pushing device includes a horizontal driving device, a horizontal movable plate, a lifting driving device and a push plate. The mounting frame is equipped with a horizontal driving device, and a horizontal movable plate is installed at the output end of the horizontal driving device. The horizontal driving device drives the horizontal movable plate to be movable in the horizontal direction. A lifting driving device arranged in the vertical direction is installed on the horizontal movable plate. A push plate is fixedly installed at the output end of the lifting driving device, and the push plate is arranged to match the outer contour of the mold.

[0018] Preferably, a mold lifting assembly is also installed below the mounting frame at the bottom surface of the upper rail and the lower rail, and the mold lifting assembly includes a lifting mechanism and a mold support frame. The lifting mechanism is installed at the bottom surface of the upper rail and the lower rail, and the mold support frame is installed at the output end of the lifting mechanism. The mold support frame passes through the conveying mechanism and is arranged opposite to the bottom surface of the mold. The lifting mechanism is used to drive the mold to rise and be flush with the side conveying rail.

[0019] Preferably, a sensor assembly is installed at the front end of the side conveying track, and the sensor assembly is used to identify the number of molds arranged on the side conveying track.

[0020] A method for using a double-layer track grinding robot automatic line comprises the following steps:

[0021] S1. Place the empty mold on the upper track. The conveying mechanism drives the empty mold to be flushed through the spray assembly of the cleaning station, then brushed by the roller brush assembly, and finally blown dry by the air drying structure;

[0022] S2, the empty mold on the upper track enters the loading machine station, and the barcode reader set at the feeding and unloading mechanism identifies the mold. When the mold does not match, the mold passes through the loading machine station to the next loading machine station for loading. When the mold matches and the empty mold needs to be loaded, the blocking mechanism is started to raise the blocking block to block the mold, and the mold lifting assembly drives the mold support frame to lift the mold. Then the side push device pushes the mold to move toward the side transfer track on the upper track. The side transfer track drives the empty mold to move outward, and the positioning robot assembly is started to clamp and position the empty mold;

[0023] S3, the grabbing robot grabs the mold to the external product loading machine for loading, and places the product and the mold on the side conveying track at the lower track. The side conveying track at the lower track drives the product and the mold to move to the lower track. The mold lifting assembly installed on the lower track drives the mold support frame to rise, and then the side push device on the lower track pushes the mold to move to the mold support frame at the lower track. Then, the mold support frame is controlled to be lowered to place the mold on the lower track, and the blocking mechanism is lowered to release the mold and the product.

[0024] S4, the product and the mold go along the lower track through the ramp track into the upper track;

[0025] S5. The product and the mold enter the grinding machine station, the blocking mechanism is started to raise the blocking block to block the mold, the mold lifting assembly drives the mold support frame to lift the mold, and then the side push device at the grinding machine station pushes the mold to move toward the side transfer track at the upper track, the side transfer track drives the mold to move outward, and the positioning robot assembly is started to clamp the mold and the product in place;

[0026] S6. The grabbing robot grabs the mold to the external grinder for grinding, and places the processed product and mold on the side conveying track at the lower track. The side conveying track at the lower track drives the product and mold to move to the lower track. The mold lifting assembly installed on the lower track drives the mold support frame to rise. Then, the side push device on the lower track pushes the mold to move to the mold support frame at the lower track. Then, the mold support frame is controlled to be lowered to place the mold on the lower track, and the blocking mechanism is lowered to release the mold and product.

[0027] S7, the product and mold on the lower track enter the feeder station, the product is cleaned by the cleaning and drying mechanism, and then the mold is identified by the code reader set at the feeding and unloading mechanism of the feeder station. When the mold does not match, the mold passes through the feeder station to enter the next feeder station for loading. When the mold matches and the product on the mold needs to be unloaded, the blocking mechanism is started to raise the blocking block to block the mold, and the mold lifting assembly drives the mold support frame to lift the mold. Then the side push device pushes the mold to move toward the side transfer track at the lower track, and the side transfer track drives the mold and the product to move outward, and the positioning robot assembly is started to clamp and position the mold machine product;

[0028] S8. The grabbing robot grabs the mold and takes it to the external product unloading machine for unloading, and places the empty mold on the side transfer track at the upper track. The side transfer track at the upper track drives the empty mold to move toward the upper track. The mold lifting assembly installed on the upper track drives the mold support frame to rise. Then the side push device on the upper track pushes the mold to move to the mold support frame at the upper track. Then the mold support frame is controlled to lower and place the empty mold on the upper track. The blocking mechanism is lowered to allow the empty mold to enter the cleaning station for circulation.

