A fully automatic loading and unloading table

Abstract

The present application provides a fully automatic loading and unloading table, which relates to the technical field of loading and unloading of grinders, and includes: a table base; a first loading and unloading channel and a second loading and unloading channel, which are arranged left and right on the table base. The first loading and unloading channel has a first loading port corresponding to the loading end and a first unloading port corresponding to the receiving end; the second loading and unloading channel has a second unloading port corresponding to the unloading end and a second loading port corresponding to the feeding end; a material transfer disk for transferring the material, which is located between the first loading and unloading channel and the second loading and unloading channel and is rotatably arranged on the table base, and the position of the material on the first loading and unloading channel and the second loading and unloading channel is swapped by rotating the material transfer disk. It solves the defects of low efficiency, high error rate and increased labor cost caused by manual handling when the loading path and the unloading path cross in the related art.

Description

Technical Field

[0001] This application relates to the technical field of loading and unloading of grinding machines, and more specifically, to a fully automatic loading and unloading table. Background Art

[0002] A grinding machine is a mechanical device used in industrial production for double-sided machining of products such as hydraulic and pneumatic components, hydraulic motor components, automotive steering pump components, refrigeration compressor components, fuel injection pump components, engine components, high-precision bearings, seals, piston rings, measuring tools, dies, instruments, cemented carbide inserts, ceramic valve cores, and magnetic materials.

[0003] In the related art, a grinding machine usually has an inner gear ring and an outer gear ring. When a workpiece or a workpiece carrier is being ground, it needs to mesh with the inner gear ring and the outer gear ring. Through the rotation of the inner gear ring, not only can the workpiece or the workpiece carrier achieve self-rotation, but also it can revolve around the inner gear ring, ensuring uniform grinding of the workpiece surface. When loading and unloading, the tooth columns on the outer gear ring at the loading and unloading ports of the grinding machine will descend to form a loading and unloading channel. When grinding, these tooth columns need to protrude upward to form a complete outer gear ring to enable the workpiece carrier to complete revolution.

[0004] In the related technical field, materials that have not been processed by the grinding machine need to flow from the feeding end of the storage device to the loading end of the grinding machine, and materials that have been ground and processed need to flow from the unloading end of the grinding machine to the receiving end of the storage device. However, a common problem in the existing equipment layout is that the loading end of the grinding machine often corresponds to the receiving end of the storage device, and the unloading end of the grinding machine corresponds to the receiving end of the storage device. This results in the loading path from the storage device to the grinding machine and the unloading path from the grinding machine to the storage device forming a crossover, making it impossible to directly transport the processed materials to the grinding machine, and the processed materials cannot be directly returned to the storage device, forming a bottleneck in material flow.

[0005] To solve this problem, in the prior art, manual handling is usually adopted for loading and unloading operations of materials. However, this manpower-dependent solution is not only inefficient, but also accompanied by a high error rate, and significantly increases the labor cost. Summary of the Invention

[0006] The purpose of this application is to provide a fully automatic loading and unloading table, aiming to solve the defects of low efficiency, high error rate, and increased labor cost existing in manual handling when the loading path and the unloading path cross in the related art.

[0007] Additional aspects and advantages of this application will be partially described below, and partially will become apparent from the description, or can be learned through the practice of this application.

[0008] According to a first aspect of the present application, a fully automatic loading and unloading table is provided, which is suitable for being arranged between a grinding machine and a stockpiling device and is used for transferring materials between the grinding machine and the stockpiling device; the grinding machine has a loading end and a unloading end arranged left and right, the stockpiling device has a receiving end and a feeding end arranged left and right, the loading end corresponds to the receiving end in position, and the unloading end corresponds to the feeding end in position;

[0009] The fully automatic loading and unloading table includes:

[0010] A table base;

[0011] A first loading and unloading channel and a second loading and unloading channel, which are arranged left and right on the table base. The first loading and unloading channel has a first loading port corresponding to the loading end of the grinding machine and a first unloading port corresponding to the receiving end of the stockpiling device; the second loading and unloading channel has a second unloading port corresponding to the unloading end of the grinding machine and a second loading port corresponding to the feeding end of the stockpiling device;

[0012] A material transfer disk, which is used for carrying and transferring the materials. The material transfer disk is located in the middle of the first loading and unloading channel and the second loading and unloading channel and is rotatably arranged on the table base. Both the middle of the first loading and unloading channel and the second loading and unloading channel are connected through the material transfer disk. The materials are transferred by rotating the material transfer disk by a set angle and the positions of the materials on the first loading and unloading channel and the second loading and unloading channel are swapped.

[0013] In an exemplary embodiment of the present application, four material workstations for carrying and transferring the materials are provided on the surface of the material transfer disk. The four material workstations include a pair of loading workstations and a pair of unloading workstations arranged alternately. The pair of loading workstations are respectively corresponding and communicated with the first loading port of the first loading and unloading channel and the second loading port of the second loading and unloading channel. The pair of unloading workstations are respectively corresponding and communicated with the first unloading port of the second loading and unloading channel and the second unloading port of the first loading and unloading channel. By rotating the material transfer disk by 180 degrees, the pair of loading workstations swap the loading positions of the materials on the second loading and unloading channel and the first loading and unloading channel, and the pair of unloading workstations swap the unloading positions of the materials on the second loading and unloading channel and the first loading and unloading channel.

[0014] In an exemplary embodiment of the present application, a loading and unloading mechanism and a picking and placing mechanism are further included. The loading and unloading mechanism is arranged between the material transfer disk and the grinding machine and is used for transferring the materials to be processed from the material transfer disk to the grinding machine and for transferring the processed materials from the grinding machine to the material transfer disk;

[0015] The loading and unloading mechanism is arranged between the material transfer tray and the storage device, and is used for transferring the material to be processed from the storage device to the material transfer tray and for transferring the processed material from the material transfer tray to the storage device.

[0016] In an exemplary embodiment of the present application, the loading and unloading mechanism includes a loading mechanism, an unloading mechanism, and a module assembly;

[0017] The module assembly is used to drive the loading mechanism and the unloading mechanism to move towards the grinding machine or the material transfer tray simultaneously;

[0018] The loading mechanism includes:

[0019] A loading gripper, which can clamp the material carrier tray after inserting into the central hole of the material carrier tray;

[0020] A loading slide, which is used to control the lifting of the loading gripper;

[0021] The unloading mechanism includes:

[0022] A pusher head, which is used to insert into the central hole of the material carrier tray and can drag the material carrier tray to move horizontally;

[0023] A pusher head support, which is used to install the pusher head;

[0024] An unloading slide, which is used to control the lifting of the pusher head support and the pusher head.

[0025] In an exemplary embodiment of the present application, the loading and unloading mechanism includes:

[0026] A material fetching arm, which can pull the material from the feeding end into the loading station communicated therewith;

[0027] A material placing arm, which can push the material from the unloading station to the receiving end communicated therewith.

[0028] In an exemplary embodiment of the present application, a front material plate mechanism is further included. The front material plate mechanism is arranged between the grinding machine and the material transfer tray; the front material plate mechanism includes:

[0029] A material table telescopic structure, which includes a first material table interface part and a second material table interface part that are butt-jointed with each other, and the first material table interface part can slide along the direction of approaching or departing from the second material table interface part;

[0030] A material identification device, which can identify the position of the material.

[0031] In an exemplary embodiment of the present application, on one side of the first material table interface part close to the second material table interface part, there is a first rectangular strip tooth, and on one side of the second material table interface part close to the first material table interface part, there is a second rectangular strip tooth. The first rectangular strip tooth and the second rectangular strip tooth form a sliding fit in an intersecting manner.

[0032] In an exemplary embodiment of the present application, the material positioning structure includes:

[0033] A material positioning structure is arranged on the material table telescopic structure. When the material passes through the material positioning structure, the material positioning structure can act on the material with a toothed ring structure to adjust the angular rotation of the material.

[0034] A material pushing and calibrating part is installed in the loading and unloading mechanism. The material pushing and calibrating part is movably arranged above the toothed ring structure of the material in the vertical direction. The material pushing and calibrating part is configured to be able to insert into the tooth groove of the toothed ring structure after moving downward, that is, to complete the angular position calibration of the material. The material pushing and calibrating part moves downward during the process of the material positioning structure adjusting the rotation angle of the material until the material pushing and calibrating part inserts into the tooth groove of the material.

[0035] In an exemplary embodiment of the present application, a lifting structure is installed on the top of the material pushing and calibrating part. During the process of material calibration, the lifting structure always applies a downward pressure to the material pushing and calibrating part.

[0036] In an exemplary embodiment of the present application, the material positioning structure includes a calibration structure and a biasing member. The calibration structure can move outward from the upper material channel, and the biasing member can apply a biasing force toward the inner side of the upper material channel to the calibration structure.

[0037] When the material pushing and calibrating part is not aligned with the tooth groove, the calibration structure can drive the material to rotate under the action of the biasing force, so that the material rotates to a state where the tooth groove is aligned with the material pushing and calibrating part.

[0038] After the material pushing and calibrating part is inserted into the tooth groove, the material cannot rotate. The material applies a force to the calibration structure and overcomes the biasing force provided by the biasing member, so that the calibration structure moves outward from the first loading and unloading channel.

[0039] In an exemplary embodiment of the present application, the material positioning structure further includes a mounting plate for mounting the calibration structure and the biasing member. The mounting plate is fixedly arranged on one side of the first loading and unloading channel and is fixedly provided with a positioning block on the side facing the first loading and unloading channel.

[0040] In an exemplary embodiment of the present application, the calibration structure includes:

[0041] A bottom plate, mounted on the mounting plate, one end of the bottom plate is rotatably connected to the mounting plate, and the other end of the bottom plate abuts against the side of the positioning block away from the first loading and unloading channel;

[0042] A cam follower, mounted on the bottom plate and facing the side inside the first loading and unloading channel, for meshing with the toothed ring structure on the outer circumference of the material.

[0043] In an exemplary embodiment of the present application, the pusher calibration member is provided as a pusher toothed ring capable of meshing with the tooth grooves of the material. A plurality of first positioning pins are evenly distributed in the pusher toothed ring, and the distance between the plurality of first positioning pins is equal to the distance between the plurality of tooth pins descended at the loading end during the loading of the grinding machine or the distance between the plurality of first positioning pins is an integer multiple of the distance between the plurality of teeth.

[0044] In an exemplary embodiment of the present application, the unloading mechanism further includes a receiving toothed ring. A plurality of second positioning pins are evenly distributed in the receiving toothed ring, and the distance between the plurality of second positioning pins is equal to the distance between the plurality of tooth pins descended at the unloading end during the unloading of the grinding machine or the distance between the plurality of second positioning pins is an integer multiple of the distance between the plurality of teeth.

[0045] In an exemplary embodiment of the present application, the material transfer tray includes:

[0046] A divider, having a 180-degree rotation angle regulator, for converting the positions of the processed materials and the materials to be processed, and equipped with a speed regulator to adjust the number of rotations per minute;

[0047] A conversion tray, mounted on the divider;

[0048] A tray backing plate, mounted on the conversion tray, provided with V-shaped grooves, which can reduce the contact area between the material and it;

[0049] A positioning plate, mounted on the tray backing plate, and the loading station and the unloading station are opened on the positioning plate.

[0050] In an exemplary embodiment of the present application, it further includes:

[0051] A loading and unloading mechanism support, for carrying the material transfer tray, the loading and unloading mechanism and the picking and placing mechanism;

[0052] The first fine-tuning group is arranged between the base of the material table and the support of the loading and unloading mechanism, and is used to adjust the height of the support of the loading and unloading mechanism close to the grinding machine side;

[0053] The second fine-tuning group is arranged between the base of the material table and the support of the loading and unloading mechanism, and is used to adjust the height of the support of the loading and unloading mechanism close to the stock storage equipment side.

[0054] In an exemplary embodiment of the present application, the first fine-tuning group is provided with a first lower support plate and a first upper support plate. The first upper support plate is located directly above the first lower support plate. A first lead screw, a sensor, a rotating motor, and a first reduction gear are installed between the first lower support plate and the first upper support plate. The rotating motor is connected to the first reduction gear through a coupling. The first reduction gear drives the first lead screw to rotate in the vertical direction. A first lifting nut seat is installed on the first lead screw. The first lifting nut seat is fixedly installed on the first upper support plate. The first upper support plate is provided with a first guide shaft. The first guide shaft penetrates the first lower support plate in the vertical direction. The sensor is used to control the start and stop of the motor.

[0055] In an exemplary embodiment of the present application, the second fine-tuning group is provided with a second lower support plate and a second upper support plate. The second lower support plate is installed on the base of the material table. A handle rod, a hand wheel, a second reduction gear, and a second lead screw are arranged between the second lower support plate and the second upper support plate. The second reduction gear drives the second lead screw to rotate in the vertical direction. A second lifting nut seat is installed on the second lead screw. The second lifting nut seat is fixedly installed on the second upper support plate. One end of the handle rod is connected to the second reduction gear, and the other end is fixedly connected to the hand wheel. Turning the handle rod makes the second reduction gear rotate, thereby driving the second lead screw to rotate, so that the second lifting nut seat and the second upper support plate move up and down. The second upper support plate is provided with a second guide shaft. The second guide shaft penetrates the second lower support plate in the vertical direction.

[0056] The exemplary embodiment of the present application may have the following partial or all beneficial effects:

[0057] In a fully automatic loading and unloading table provided by the exemplary embodiment of the present application, in the process of loading materials onto the grinding machine, first, the stockpiling device transports the unprocessed materials to the feeding end. Subsequently, the stockpiling device guides the materials from the feeding end onto the material transfer tray. Through the rotation of the material turntable, the materials are transferred from the second feeding port of the second loading and unloading channel to the first feeding port of the first loading and unloading channel, and then the materials are guided from the material transfer tray to the loading end of the grinding machine. Thus, during the loading process, the materials can be automatically transferred from the second loading and unloading channel to the first loading and unloading channel without manual handling. Similarly, when the grinding machine finishes processing and needs to unload materials, first, the processed materials are exported from the discharging end of the grinding machine onto the material transfer tray. Through the rotation of the material transfer tray again, the materials are transferred from the second discharging port of the second loading and unloading channel to the first discharging port of the first loading and unloading channel, and then the materials are guided from the material transfer tray onto the receiving end of the stockpiling device. Thus, during the unloading process, the materials can be automatically transferred from the second loading and unloading channel to the first loading and unloading channel without manual handling. In summary, through the transfer of materials by the material transfer tray, the position of the materials is swapped between the first loading and unloading channel and the second loading and unloading channel without manual handling, which not only improves the efficiency, but also reduces the error rate, and effectively reduces the labor cost at the same time.

[0058] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] The accompanying drawings herein are incorporated into the specification and form a part of the specification, showing embodiments consistent with the present application and used together with the specification to explain the principles of the present application. Obviously, the accompanying drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0060] Figure 1 Shows the overall structural schematic diagram of a fully automatic loading and unloading table in an embodiment of the present application;

[0061] Figure 2 Shows the exploded view of another fully automatic loading and unloading table in an embodiment of the present application;

[0062] Figure 3 Shows the top view of the flow path during the loading and unloading process of the material transfer tray in an embodiment of the present application;

[0063] Figure 4 Shows the structural schematic diagram of the front material plate mechanism in an embodiment of the present application;

[0064] Figure 5Shows an exploded view of the front material plate mechanism in an embodiment of the present application;

[0065] Figure 6 Shows a schematic structural diagram of the support of the loading and unloading mechanism in an embodiment of the present application;

[0066] Figure 7 Shows a schematic structural diagram of the material transfer tray in an embodiment of the present application;

[0067] Figure 8 Shows an exploded view of the material transfer tray in an embodiment of the present application;

[0068] Figure 9 Shows a schematic structural diagram of the loading and unloading mechanism in an embodiment of the present application;

[0069] Figure 10 Shows a schematic structural diagram of the module assembly in an embodiment of the present application;

[0070] Figure 11 Shows an exploded view of the module assembly in an embodiment of the present application;

[0071] Figure 12 Shows a schematic diagram of the picking and placing mechanism in an embodiment of the present application;

[0072] Figure 13 Shows a schematic diagram of the material positioning structure in an embodiment of the present application;

[0073] Figure 14 Shows Figure 13 A partial enlarged view of part A in;

[0074] Figure 15 Shows an exploded view of the material positioning structure in an embodiment of the present application;

[0075] Figure 16 Shows a schematic structural diagram of the first fine-tuning group in an embodiment of the present application;

[0076] Figure 17 Shows a schematic structural diagram of the second fine-tuning group in an embodiment of the present application.