[0029] The beneficial effects of the present invention are:

[0030] The present invention provides an automatic loading and unloading grinding robot automatic line and its use method, which is provided with a double-layer transmission track of an upper track and a lower track, and the mold and the product are pushed to the side transmission track by the side push device of the feeding and unloading mechanism. The present invention passes through the cleaning station, the feeding machine station, the grinding machine station and the unloading machine station in turn through the transmission mechanism, the feeding and unloading mechanism and the grasping robot and circulates, and is shunted by the sensor and the code reading structure. Automatic loading and unloading of products and transfer to the grinding processing machine are realized, the production and processing efficiency is higher, and the need for manual use is greatly reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a schematic diagram of the structure of the production line of the present invention;

[0032] Figure 2 It is a top view schematic diagram of the production line of the present invention;

[0033] Figure 3 It is a schematic diagram of the cleaning station structure of the present invention;

[0034] Figure 4 This is a schematic diagram of the station structure of the feeder of the present invention;

[0035] Figure 5 It is a schematic diagram of the structure of the feeding and discharging mechanism of the present invention;

[0036] Figure 6It is a schematic diagram of the structure of the mold lifting assembly of the present invention;

[0037] Figure 7 It is a schematic diagram of the structure of the slope track connected to the grinding machine station of the present invention;

[0038] Figure 8 It is a structural schematic diagram of the blanking machine of the present invention at the working position;

[0039] Explanation of the accompanying figures: upper track 1, ramp track 11, lower track 2, conveying mechanism 3, cleaning station 4, spray assembly 41, roller brush assembly 42, air-drying mechanism 43, blower 431, air outlet 432, loader station 5, grinder station 6, unloader station 7, cleaning and air-drying mechanism 71, feeding and discharging mechanism 8, code reader 81, mounting frame 82, side push device 83, horizontal drive device 831, horizontal movable plate 832, lifting drive device 833, push plate 834, lateral conveying track 84, positioning robot assembly 85, mold lifting assembly 86, jacking mechanism 861, mold support frame 862, sensor assembly 87, mold 9. DETAILED DESCRIPTION

[0040] The specific contents of the present invention are described in detail below with reference to the accompanying drawings and embodiments.

[0041] See also Figure 1-8 As shown, the present invention provides a double-layer track grinding robot automatic line, including an upper track 1, a lower track 2, a conveying mechanism 3, a cleaning station 4, a feeder station 5, a grinder station 6, a feeder station 7, a feeding and discharging mechanism 8 and a main control system, wherein the machine platform is provided with an upper track 1 and a lower track 2 which are continuous in a ring shape, wherein the upper track 1 is set up at a position directly above the lower track 2, and a conveying mechanism 3 for conveying a mold 9 and a product is installed on the upper track 1 and the lower track 2, and the cleaning station 4, the feeder station 5, the grinder station 6, the feeder station 7, the feeding and discharging mechanism 8 and the main control system, wherein the upper track 1 and the lower track 2 are sequentially distributed with the cleaning station 4, the feeder station 5, the grinder station 6, the feeder station 7, the feeding and discharging mechanism 8 and the main control system, and the machine platform is provided with an upper track 1 and a lower track 2 which are continuous in a ring shape, wherein the upper track 1 is set up at a position directly above the lower track 2, and a conveying mechanism 3 for conveying a mold 9 and a product is installed on the upper track 1 and the lower track 2, and the upper track 1 and the lower track 2 are sequentially distributed with the cleaning station 4, the feeder station 5, the grinder station 6, the feeder station 7, the feeding and discharging mechanism 8 and the main control system, and the main control system The feeding machine station 5, the grinding machine station 6 and the unloading machine station 7 are all equipped with a feeding and discharging mechanism 8 for transferring the mold 9 and the product. The feeding and discharging mechanism 8 is also equipped with a code reader 81. The mold 9 is provided with a two-dimensional code label. The code reader 81 is arranged opposite to the position of the two-dimensional code label on the mold 9. The outside of the feeding and discharging mechanism 8 is provided with a grabbing robot that grabs the mold 9 and the product to the feeding equipment, the grinding machine equipment or the unloading equipment. The conveying mechanism 3, the feeding and discharging mechanism 8 and the grabbing robot are electrically connected to the main control system.

[0042] Furthermore, the conveying mechanism 3 includes a conveying chain, a conveying roller and a conveying drive motor. The conveying roller is rotatably installed on the upper track 1 and the lower track 2. Several conveying rollers are evenly spaced and arranged in parallel with each other. A conveying drive motor is also installed on the machine. The output end of the conveying drive motor is connected to the conveying roller through a conveying chain.

[0043] Furthermore, the cleaning station 4 is provided with a spray assembly 41, a roller brush assembly 42 and an air drying mechanism 43. The roller brush assembly 42 is installed just above the upper track 1. The front and rear ends of the roller brush assembly 42 are provided with a spray assembly 41. The rear end of the roller brush assembly 42 is also provided with an air drying mechanism 43 for drying the mold 9. The mold 9 is rinsed by the spray assembly 41, and brushed by the roller brush assembly 42, and then dried by the air drying mechanism 43.

[0044] Furthermore, the air-drying mechanism 43 includes a blower 431, an air outlet duct and an air outlet nozzle 432. The blower 431 is connected to the air outlet nozzle 432 through the air outlet duct, and the air outlet nozzle 432 is arranged facing the empty mold 9 on the conveying structure.

[0045] Furthermore, the feeding and discharging mechanism 8 includes a feeding and discharging mechanism for a feeder, a grinding machine and a feeding and discharging mechanism for a discharger. The feeding and discharging mechanism for a feeder is used to transport the empty mold 9 on the upper track 1 to the feeding device for feeding and transfer the mold 9 of the loaded product to the lower track 2. The lower track 2 at the output end of the feeder station 5 is connected to the upper track 1 at the input end of the grinding machine station 6 through a ramp track 11. The grinding machine feeding and discharging mechanism is used to transport the mold 9 and the product to the grinding machine for grinding and transfer the ground product and the mold 9 to the lower track 2. The feeding and discharging mechanism for a discharger is used to transport the mold 9 and the product on the lower track 2 to the discharger and transfer the empty mold 9 to the upper track 1 for circulation. The feeding and discharging mechanism for a feeder and the feeding and discharging mechanism for a grinding machine adopt a transmission method in which the mold is output from the upper track and then enters from the lower track. The feeding and discharging mechanism for a discharger adopts a transmission method in which the mold is output from the lower track and then enters from the upper track.

[0046] Furthermore, the feeder station 7 is also provided with a cleaning and air-drying mechanism 7143 , and the cleaning and air-drying mechanism 7143 is mounted on the lower track 2 at the input end of the feeder station 7 .

[0047] Furthermore, a blocking mechanism for blocking the mold 9 is installed at the bottom of the upper track 1 and the lower track 2. The blocking mechanism is arranged at the installation position of the feed and discharge mechanism 8. The blocking mechanism includes a blocking block and a blocking drive device. A blocking block is installed at the output end of the blocking drive device. The blocking drive device is used to drive the blocking block to extend or retract in the vertical direction.

[0048] Furthermore, the feeding and discharging mechanism 8 includes an installation frame 82, a side pushing device 83, a side transfer rail 84 and a positioning robot assembly 85. The installation frame 82 is mounted on the upper rail 1 and the lower rail 2. The installation frame 82 is installed with a side pushing device 83. A side transfer rail 84 is installed on one side of the upper rail 1 and the lower rail 2. The side pushing device 83 is used to push the mold 9 between the upper rail 1 and the lower rail 2 and the side transfer rail 84. A positioning robot assembly 85 for positioning the mold 9 is installed at the outermost end of the side transfer rail 84. The positioning robot assembly 85 is set directly below the grasping robot. The grasping robot is used to grasp the mold 9 and transfer it between the side transfer rail 84 at the upper rail 1 and the side transfer rail 84 at the lower rail 2.