[0077] Explanation of reference numerals:

[0078] 1. Cover body; 2. Loading and unloading mechanism; 3. Material transfer tray; 4. Support for loading and unloading mechanism; 5. Module assembly; 6. Front material plate mechanism; 7. First fine-tuning group; 8. Second fine-tuning group; 9. Installation box; 10. Base of the material table; 1-1. First lead screw; 1-2. First lifting nut seat; 1-3. First reducer; 1-4. Coupling; 1-5. Mounting plate for the rotating motor; 1-6. First upper support plate; 1-7. First lower support plate; 1-8. First guide shaft; 1-10. First sliding sleeve; 1-11. Position sensor; 1-12. Position sensor bracket; 1-13. Signal baffle; 1-14. Fixed plate for the rotating motor; 1-15. Rotating motor; 2-1. Second upper support plate; 2-2. Second reducer; 2-3. Second lifting nut seat; 2-4. Second lead screw; 2-5. Deep groove ball bearing; 2-6. Handle support; 2-7. Second guide shaft; 2-9. Handle rod; 2-10. Handwheel; 2-11. Second lower support plate; 2-12. Second sliding sleeve; 3-1. Base plate of the robotic arm; 3-2. Support for the blanking cylinder; 3-4. Connecting plate of the robotic arm; 3-5. Receiving lifting slide; 3-6. Receiving gear ring; 3-7. Second positioning pin; 3-8. Blanking slide; 3-9. Bracket for the pick head; 3-10. Pick head; 3-12. Support for the loading cylinder; 3-14. Loading lifting slide; 3-15. Loading slide; 3-16. Support for the air gripper; 3-17. Pushing gear ring; 3-19. Three-point gripper; 3-21. Hand gripper; 4-1. First interface part of the material table; 4-2. Second interface part of the material table; 4-3. First cushion plate of the material table; 4-4. Second cushion plate of the material table; 4-5. Third cushion plate of the material table; 4-6. First front material table plate; 4-7. Second front material table plate; 4-8. First sensor fixing plate; 4-9. First laser sensor; 4-10. Second sensor fixing plate; 4-12. Guide rail protection cover; 4-13. Edge strip; 4-14. Cam follower; 4-15. Step screw; 4-16. Base plate; 4-17. Mounting plate; 4-17-1. Positioning block; 4-18. Torsion spring; 4-19. Cushion plate; 4-20-1. Support block; 4-20-2. Support block; 4-21-1. Guide rail protection cover; 4-21-2. Guide rail protection cover; 4-22-1. LM rolling guide rail; 4-22-2. LM rolling guide rail; 4-23. Driving connecting plate; 4-24. Linear actuator for the material table; 4-25-1. Support block; 4-25-2. Support block; 4-26-1. One-way throttle valve; 4-26-2. One-way throttle valve; 4-27. First feeding support plate; 4-28. Second feeding support plate; 4-29. Guide rail protection cover; 7-1. Support base plate; 7-2. Waterproof cover; 7-3. Support column; 7-4. Support cross plate; 7-5. Reinforcing rib plate; 7-6. Support column; 7-7. Support column; 7-8. Support plate for the material table; 7-9. Waterproof protection cover; 8-1. Fixed plate for the mechanical pusher; 8-2. Module bracket; 8-3-1. Reinforcing rib;8-3-2, Reinforcing Rib; 8-3-3, Reinforcing Rib; 8-3-4, Reinforcing Rib; 8-4, Module; 8-8, Module Sensor Bracket; 8-9-1, Module Sensor; 8-9-2, Module Sensor; 9-1, Upper Bracket; 9-2, Support; 9-3, Second Cylinder Support Block; 9-4, Drag Chain; 9-5, First Cylinder Support Block; 9-6, Drag Chain Support Bracket Seat; 9-7, Profile Mounting Part; 9-8, Linear Drive; 9-9-1, Pick-up Slide; 9-10-1, Pick-up Arm; 9-12-1, Pick-up Pusher; 10-1, Divider; 10-2, Conversion Tray; 10-3, Tray Backing Plate; 10-4, Positioning Plate; 10-5, Feeding Table Backing Plate; 10-6, Feeding Table Backing Plate; 10-7, Rear Feeding Table Plate; Detailed Implementation Manner

[0079] Example embodiments will now be described more fully with reference to the accompanying drawings. However, the example embodiments can be implemented in various forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this application will be thorough and complete, and will fully convey the concept of the example embodiments to those skilled in the art. Like reference numerals in the figures denote like or similar structures, and thus their detailed description will be omitted. In addition, the drawings are only schematic illustrations of the present application and are not necessarily drawn to scale.

[0080] Although relative terms such as "upper" and "lower" are used in this specification to describe the relative relationship of one component of the icon to another component, these terms are used in this specification only for convenience, for example, according to the orientation of the example in the drawings. It can be understood that if the device of the icon is turned upside down, the component described as "upper" will become the component "lower". When a structure is "on" another structure, it may mean that a structure is integrally formed on another structure, or that a structure is "directly" disposed on another structure, or that a structure is "indirectly" disposed on another structure through another structure.

[0081] The terms "a", "an", "the" and "at least one" are used to indicate the existence of one or more elements / components / etc.; the terms "comprising" and "having" are used to mean an open inclusion and mean that there may be additional elements / components / etc. in addition to the listed elements / components / etc.; the terms "first" and "second" are used only as labels and are not a limitation on the quantity of their objects.

[0082] In an embodiment of the present application, a fully automatic loading and unloading platform is disclosed, which is suitable for being arranged between a grinding machine and a storage device and is used for transferring materials between the grinding machine and the storage device; the grinding machine has a loading end and an unloading end arranged left and right, the storage device has a receiving end and a feeding end arranged left and right, the loading end corresponds to the receiving end in position, and the unloading end corresponds to the feeding end in position.

[0083] In an embodiment of the present application, the grinding machine adapted to the fully automatic loading and unloading platform may be a grinding and polishing machine, a high-precision grinding machine, a double-sided grinding machine, but is not limited thereto; taking an aligning machine as an example for the storage device adapted to the fully automatic loading and unloading platform, but is not limited thereto. The processed material may be a single workpiece or multiple workpieces placed in a workpiece carrier matching the grinding machine.

[0084] Such grinding machines usually have an internal gear ring and an external gear ring. When grinding a workpiece or a workpiece carrier, it needs to mesh with the internal gear ring and the external gear ring. Through the rotation of the internal gear ring, not only can the workpiece or the workpiece carrier achieve self-rotation, but also it can revolve around the internal gear ring, ensuring uniform grinding of the workpiece surface. Therefore, when the grinding machine is grinding, it is necessary to make the circumferential side wall of the material (workpiece or workpiece carrier) have a gear ring structure that can mesh with the grinding machine.

[0085] Refer to Figure 3 As shown, in the related art, materials that have not been processed by the grinding machine need to flow from the feeding end of the storage device to the loading end of the grinding machine, and materials processed by the grinding machine need to flow from the unloading end of the grinding machine to the receiving end of the storage device. However, the common problem in the existing equipment layout is that the loading end of the grinding machine and the feeding end of the storage device cannot be directly docked. Similarly, the unloading end of the grinding machine and the receiving end of the storage device cannot be directly docked either. This leads to the intersection of the loading path from the storage device to the grinding machine and the unloading path from the grinding machine to the storage device, making it impossible to directly transport the processed materials to the grinding machine, and the processed materials cannot be directly returned to the storage device either, forming a bottleneck in the material flow.

[0086] To solve this problem, in the prior art, manual handling is usually adopted for the loading and unloading operations of materials. However, this solution relying on manpower not only has low efficiency, but also has a high error rate, and significantly increases the labor cost, becoming a key factor restricting the improvement of production efficiency and enterprise economic benefits.

[0087] Refer to Figure 1 and Figure 2 As shown, to solve the above problems, the fully automatic loading and unloading platform disclosed in the present application includes:

[0088] a platform base 10;

[0089] The first loading and unloading channel and the second loading and unloading channel are arranged left and right on the material table base 10. The first loading and unloading channel has a first loading port corresponding to the loading end of the grinding machine and a first unloading port corresponding to the receiving end of the storage device. The second loading and unloading channel has a second unloading port corresponding to the unloading end of the grinding machine and a second loading port corresponding to the feeding end of the storage device.