[0049] Furthermore, a code reader 81 is installed on the mounting frame 82, a two-dimensional code label is provided on the mold 9, and the code reader 81 is arranged opposite to the two-dimensional code label on the mold 9. The loading station is provided with code scanning and reading diversion, and different loading stations 5 are used to load different products.

[0050] Furthermore, the side push device 83 includes a horizontal driving device 831, a horizontal movable plate 832, a lifting driving device 833 and a push plate 834. The horizontal driving device 831 is installed on the mounting frame 82, and the horizontal movable plate 832 is installed at the output end of the horizontal driving device 831. The horizontal driving device 831 drives the horizontal movable plate 832 to be movable in the horizontal direction. The lifting driving device 833 arranged in the vertical direction is installed on the horizontal movable plate 832. The output end of the lifting driving device 833 is fixedly installed with a push plate 834, and the push plate 834 is arranged to match the outer contour of the mold 9.

[0051] Furthermore, a mold lifting assembly 86 is installed below the mounting frame 82 and located on the bottom surface of the upper rail 1 and the lower rail 2. The mold lifting assembly 86 includes a lifting mechanism 861 and a mold support frame 862. The lifting mechanism 861 is installed on the bottom surface of the upper rail 1 and the lower rail 2. The mold support frame 862 is installed at the output end of the lifting mechanism 861. The mold support frame 862 passes through the conveying mechanism 3 and is arranged opposite to the bottom surface of the mold 9. The lifting mechanism 861 is used to drive the mold 9 to rise and be arranged flush with the side conveying rail 84. The mold support frame 862 is in a mountain shape and can pass through the gap between the conveying rollers to lift the mold 9.

[0052] Furthermore, a sensor assembly 87 is installed at the front end of the side conveying track 84, and the sensor assembly 87 is used to identify the number of molds 9 arranged on the side conveying track 84. When the side conveying track 84 is full of molds 9, the sensor assembly 87 sends information to the main control system, and the main control system controls the blocking mechanism to be lowered, and the empty mold 9 is conveyed by the conveying mechanism 3 to the subsequent loading machine station 5 for loading.

[0053] A method for using the above-mentioned double-layer track grinding robot automatic line comprises the following steps:

[0054] S1, placing the empty mold 9 on the upper track 1, the conveying mechanism 3 drives the empty mold 9 to be flushed by the spray assembly 41 of the cleaning station 4, then brushed by the roller brush assembly 42, and finally blown dry by the air drying structure;

[0055] S2, the empty mold 9 on the upper track 1 enters the loading machine station 5, and the code reader 81 set at the feeding and discharging mechanism 8 identifies the mold 9. When the mold 9 does not match, the mold 9 passes through the loading machine station 5 and enters the next loading machine station 5 for loading. When the mold 9 matches and needs to be loaded on the empty mold 9, the blocking mechanism is started to raise the blocking block to block the mold 9, and the mold lifting component 86 drives the mold support frame 862 to lift the mold 9, and then the side push device 83 pushes the mold 9 to move toward the side transfer track 84 on the upper track 1, and the side transfer track 84 drives the empty mold 9 to move outward, and the positioning robot component 85 is started to clamp and position the empty mold 9;

[0056] S3, the grabbing robot grabs the mold 9 to the external product loading machine for loading, and places the product and the mold 9 on the lateral conveying track 84 at the lower track 2, the lateral conveying track 84 at the lower track 2 drives the product and the mold 9 to move toward the lower track 2, the mold lifting assembly 86 installed on the lower track 2 drives the mold support frame 862 to rise, and then the side pushing device 83 on the lower track 2 pushes the mold 9 to move to the mold support frame 862 at the lower track 2, and then controls the mold support frame 862 to lower and place the mold 9 on the lower track 2, and lowers the blocking mechanism to release the mold 9 and the product;

[0057] S4, the product and the mold 9 enter the upper track 1 along the lower track 2 through the ramp track 11;