[0090] Referring Figure 2 and 3 As shown, the material transfer disk 3 is used to carry and transfer the material. The material transfer disk 3 is located between the first loading and unloading channel and the second loading and unloading channel and is rotatably arranged on the material table base 10. Both the first loading and unloading channel and the second loading and unloading channel are connected through the material transfer disk 3. The material is transferred by rotating the material transfer disk 3 by a set angle and the position of the material on the first loading and unloading channel and the second loading and unloading channel is swapped.

[0091] In the process of loading the grinding machine, first, the storage device carries the unprocessed material and transports it to the feeding end. Subsequently, the storage device imports the material from the feeding end onto the material transfer disk 3. By rotating the material transfer disk, the material is transferred from the second loading port of the second loading and unloading channel to the first loading port of the first loading and unloading channel, and then the material is imported from the material transfer disk 3 to the loading end of the grinding machine. Thus, during the loading process, the material can be automatically transferred from the second loading and unloading channel to the first loading and unloading channel without manual handling.

[0092] Similarly, when the grinding machine finishes processing and needs to unload the material, first, the processed material is exported from the discharging end of the grinding machine onto the material transfer disk 3. By rotating the material transfer disk 3 again, the material is transferred from the second unloading port of the second loading and unloading channel to the first unloading port of the first loading and unloading channel, and then the material is imported from the material transfer disk 3 to the receiving end of the storage device. Thus, during the unloading process, the material can be automatically transferred from the second loading and unloading channel to the first loading and unloading channel without manual handling.

[0093] In summary, through the transfer of the material by the material transfer disk 3, the position of the material is swapped between the first loading and unloading channel and the second loading and unloading channel without manual handling, which not only improves the efficiency, but also reduces the error rate, and at the same time can effectively reduce the labor cost.

[0094] Regarding the moving mode of the material between the storage device, the material transfer disk 3 and the grinding machine, the present application does not make special restrictions, such as conveyor belts, manipulators and other devices can be used.

[0095] In the embodiment of the present application, the full-automatic loading and unloading table further includes: a cover body 1, a first fine-tuning group 7, a second fine-tuning group 8, a loading and unloading mechanism support 4, a loading and unloading mechanism, a picking and placing mechanism 2, and an installation box 9 that serves as both a circuit and a pneumatic circuit component; the cover body 1 is fixedly arranged directly above the installation box 9 for protecting the first fine-tuning group 7, the second fine-tuning group 8, the loading and unloading mechanism support 4, the loading and unloading mechanism, and the picking and placing mechanism 2.

[0096] In the embodiment of the present application, both the first fine-tuning group 7 and the second fine-tuning group 8 are arranged above the table base 10. The first fine-tuning group 7 is used to adjust the height of the side of the loading and unloading mechanism support 4 close to the grinding machine, and under the control of the system software, make its height automatically consistent with the grinding wheel surface of the grinding machine; the second fine-tuning group 8 is used to adjust the height of the loading and unloading mechanism support 4 close to the storage equipment to make its height consistent with the height of the material tray surface of the storage equipment.

[0097] In the embodiment of the present application, the loading and unloading mechanism support 4 is used to carry the material transfer tray 3, the loading and unloading mechanism, the picking and placing mechanism 2, and the front material plate mechanism 6;

[0098] The front material plate mechanism 6 is arranged in the first loading channel and the second loading and unloading channel and serves as a connection hub between the grinding machine and the material transfer tray 3. The front material table plate 1 extended by the front material plate mechanism 6 is docked with the grinding wheel of the grinding machine and serves as a carrier plate conveying bridge.

[0099] Refer to Figure 4 and Figure 5 As shown in

[0100] The material table telescopic structure has a first material table interface part 4-1 and a second material table interface part 4-2. The front end of the first material table interface part 4-1 is connected to the first front material table plate 4-6. A first rectangular strip tooth is arranged near one end of the second material table interface part 4-2. A second rectangular strip tooth is arranged at the end of the second material table interface part 4-2 close to the first material table interface part 4-1. The first rectangular strip tooth and the second rectangular strip tooth form a sliding fit in a cross-over manner to form the material table telescopic structure; the first material table interface part 4-1 is used as a movable part, and a cylinder and a guide rail are installed at the bottom as a drive, including a guide rail protection cover 4-12, a backing plate 4-19, support pads 4-20-1, 4-20-2, guide rail guards 4-21-1, 4-21-2, LM rolling guide rails 4-22-1, 4-22-2, a drive connection plate 4-23, a material table linear driver 4-24, support blocks 4-25-1, 4-25-2, one-way throttle valves 4-26-1, 4-26-2, a first feeding support plate 4-27, a second feeding support plate 4-28, and a guide rail protection cover 4-29.

[0101] When loading or unloading materials, the first material table interface part 4-1 will move away from the second interface part 4-2, driving the first front material table plate 4-6 towards the grinding machine, so that the first front material table plate 4-6 is placed on the loading end and the unloading end of the grinding machine, enabling the materials to pass smoothly between the grinding machine and the material transfer tray 3; after loading or unloading is completed, the first material table interface part 4-1 will drive the first front material table plate 4-6 towards the second interface part 4-2, moving the first front material table plate 4-6 away from the grinding machine, thus not affecting the operation of the grinding machine.

[0102] The workpiece and material identification device has a first material table backing plate 4-3, a second material table backing plate 4-4, and a third material table backing plate 4-5, all of which are distributed with V-shaped grooves, which can reduce the contact area between the materials and them, thereby reducing the friction force and lowering the material movement resistance caused by the adhesion of the grinding fluid to the materials.

[0103] The material identification device also has a first front material table plate 4-6 and a second front material table plate 4-7. The first front material table plate 4-6 is arranged between the material table telescopic structure and the grinding machine, and the second front material table plate 4-7 is arranged between the material table telescopic structure and the material transfer tray 3.

[0104] The second material table backing plate 4-4 and the third material table backing plate 4-5 are installed on the first front material table plate 4-6, and the first front material table plate 4-6 is connected to the first material table interface part 4-1; on both sides of the second front material table plate 4-7, a first sensor fixing plate 4-8 and a second sensor fixing plate 4-10 are installed. A first infrared sensor 4-9 is installed on the first sensor fixing plate 4-8, and a second infrared sensor is installed on the second sensor fixing plate 4-10 for identifying materials.

[0105] The first material table backing plate 4-3 is installed on the second front material table plate 4-7, and the second front material table plate 4-7 is connected to the second material table interface part 4-2.

[0106] Refer to Figure 2 and Figure 6 As shown in

[0107] The loading and unloading mechanism support 4 includes:

[0108] A support base plate 7-1, which is installed on the first fine adjustment group 7 and the second fine adjustment group 8, serving as the support for the front material plate mechanism 6, the loading and unloading mechanism, the picking and placing mechanism 2, and the material transfer tray 3;

[0109] A waterproof cover 7-2, which is installed between the grinding machine and the fully automatic loading and unloading table, used for receiving cutting fluid;

[0110] The supporting cross plates 7-4 are provided in multiple numbers. All the multiple supporting cross plates 7-4 are arranged horizontally. Each supporting cross plate 7-4 is respectively arranged between two symmetrically arranged supporting columns 7-3 and is used for installing the loading and unloading mechanism.

[0111] The reinforcing rib plates 7-5 are fixedly arranged between the supporting columns 7-3 and the supporting cross plates 7-4 and are used for increasing strength and stability.

[0112] The supporting columns 7-6 and 7-7 are relatively fixedly arranged on one side of the supporting bottom plate 7-1 close to the storage equipment. Mounting holes for installing the rear table plate 10-7 and the table support plate 7-8 are arranged on the side surfaces.

[0113] The table support plate 7-8 bears the rear table plate 10-7. Long round holes are arranged on it, and the distance between it and the storage equipment and the distance between it and the material transfer tray 3 can be adjusted.

[0114] The waterproof cover 7-9 is used to prevent water from entering the wire passing hole.

[0115] Refer to Figure 2 、 Figure 7 and Figure 8 As shown in

[0116] The material transfer tray 3 includes:

[0117] The divider 10-1 is installed on the supporting bottom plate 7-1 and has a 180-degree rotation angle adjuster, which is used to convert the positions of the processed material trays and the unprocessed material trays. With a speed regulator, the number of rotation circles per minute can be adjusted.

[0118] The conversion tray 10-2 is installed on the divider 10-1 and serves as the support plate for the tray backing plate 10-3.

[0119] The tray backing plate 10-3 is installed on the conversion tray 10-2 and is provided with V-shaped grooves, which can reduce the contact area between the material and it and reduce the material movement resistance caused by the adhesion of the grinding fluid to the material.

[0120] The positioning plate 10-4 is installed on the pallet backing plate 10-3, and the loading station and the unloading station are provided on the positioning plate 10-4;

[0121] The stock table backing plates 10-5 and 10-6 are installed on the rear stock table plate 10-7, and V-shaped grooves are arranged thereon, which can reduce the contact area between the workpiece carrier and them and reduce the material movement resistance caused by the adhesion of the grinding fluid to the material.

[0122] The rear stock table plate 10-7 is installed on the stock table support plate 7-8, and the two side edges are in a flared shape, and a partition is provided in the middle and is arranged at a certain angle to facilitate docking with the storage equipment.

[0123] Further, a sensor is installed above each material station of the material transfer tray 3, and the rotation of the positioning plate 10-4 is detected by the sensor to complete the movement of the material and the conversion of the material station.

[0124] In the embodiment of the present application, the loading and unloading mechanism is arranged between the material transfer tray 3 and the grinding machine, and is used to transfer the workpiece to be processed from the material transfer tray 3 to the grinding machine and to transfer the processed workpiece from the grinding machine to the material transfer tray 3.

[0125] Refer to Figure 2 、 Figure 6 and Figure 9 As shown, further, the loading and unloading mechanism includes a loading mechanism, an unloading mechanism and a module assembly 5;

[0126] The module assembly 5 is installed on the lower surface of the support cross beam 7-4 and is used to drive the loading mechanism and the unloading mechanism to move towards the grinding machine or the material transfer tray 3 at the same time; it can adopt a cylinder, a hydraulic cylinder, a linear motor, etc., and no special limitation is made thereto.

[0127] Refer to Figure 10 and Figure 11 As shown in the exemplary embodiment of the present application, the module assembly 5 includes:

[0128] The mechanical pusher fixing plate 8-1 is used to install the module bracket 8-2.

[0129] The module bracket 8-2 is used to install the module 8-4;

[0130] The module 8-4 is set as a linear driver with a ball screw;

[0131] The reinforcing ribs 8-3-1, 8-3-2, 8-3-3, 8-3-4 strengthen the stability and accuracy of the module bracket 8-2;

[0132] The module sensor bracket 8-8 is used to install the module sensors 8-9-1 and 8-9-2;

[0133] Module sensors 8-9-1 and 8-9-2 are used to identify the material transfer tray 3.

[0134] In the embodiment of the present application, the module sensors 8-9-1 and 8-9-2 are infrared sensors. Of course, this is not restrictive. In other embodiments, the module sensors 8-9-1 and 8-9-2 can also be other types of sensors.

[0135] Refer to Figure 9 and Figure 11 As shown, in the embodiment of the present application, the loading mechanism includes:

[0136] A loading gripper that can clamp the material carrier tray after inserting into the central hole of the material carrier tray; specifically, the loading gripper is preferably set as a three-point gripper 3-19. A gripper 3-21 is installed on each of the three telescopic sliders of the three-point gripper 3-19. After the gripper 3-21 inserts into the central hole of the material transfer tray 3 and clamps the material transfer tray 3, it can be horizontally dragged to complete the loading; when the three-point gripper 3-19 transports materials, it can provide good stability for the materials. However, the three-point gripper 3-19 is only an exemplary description and not restrictive;

[0137] A pneumatic gripper support 3-16 for installing the three-point gripper 3-19;

[0138] A loading slide 3-15 for controlling the lifting of the loading gripper.

[0139] In the embodiment of the present application, the unloading mechanism includes:

[0140] A pick-off head 3-10 for inserting into the central hole of the material and capable of dragging the material to move horizontally to complete the unloading;

[0141] A pick-off head bracket 3-9 for installing the pick-off head 3-10;

[0142] An unloading slide 3-8 for controlling the lifting of the pick-off head bracket 3-9 and the pick-off head 3-10.

[0143] Furthermore, the loading and unloading mechanism further includes:

[0144] A robotic arm base plate 3-1, connected to the slider in the module 8-4. By the rotation of the ball screw, the slider can drive the robotic arm base plate 3-1 to move along the length direction of the first loading and unloading channel;

[0145] A robotic arm connecting plate 3-4 for installing the unloading slide 3-8 and the loading slide 3-15. The robotic wall connecting plate is fixedly connected to the robotic arm base plate 3-1.

[0146] During the loading process, first, the upper and lower structures are positioned directly above the loading station corresponding to the loading end through the module 8-4, while ensuring that the three grippers 3-21 in the loading gripper are precisely aligned with the center hole of the material in the vertical direction. Subsequently, the loading slide 3-15 is activated to drive the three-point gripper 3-19 to descend until it is inserted into the center hole of the material. At this time, the three grippers 3-21 expand outward synchronously to clamp the material. After the clamping is completed, the module 8-4 is activated again to drive the loading gripper and the material it holds to move to the loading end of the grinding machine, and then the three grippers 3-21 contract inward, and the loading slide 3-15 raises the loading gripper again, thus completing the loading of the material.

[0147] When the loading is completed, the unloading mechanism is exactly located at the unloading end of the grinding machine. When the processed material moves to the unloading end, its center hole is exactly located directly below the pick-up head 3-10. The unloading slide 3-8 is activated to lower the pick-up head 3-10 and insert it into the center hole of the completed material. Then the module 8-4 drives the loading and unloading mechanism to move towards the material transfer tray 3, so that the material moves into the unloading station corresponding to the unloading end. The unloading slide 3-8 then drives the pick-up head 3-10 to move upward, thus completing the unloading of the material.

[0148] In the embodiment of the present application, the loading and unloading mechanism 2 is arranged between the material transfer tray 3 and the storage device, and is used to transfer the material to be processed from the storage device to the material transfer tray 3 and to transfer the processed material from the material transfer tray 3 to the storage device.

[0149] Refer to Figure 2 and Figure 12 As shown, further, the loading and unloading mechanism 2 includes:

[0150] A pick-up arm capable of pulling the material from the feeding end into the loading station communicating therewith;

[0151] A discharging arm capable of pushing the material from the unloading station to the receiving end communicating therewith.

[0152] In an exemplary embodiment of the present application, the pick-up arm includes: a first cylinder support block 9-5, a second cylinder support block 9-3, and a linear actuator 9-8. The linear actuator 9-8 is installed on the support column 7-3 through the first cylinder support block 9-5 and the second cylinder support block 9-3.

[0153] The material taking arm further includes a drag chain 9-4, a drag chain support frame, a drag chain support frame seat 9-6 and a profile mounting member 9-7; the drag chain support frame is used to support the drag chain 9-4; the drag chain support frame seat 9-6 supports and mounts the drag chain support frame, and the profile mounting member 9-7 is used for the connection between the linear actuator 9-8, the first cylinder support block 9-5 and the second cylinder support block 9-3, and is also used for the connection between the drag chain support frame seat 9-6 and the linear actuator 9-8.

[0154] Further, the drag chain support frame includes an upper bracket 9-1, a lower bracket and a support member 9-2. The lower bracket is fixedly arranged on the upper surface of the drag chain support frame seat 9-6. The upper bracket 9-1 is arranged above the lower bracket. The top end of the support member 9-2 is fixedly connected to the upper bracket 9-1, and the bottom end of the support member 9-2 is fixedly connected to the lower bracket, and is used to support the upper bracket 9-1.

[0155] The cylinder adjusting slider is installed in the long circular holes on the first cylinder support block 9-5 and the second cylinder support block 9-3, and is used to adjust the angle of the linear actuator 9-8.

[0156] The material taking slide 9-9-1 is used to lift and lower the material taking arm 9-10-1 and the material taking pick 9-12-1;

[0157] The material taking arm 9-10-1 is used to connect the material taking slide 9-9-1 and the material taking pick 9-12-1;

[0158] The material taking pick 9-12-1 is used to insert into the central hole of the material.