[0058] S5, the product and the mold 9 enter the grinding machine station 6, the blocking mechanism is started to raise the blocking block to block the mold 9, the mold lifting assembly 86 drives the mold support frame 862 to lift the mold 9, and then the side push device 83 at the grinding machine station 6 pushes the mold 9 to move toward the side transfer track 84 at the upper track 1, and the side transfer track 84 drives the mold 9 to move outward, and the positioning robot assembly 85 is started to clamp the mold 9 and the product in position;

[0059] S6, the grabbing robot grabs the mold 9 to the external grinder equipment for grinding, and places the processed product and the mold 9 on the side conveying track 84 at the lower track 2, the side conveying track 84 at the lower track 2 drives the product and the mold 9 to move to the lower track 2, the mold lifting assembly 86 installed on the lower track 2 drives the mold support frame 862 to rise, and then the side pushing device 83 on the lower track 2 pushes the mold 9 to move to the mold support frame 862 at the lower track 2, and then controls the mold support frame 862 to lower and place the mold 9 on the lower track 2, and lowers the blocking mechanism to release the mold 9 and the product;

[0060] S7, the product and the mold 9 on the lower track 2 enter the feeder station 7, the product is cleaned by the cleaning and drying mechanism 7143, and then the mold 9 is identified by the code reader 81 set at the feeding and discharging mechanism 8 of the feeder station 7. When the mold 9 does not match, the mold 9 passes through the feeder station 7 and enters the next feeder station 7 for loading. When the mold 9 matches and the product on the mold 9 needs to be unloaded, the blocking mechanism is started to raise the blocking block to block the mold 9, and the mold lifting assembly 86 drives the mold support frame 862 to lift the mold 9, and then the side push device 83 pushes the mold 9 to move toward the side transfer track 84 on the lower track 2, and the side transfer track 84 drives the mold 9 and the product to move outward, and the positioning robot assembly 85 is started to clamp and position the mold 9 and the product;

[0061] S8. The grabbing robot grabs the mold 9 to the external product unloading machine for unloading, and places the empty mold 9 on the side conveying track 84 at the upper track 1. The side conveying track 84 at the upper track 1 drives the empty mold 9 to move toward the upper track 1. The mold lifting assembly 86 installed on the upper track 1 drives the mold support frame 862 to rise. Then, the side pushing device 83 on the upper track 1 pushes the mold 9 to move to the mold support frame 862 at the upper track 1. Then, the mold support frame 862 is controlled to be lowered to place the empty mold 9 on the upper track 1. The blocking mechanism is lowered to allow the empty mold 9 to enter the cleaning station 4 for circulation.

[0062] The present invention provides an automatic loading and unloading grinding robot automatic line, which is provided with a double-layer transmission track of an upper track and a lower track. The mold and the product are pushed to the side transmission track by the side push device of the feeding and unloading mechanism. The present invention passes through the cleaning station, the feeding machine station, the grinding machine station and the unloading machine station in turn through the transmission mechanism, the feeding and unloading mechanism and the grasping robot and circulates, and is diverted by the sensor and the code reading structure. The automatic loading and unloading of the product and the transfer to the grinding processing machine are realized, the production and processing efficiency is higher, and the need for manual use is greatly reduced.

[0063] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the purpose and scope of the technical solution of the present invention, which should be included in the scope of the claims of the present invention.

[0064] The standard parts used in the present invention can all be purchased from the market, and special-shaped parts can be customized according to the description in the specification and the drawings. The specific connection methods of each part adopt conventional means such as mature bolts, rivets, welding, etc. in the prior art. Machinery, parts and equipment all adopt conventional models in the prior art, and the circuit connection adopts the conventional connection method in the prior art, which will not be described in detail here.