[0159] The cylinder connecting plate is installed on the slider in the linear actuator 9-8, and is used to connect the material taking arm 9-10-1 and the material taking slide 9-9-1, and is also used to install the drag chain bracket 9-2, and can move along with the slider.

[0160] When it is necessary to take materials from the stockpiling equipment, first, the linear actuator 9-8 moves the material taking arm 9-10-1 and the material taking pick 9-12-1 to the feeding end, and at the same time ensures that the material taking pick 9-12-1 is directly above the central hole of the material. Subsequently, the material taking slide 9-9-1 drives the material taking arm 9-10-1 and the material taking pick 9-12-1 to descend, so that the material taking pick 9-12-1 is inserted into the central hole. Then, the linear actuator 9-8 pulls the material into the feeding station connected to the feeding end through the material taking arm 9-10-1 and the material taking pick 9-12-1. Finally, the material taking slide 9-9-1 drives the material taking pick 9-12-1 to leave the central hole, and thus the feeding work from the stockpiling equipment to the material transfer tray 3 is completed.

[0161] In the embodiment of the present application, the structures of the material discharging arm and the material picking arm are exactly the same, so they will not be described in detail. It can be understood that the material discharging arm pushes the material from the blanking station to the receiving end communicated with it, and imports the material that has been processed by the grinding machine into the receiving end of the storage device.

[0162] Referring to Figure 9 and Figure 13 As shown, in the embodiment of the present application, the material positioning structure includes:

[0163] The material positioning structure is arranged on the telescopic structure of the material table. When the material passes through the material positioning structure, the material positioning structure can act on the material to adjust the angular rotation of the material;

[0164] The material pushing and calibrating part is installed in the loading and unloading mechanism. The material pushing and calibrating part is movably arranged above the tooth ring structure of the material. The material pushing and calibrating part is configured to be able to insert into the tooth groove of the tooth ring structure after moving downward, that is, the angular position calibration of the material is completed; the material pushing and calibrating part moves downward during the process of the material positioning structure adjusting the rotation angle of the material until the material pushing and calibrating part inserts into the tooth groove of the material.

[0165] Further, a lifting structure is installed at the top of the material pushing and calibrating part. During the process of calibrating the angular position of the material, the lifting structure always applies a downward pressure to the material pushing and calibrating part, and this pressure can be changed by adjusting the output pressure setting value of the pressure valve. To make the material pushing and calibrating part work more stably and reliably. In the present application, the lifting structure is set as the loading lifting slide 3-14. A loading cylinder support 3-12 for installing and supporting the loading lifting slide 3-14 is fixedly arranged between the loading lifting slide 3-14 and the robot base plate 3-1.

[0166] Referring to Figure 14 and Figure 15 As shown, in the embodiment of the present application, the material positioning structure includes a calibration structure and a biasing member. The calibration structure can move outward to the outside of the loading channel, and the biasing member can apply a biasing force to the calibration structure toward the inside of the loading channel;

[0167] When the material pushing and calibrating part is not aligned with the tooth groove, the calibration structure can drive the material to rotate under the action of the biasing force, so that the material rotates to the state where the tooth groove is aligned with the material pushing and calibrating part;

[0168] When the calibration structure is not aligned with the tooth groove, the lifting structure presses the material pushing and calibrating part on the upper surface of the material. When the material rotates to the state where the tooth groove is aligned with the material pushing and calibrating part, the lifting structure drives the material pushing and calibrating part to quickly descend, meshing the material pushing and calibrating part into the tooth groove, so that the material cannot continue to rotate.

[0169] It is worth noting that when the feeding gripper clamps the material through the three grips 3-21, the clamping force applied by the grippers 3-21 to the material can be controlled by installing a pressure control valve on the air supply pipeline, so that when the material is rotating, the rotational force will be greater than the clamping force applied by the grippers 3-21 to the material.

[0170] When the push calibration member and the tooth groove form a clamping state, the material cannot rotate. Therefore, the force applied by the material to the calibration structure will overcome the biasing force provided by the biasing member, so that the calibration structure moves to the outside of the first loading and unloading channel, thereby avoiding the passage of the material. After the material passes through, the calibration structure returns to its original position under the action of the biasing force provided by the biasing member.

[0171] In the embodiment of the present application, the material positioning structure also includes a mounting plate 4-17, and the mounting plate 4-17 is used to mount the calibration structure and the biasing member. The mounting plate 4-17 is fixedly mounted on one side of the first loading and unloading channel and a positioning block 4-17-1 is fixedly mounted on the side facing the first loading and unloading channel. When the push material calibration member moves toward the inside of the first loading and unloading channel under the action of the biasing force, it cannot move further after abutting against the positioning block 4-17-1, thereby limiting the moving range of the push material calibration member.

[0172] Further, the calibration structure comprises:

[0173] The bottom plate 4-16 is mounted on the mounting plate 4-17, one end of the bottom plate 4-16 is rotatably connected to the mounting plate 4-17, and the other end of the bottom plate 4-16 abuts against a side of the positioning block 4-17-1 away from the first loading and unloading channel;

[0174] The cam follower 4-14 is installed on the side of the bottom plate 4-16 facing the first loading and unloading channel, and meshes with the tooth grooves on the circumferential outer wall of the material.

[0175] Furthermore, the positioning mechanism further comprises a connecting member, which penetrates the bottom plate 4-16 along the rotation axis of the bottom plate 4-16 and is connected and fixed to the mounting plate 4-17. In the embodiment of the present application, the connecting member is configured as a step screw 4-15, which is of course not restrictive.

[0176] In the embodiment of the present application, the biasing member is configured as a torsion spring 4-18, and the torsion spring 4-18 is sleeved outside the circumferential side wall of the connecting member, so that the bottom plate 4-16 applies pressure to the inside of the first loading and unloading channel under the action of the torsion spring and abuts against the positioning block 4-17-1. Of course, this is not restrictive.

[0177] This is also not limiting.

[0178] In the embodiment of the present application, the positioning mechanism further includes a baffle strip 4-13, the baffle strip 4-13 is fixedly arranged on one side of the loading channel along the length direction of the loading channel, and the mounting plate 4-17 is fixedly arranged on the baffle strip 4-13.

[0179] Refer to Figure 9 As shown, in an exemplary embodiment of the present application, the pusher calibration member is provided as a pusher gear ring 3-17 capable of meshing with the tooth grooves of the material. A plurality of first positioning pins are evenly distributed in the pusher gear ring 3-17, and the spacing between the plurality of first positioning pins is equal to the spacing between a plurality of tooth pins that the loading end of the grinding machine descends during loading, or the spacing between the plurality of first positioning pins is an integer multiple of the spacing between the plurality of teeth.

[0180] Specifically, the number of first positioning pins provided can either be equal to the number of tooth pins at the loading end, or the number of first positioning pins provided can be less than the number of tooth pins at the loading end. When the number of first positioning pins provided is less than the number of tooth pins at the loading end, the spacing between the first positioning pins can either remain the same as the spacing between the tooth pins at the loading end, or the spacing between the first positioning pins can be an integer multiple of the tooth pin spacing.

[0181] When the loading mechanism pushes the material to the loading end of the grinding machine, in order to enable the material to smoothly enter the grinding machine, the tooth pins at the loading end of the grinding machine need to descend below the loading end during loading. At this time, when the pusher gear ring 3-17 pushes the material to the loading station, the first positioning pins can replace some or all of the tooth pins located at the loading end, enabling the material to be smoothly introduced into the grinding machine; when the first positioning pins only replace some of the tooth pins at the loading end, it is necessary to ensure that the material can rotate into the grinding machine by meshing with the first positioning pins; in the present application, preferably, the number of first positioning pins provided is equal to the number of tooth pins that descend at the loading end, and the spacing between the plurality of first positioning pins is the same as the spacing between the plurality of descending tooth pins. Therefore, during loading, the plurality of first positioning pins can replace all the tooth pins, making the tooth-shaped workpiece loading tray move more smoothly and smoothly.