[0065] In the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

Claims

1. A double-layer track grinding robot automatic line, characterized in that: It includes an upper track, a lower track, a conveying mechanism, a cleaning station, a loader station, a grinder station, a discharger station, a feeding and discharging mechanism and a main control system. The machine platform is provided with an upper track and a lower track in a circular shape. The upper track is erected directly above the lower track. The upper track and the lower track are equipped with a conveying mechanism for conveying molds and products. The upper track and the lower track are sequentially provided with a cleaning station, a loader station, a grinder station and a discharger station along the mold conveying direction. The loader station, the grinder station and the discharger station are all equipped with a feeding and discharging mechanism for transferring molds and products. A code reader is also installed on the feeding and discharging mechanism. A two-dimensional code label is provided on the mold. The code reader is arranged opposite to the position of the two-dimensional code label on the mold. A grabbing robot that grabs the mold and the product to the loading equipment, the grinder equipment or the discharge equipment is arranged outside the feeding and discharging mechanism. The conveying mechanism, the feeding and discharging mechanism and the grabbing robot are electrically connected to the main control system.

2. A double-layer rail grinding robot automatic line according to claim 1, characterized in that: The conveying mechanism includes a conveying chain, a conveying roller and a conveying drive motor. The conveying roller is rotatably installed on the upper track and the lower track. Several conveying rollers are evenly spaced and arranged in parallel with each other. A conveying drive motor is also installed on the machine. The output end of the conveying drive motor is connected to the conveying roller through a conveying chain.

3. The double-layer rail grinding robot automatic line according to claim 1 is characterized in that: The cleaning station is equipped with a spray assembly, a roller brush assembly and an air-drying mechanism. The roller brush assembly is installed directly above the upper track. The front and rear ends of the roller brush assembly are equipped with spray assemblies. The rear end of the roller brush assembly is also equipped with an air-drying mechanism for blowing the mold dry.

4. The double-layer rail grinding robot automatic line according to claim 1 is characterized in that: The feeding and discharging mechanism includes a feeding and discharging mechanism of a loader, a feeding and discharging mechanism of a grinder and a feeding and discharging mechanism of a unloader. The feeding and discharging mechanism of the loader is used to transport the empty mold on the upper track to the loading equipment for loading and transfer the mold of the loaded product to the lower track. The lower track at the output end of the loader station is connected to the upper track at the input end of the grinder station through a ramp track. The feeding and discharging mechanism of the grinder is used to transport the mold and the product to the grinder equipment for grinding and transfer the ground product and the mold to the lower track. The feeding and discharging mechanism of the unloader is used to transport the mold and the product on the lower track to the unloading equipment and transfer the empty mold to the upper track for circulation. The unloader station is also equipped with a cleaning and drying mechanism, which is erected on the lower track at the input end of the unloader station.

5. The double-layer rail grinding robot automatic line according to claim 1 is characterized in that: A blocking mechanism for blocking the mold is installed at the bottom of the upper track and the lower track. The blocking mechanism is arranged at the installation position of the feeding and discharging mechanism. The blocking mechanism includes a blocking block and a blocking drive device. A blocking block is installed at the output end of the blocking drive device. The blocking drive device is used to drive the blocking block to extend or retract in the vertical direction.

6. The double-layer rail grinding robot automatic line according to claim 1 is characterized in that: The feeding and discharging mechanism includes an installation frame, a side pushing device, a side transfer track and a positioning robot assembly. The installation frame is erected on the upper track and the lower track. The installation frame is installed with a side pushing device. The side transfer track is installed on one side of the upper track and the lower track. The side pushing device is used to push the mold between the upper track, the lower track and the side transfer track. A positioning robot assembly for positioning the mold is installed at the outermost end of the side transfer track. The positioning robot assembly is arranged directly below the grasping robot. The grasping robot is used to grasp the mold and transfer it between the side transfer track at the upper track and the side transfer track at the lower track.

7. The double-layer rail grinding robot automatic line according to claim 6 is characterized in that: A code reader is also installed on the mounting frame, a QR code label is provided on the mold, the code reader is arranged opposite to the QR code label on the mold, and a sensor assembly is installed at the front end of the side conveying track, and the sensor assembly is used to identify the number of molds arranged on the side conveying track.

8. The double-layer rail grinding robot automatic line according to claim 6 is characterized in that: The side push device includes a horizontal driving device, a horizontal movable plate, a lifting driving device and a push plate. The horizontal driving device is installed on the mounting frame. The horizontal movable plate is installed at the output end of the horizontal driving device. The horizontal driving device drives the horizontal movable plate to be movable in the horizontal direction. The lifting driving device arranged in the vertical direction is installed on the horizontal movable plate. The output end of the lifting driving device is fixedly installed with a push plate, and the push plate is arranged to match the outer contour of the mold.