[0182] Similarly, the unloading mechanism further includes a receiving gear ring 3-6. A plurality of second positioning pins 3-7 are evenly distributed in the receiving gear ring 3-6, and the spacing between the plurality of second positioning pins 3-7 is equal to the spacing between a plurality of tooth pins that the unloading end of the grinding machine descends during unloading, or the spacing between the plurality of second positioning pins 3-7 is an integer multiple of the spacing between the plurality of teeth.

[0183] When the blanking mechanism needs to receive the processed materials, the tooth pins at the blanking end of the grinding machine need to descend below the blanking end during blanking. The number of the second positioning pins 3-7 can be equal to the number of the tooth pins at the blanking end, or the number of the second positioning pins 3-7 can be less than the number of the tooth pins at the blanking end. When the number of the second positioning pins 3-7 is less than the number of the tooth pins at the blanking end, the distance between the second positioning pins 3-7 can be the same as the distance between the tooth pins at the blanking end, or the distance between the second positioning pins 3-7 can be an integer multiple of the distance between the tooth pins.

[0184] The second positioning pins 3-7 can replace some or all of the tooth pins at the blanking end. In this application, the number of the second positioning pins 3-7 is equal to the number of the tooth pins at the blanking end, and the distance is also the same, so that the material can rotate smoothly to the blanking end of the grinding machine without affecting the export of the material.

[0185] A blanking lifting slide 3-5 for controlling the lifting of the blanking gear ring 3-6 is installed on the top of the blanking gear ring 3-6. A blanking cylinder support 3-2 for installing and supporting the blanking lifting slide 3-5 is fixedly arranged between the blanking lifting slide 3-5 and the robot base plate 3-1.

[0186] In the embodiment of this application, the full-automatic loading and unloading table further includes a first fine-tuning group 7 and a second fine-tuning group 8. The first fine-tuning group 7 and the second fine-tuning group 8 are both arranged between the table base 10 and the loading and unloading mechanism support 4. The first fine-tuning group 7 is used to adjust the height of the loading and unloading mechanism support 4 close to the grinding machine side, and the second fine-tuning group 8 is used to adjust the height of the loading and unloading mechanism support 4 close to the storage equipment side.

[0187] In the embodiment of the present application, the first fine-tuning group 7 is provided with a first lower support plate 1-7 and a first upper support plate 1-6. The first lower support plate 1-7 is installed on the base 10 of the material table. A first sliding sleeve 1-10, a position sensor bracket 1-121-12, a rotating motor fixing plate 1-14 and a first reduction gear 1-3 are installed on the first lower support plate 1-7. A rotating motor mounting plate 1-5 is installed on the rotating motor fixing plate 1-14. The rotating motor 1-15 is connected to the first reduction gear 1-3 through a coupling 1-4. A first lead screw 1-1 is installed on the first reduction gear 1-3 through a flat key. A first lifting nut seat 1-2 is installed on the first lead screw 1-1. The first lifting nut seat 1-2 is installed on the first upper support plate 1-6. The rotating motor 1-15 drives the first reduction gear 1-3 to rotate, thereby driving the first lead screw 1-1 to rotate, causing the first lifting nut seat 1-2 to move up and down, achieving the purpose of moving the first upper support plate 1-6 up and down. One first guide shaft 1-8 is installed at each end of the first upper support plate 1-6. The first guide shaft 1-8 is inserted and installed in the first sliding sleeve 1-10 of the first lower support plate 1-7. The first guide shaft 1-8 is slidably connected to the first sliding sleeve 1-10. A sensor signal blocking piece 1-13 is installed on the bottom surface of the first upper support plate 1-6. In addition, a position sensor 1-11 is installed on the position sensor bracket 1-121-12. The up and down movement distance of the upper support plate 1-6 is adjusted by the limit on the signal blocking piece 1-13.

[0188] When the height of the grinding wheel surface of the grinding machine gradually decreases due to wear during use, through the cooperation between the signal blocking piece 1-13 and the position sensor 1-11, the rotating motor 1-15 can be automatically started, so that the rotating motor 1-15 drives the first reduction gear 1-3 and the first lead screw 1-1 to rotate, and the height of the first upper support plate 1-6 is adjusted, thereby realizing the automatic adjustment of the height of the end of the loading and unloading mechanism support 4 close to the grinding machine. This not only provides convenience for the daily work of the staff, but also ensures that the material can be smoothly loaded and unloaded between the grinding machine and the material transfer plate 3, avoiding the phenomenon of jamming.

[0189] In the embodiment of the present application, the rotating motor 1-15 is set as a servo motor, and the first reduction gear 1-3 is set as a turbine reduction gear. Of course, this is not restrictive.

[0190] In the embodiment of the present application, the second fine-tuning group 8 is provided with a second lower support plate 2-11 and a second upper support plate 2-1. The second lower support plate 2-11 is installed on the base of the material table 10. A sliding sleeve 2-12, a second reduction gear 2-2, a handle support 2-6, a handle rod 2-9, and a handwheel 2-10 are installed on the second lower support plate 2-11. A second lead screw 2-4 is installed on the second reduction gear 2-2 in the vertical direction through a flat key. A second lifting nut seat 2-3 is installed on the second lead screw 2-4. The second lifting nut seat 2-3 is installed on the second upper support plate 2-4. One end of the handle rod 2-9 is horizontally connected to the second reduction gear 2-2, and the other end is fixedly connected to the handwheel 2-10. A handle support 2-6 is installed between the handle rod 2-9 and the second reduction gear 2-2. A deep groove ball bearing 2-5 is installed in the handle support 2-6. Turning the handwheel 2-10 causes the handle rod 2-9 to drive the second reduction gear 2-2 to rotate, thereby causing the second lead screw 2-4 to rotate. The second lead screw 2-4 drives the second lifting nut seat 2-3 to move up and down, achieving the purpose of moving the second upper support plate 2-1 up and down. A second guide shaft 2-7 is installed at each end of the upper support plate 2-1. The second guide shaft 2-7 is slidably connected to the second sliding sleeve 2-12. The second guide shaft 2-7 is inserted into the second sliding sleeve 2-12 installed on the second lower support plate 2-11.

[0191] In the embodiment of the present application, the second reduction gear 2-2 is set as a worm reduction gear, but of course this is not restrictive.

[0192] After considering the specification and practicing the embodiment of the present application, those skilled in the art will easily think of other implementation schemes of the present application. The present application aims to cover any variations, uses, or adaptive changes of the present application. These variations, uses, or adaptive changes follow the general principles of the present application and include the common general knowledge or conventional technical means in the technical field not claimed in the present application. The specification and the embodiments are only regarded as exemplary, and the true scope and spirit of the present application are pointed out by the appended claims.

Claims

1. An automatic loading and unloading table, characterized in that, It is suitable for being arranged between a grinding machine and a stock storage device and is used for transferring materials between the grinding machine and the stock storage device; the grinding machine has a feeding end and a discharging end arranged left and right, the stock storage device has a receiving end and a feeding end arranged left and right, the feeding end corresponds to the receiving end in position, and the discharging end corresponds to the feeding end in position; The full-automatic loading and unloading table includes: A table base; A first loading and unloading channel and a second loading and unloading channel, which are arranged left and right on the table base. The first loading and unloading channel has a first loading port corresponding to the feeding end of the grinding machine and a first unloading port corresponding to the receiving end of the stock storage device; the second loading and unloading channel has a second unloading port corresponding to the discharging end of the grinding machine and a second loading port corresponding to the feeding end of the stock storage device; A material transfer disk for carrying and transferring the materials. The material transfer disk is located between the first loading and unloading channel and the second loading and unloading channel and is rotatably arranged on the table base. The middle parts of the first loading and unloading channel and the second loading and unloading channel are both connected through the material transfer disk. The materials are transferred by rotating the material transfer disk by a set angle and the positions of the materials on the first loading and unloading channel and the second loading and unloading channel are swapped; Four material stations for carrying and transferring the materials are arranged on the surface of the material transfer disk. The four material stations include a pair of loading stations and a pair of unloading stations arranged alternately. The pair of loading stations are respectively corresponding and communicated with the first loading port of the first loading and unloading channel and the second loading port of the second loading and unloading channel. The pair of unloading stations are respectively corresponding and communicated with the first unloading port of the second loading and unloading channel and the second unloading port of the first loading and unloading channel. By rotating the material transfer disk by 180 degrees, the pair of loading stations swap the loading positions of the materials on the second loading and unloading channel and the first loading and unloading channel, and the pair of unloading stations swap the unloading positions of the materials on the second loading and unloading channel and the first loading and unloading channel.