9. The double-layer rail grinding robot automatic line according to claim 8, characterized in that: A mold lifting assembly is also installed below the mounting frame, at the bottom surface of the upper rail and the lower rail. The mold lifting assembly includes a lifting mechanism and a mold support frame. The lifting mechanism is installed at the bottom surface of the upper rail and the lower rail. The mold support frame is installed at the output end of the lifting mechanism. The mold support frame passes through the conveying mechanism and is arranged opposite to the bottom surface of the mold. The lifting mechanism is used to drive the mold to rise and be flush with the side conveying rail.

10. A method for using the double-layer track grinding robot automatic line according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1. Place the empty mold on the upper track. The conveying mechanism drives the empty mold to be flushed through the spray assembly of the cleaning station, then brushed by the roller brush assembly, and finally blown dry by the air drying structure; S2, the empty mold on the upper track enters the loading machine station, and the barcode reader set at the feeding and unloading mechanism identifies the mold. When the mold does not match, the mold passes through the loading machine station to the next loading machine station for loading. When the mold matches and the empty mold needs to be loaded, the blocking mechanism is started to raise the blocking block to block the mold, and the mold lifting assembly drives the mold support frame to lift the mold. Then the side push device pushes the mold to move toward the side transfer track on the upper track. The side transfer track drives the empty mold to move outward, and the positioning robot assembly is started to clamp and position the empty mold; S3, the grabbing robot grabs the mold to the external product loading machine for loading, and places the product and the mold on the side conveying track at the lower track. The side conveying track at the lower track drives the product and the mold to move to the lower track. The mold lifting assembly installed on the lower track drives the mold support frame to rise, and then the side push device on the lower track pushes the mold to move to the mold support frame at the lower track. Then, the mold support frame is controlled to be lowered to place the mold on the lower track, and the blocking mechanism is lowered to release the mold and the product. S4, the product and the mold go along the lower track through the ramp track into the upper track; S5. The product and the mold enter the grinding machine station, the blocking mechanism is started to raise the blocking block to block the mold, the mold lifting assembly drives the mold support frame to lift the mold, and then the side push device at the grinding machine station pushes the mold to move toward the side transfer track at the upper track, the side transfer track drives the mold to move outward, and the positioning robot assembly is started to clamp the mold and the product in place; S6. The grabbing robot grabs the mold to the external grinder for grinding, and places the processed product and mold on the side conveying track at the lower track. The side conveying track at the lower track drives the product and mold to move to the lower track. The mold lifting assembly installed on the lower track drives the mold support frame to rise. Then, the side push device on the lower track pushes the mold to move to the mold support frame at the lower track. Then, the mold support frame is controlled to be lowered to place the mold on the lower track, and the blocking mechanism is lowered to release the mold and product. S7, the product and mold on the lower track enter the feeder station, the product is cleaned by the cleaning and drying mechanism, and then the mold is identified by the code reader set at the feeding and unloading mechanism of the feeder station. When the mold does not match, the mold passes through the feeder station to enter the next feeder station for loading. When the mold matches and the product on the mold needs to be unloaded, the blocking mechanism is started to raise the blocking block to block the mold, and the mold lifting assembly drives the mold support frame to lift the mold. Then the side push device pushes the mold to move toward the side transfer track at the lower track, and the side transfer track drives the mold and the product to move outward, and the positioning robot assembly is started to clamp and position the mold machine product; S8. The grabbing robot grabs the mold and takes it to the external product unloading machine for unloading, and places the empty mold on the side transfer track at the upper track. The side transfer track at the upper track drives the empty mold to move toward the upper track. The mold lifting assembly installed on the upper track drives the mold support frame to rise. Then the side push device on the upper track pushes the mold to move to the mold support frame at the upper track. Then the mold support frame is controlled to lower and place the empty mold on the upper track. The blocking mechanism is lowered to allow the empty mold to enter the cleaning station for circulation.

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