2. The fully automatic loading and unloading table according to claim 1, wherein, It also includes a loading and unloading mechanism and a picking and placing mechanism. The loading and unloading mechanism is arranged between the material transfer disk and the grinding machine and is used for transferring the materials to be processed from the material transfer disk to the grinding machine and for transferring the processed materials from the grinding machine to the material transfer disk; The picking and placing mechanism is arranged between the material transfer disk and the stock storage device and is used for transferring the materials to be processed from the stock storage device to the material transfer disk and for transferring the processed materials from the material transfer disk to the stock storage device.

3. The fully automatic loading and unloading table according to claim 2, characterized in that The loading and unloading mechanism includes a loading mechanism, an unloading mechanism and a module assembly; The module assembly is used for driving the loading mechanism and the unloading mechanism to move towards the grinding machine or the material transfer disk simultaneously; The loading mechanism includes: A loading gripper that can clamp the material carrier disk after inserting into the central hole of the material carrier disk; A loading slide for controlling the lifting of the loading gripper; The unloading mechanism includes: The pusher head is used to insert into the central hole of the material carrier tray and can drag the material carrier tray to move horizontally; The pusher head bracket is used to mount the pusher head; The blanking slide is used to control the lifting of the pusher head bracket and the pusher head.

4. The fully automatic loading and unloading table according to claim 2, wherein The loading and unloading mechanism includes: The material taking arm can pull the material from the feeding end into the feeding station communicated therewith; The material placing arm can push the material from the unloading station to the receiving end communicated therewith.

5. The full-automatic loading and unloading table according to claim 3, characterized in that, It further includes a front material plate mechanism, and the front material plate mechanism is arranged between the grinding machine and the material transfer tray; the front material plate mechanism includes: The material table telescopic structure includes a first material table interface part and a second material table interface part which are butt-jointed with each other, and the first material table interface part can slide in a direction close to or away from the second material table interface part; The material identification device can identify the position of the material.

6. The full-automatic loading and unloading table according to claim 5, wherein, On one side of the first material table interface part close to the second material table interface part, there is a first rectangular strip tooth, and on one side of the second material table interface part close to the first material table interface part, there is a second rectangular strip tooth. The first rectangular strip tooth and the second rectangular strip tooth form a sliding fit in a crosswise manner.

7. The full-automatic loading and unloading table according to claim 5, characterized in that, It further includes: The material positioning structure is arranged on the material table telescopic structure. When the material passes through the material positioning structure, the material positioning structure can act on the material with a toothed ring structure to adjust the angular rotation of the material; The material pushing and calibrating part is installed in the loading and unloading mechanism. The material pushing and calibrating part is movably arranged above the toothed ring structure of the material in the up-and-down direction. The material pushing and calibrating part is configured to be able to insert into the tooth groove of the toothed ring structure after the material pushing and calibrating part moves downward, that is, the angular position calibration of the material is completed; The material pushing and calibrating part moves downward during the process of the material positioning structure adjusting the rotation angle of the material until the material pushing and calibrating part inserts into the tooth groove of the material.

8. A fully automatic loading and unloading table according to claim 7, characterized in that, A lifting structure is installed on the top of the material pushing and calibrating part. During the process of material calibration, the lifting structure always applies a downward pressure to the material pushing and calibrating part.

9. The fully automatic loading and unloading table according to claim 7, characterized in that, The material positioning structure includes a calibration structure and a biasing part. The calibration structure can move outward to the outside of the feeding channel, and the biasing part can apply a biasing force to the calibration structure toward the inside of the feeding channel; When the material pushing and calibrating part is not aligned with the tooth groove, the calibration structure can drive the material to rotate under the action of the biasing force, so that the material rotates to a state where the tooth groove is aligned with the material pushing and calibrating part; After the material pushing and calibrating part is inserted into the tooth groove, the material cannot rotate. The material exerts a force on the calibration structure and overcomes the biasing force provided by the biasing part, so that the calibration structure moves outward to the outside of the first loading and unloading channel.

10. A fully automatic loading and unloading table according to claim 9, characterized in that, The material positioning structure further includes a mounting plate, and the mounting plate is used to mount the calibration structure and the biasing part. The mounting plate is fixedly arranged on one side of the first loading and unloading channel and is fixedly provided with a positioning block on the side facing the first loading and unloading channel.

11. A fully automatic loading and unloading table according to claim 10, characterized in that, The calibration structure includes: A bottom plate is mounted on the mounting plate, one end of the bottom plate is rotatably connected to the mounting plate, and the other end of the bottom plate is in contact with a side of the positioning block away from the first loading and unloading channel; A cam follower is installed on one side of the bottom plate facing the first loading and unloading channel, and is used for meshing with the gear ring structure on the peripheral outer wall of the material.

12. A fully automatic loading and unloading table according to claim 11, characterized in that, The pusher calibration part is configured as a pusher gear ring that can mesh with the tooth grooves of the material, and a plurality of first positioning pins are evenly distributed in the pusher gear ring, and the spacing between the plurality of first positioning pins is equal to the spacing between the plurality of tooth pins descended at the loading end of the grinder when loading the material, or the spacing between the plurality of first positioning pins is an integer multiple of the spacing between the plurality of teeth.

13. A fully automatic loading and unloading table according to claim 7, characterized in that, The material unloading mechanism also includes a material receiving gear ring, in which a plurality of second positioning pins are evenly distributed, and the spacing between the plurality of second positioning pins is equal to the spacing between the plurality of tooth pins lowered by the unloading end of the grinder when unloading, or the spacing between the plurality of second positioning pins is an integer multiple of the spacing between the plurality of teeth.

14. A fully automatic loading and unloading table according to claim 2, characterized in that, The material transfer tray comprises: The divider has a 180-degree rotation angle adjuster to switch the position of the processed material and the material to be processed. It is equipped with a speed regulator to adjust the number of revolutions per minute. a conversion tray, mounted on the divider; The pallet pad is installed on the conversion pallet and is arranged with V-shaped grooves to reduce the contact area between the material and it; A positioning plate is installed on the pallet pad, and the loading station and the unloading station are opened on the positioning plate.

15. A fully automatic loading and unloading table according to any one of claims 2-14, characterized in that, Also includes: Loading and unloading mechanism support, used to carry the material transfer tray, loading and unloading mechanism and material taking and placing mechanism; A first fine-adjustment group is provided between the material table base and the loading and unloading mechanism support, and is used to adjust the height of the loading and unloading mechanism support close to the grinding machine; The second fine-adjustment group is arranged between the material table base and the loading and unloading mechanism support, and is used to adjust the height of the loading and unloading mechanism support close to the side of the material storage device.

16. A fully automatic loading and unloading table according to claim 15, characterized in that, The first fine-tuning group is provided with a first lower support plate and a first upper support plate, the first upper support plate is located directly above the first lower support plate, a first screw rod, a sensor, a rotating motor and a first reducer are installed between the first lower support plate and the first upper support plate, the rotating motor is connected to the first reducer through a coupling, the first reducer drives the first screw rod to rotate in a vertical direction, a first lifting nut seat is installed on the first screw rod, the first lifting nut seat is fixed on the first upper support plate, a first guide shaft is installed on the first upper support plate, the first guide shaft passes through the first lower support plate in a vertical direction, and the sensor is used to control the start and stop of the motor.

17. A fully automatic loading and unloading table according to claim 15, characterized in that, The second fine-tuning group is provided with a second lower support plate and a second upper support plate. The second lower support plate is installed on the base of the material table. Between the second lower support plate and the second upper support plate, there are a handle rod, a hand wheel, a second reduction gear, and a second lead screw. The second reduction gear drives the second lead screw to rotate in the vertical direction. A second lifting nut seat is installed on the second lead screw, and the second lifting nut seat is fixedly installed on the second upper support plate. One end of the handle rod is connected to the second reduction gear, and the other end is fixedly connected to the hand wheel. Turning the handle rod makes the second reduction gear rotate, thereby driving the second lead screw to rotate, causing the second lifting nut seat and the second upper support plate to move up and down. The second upper support plate is installed with a second guide shaft, and the second guide shaft penetrates the second lower support plate in the vertical direction.

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