Full-automatic replacement method and device for grinding wheel of grinding machine

Abstract

The invention discloses a full-automatic replacement method and device for a grinding wheel of a grinding machine, relates to the technical field of grinding wheel disassembly and assembly, and has the advantages that the grinding wheel can be automatically disassembled and assembled, and manpower is saved. An auxiliary disc connected with a main disc on a robot arm is arranged on the side face, away from the replacing mechanism, of the fixing plate. And the replacing mechanism is used for screwing down a fixing nut on the grinding wheel, detaching and taking away an old grinding wheel and installing a new grinding wheel on the grinding machine.

Description

Technical Field

[0001] The invention relates to the technical field of grinding wheel disassembly and assembly, and in particular to a method and a device for fully automatic replacement of a grinding wheel for a grinding machine. Background Art

[0002] A grinder is a machine tool that uses abrasive tools to grind the surface of a workpiece. Most grinders use high-speed rotating grinding wheels for grinding.

[0003] However, the existing installation method of the grinding wheel of the grinder requires the grinding wheel to be embedded in the power output end of the motor and fixed at the outer end by a nut. When the grinding wheel needs to be replaced, the staff usually needs to use a special disassembly tool to remove the nut and then remove the grinding wheel. Automatic disassembly and assembly cannot be achieved, which wastes manpower. Therefore, the applicant has developed a new technical solution in the actual production process to solve the above technical problems. Summary of the invention

[0004] The purpose of the present invention is to provide a fully automatic replacement method and device for a grinding wheel of a grinding machine, which has the advantages of automatically disassembling and assembling the grinding wheel and saving manpower.

[0005] In order to solve the above technical problems, the present invention adopts the following technical solutions: The present invention provides a fully automatic replacement device for grinding wheel of a grinding machine, comprising a fixed plate and a replacement mechanism arranged on a plate surface on one side of the fixed plate, wherein a side of the fixed plate facing away from the replacement mechanism is provided with a secondary plate connected to a main plate on a robot arm; The replacement mechanism is used to unscrew the fixing nut on the grinding wheel, remove the old grinding wheel, and install the new grinding wheel on the grinding machine.

[0006] By adopting the above technical solution, the auxiliary disc is installed on the main disc, and the robot arm can drive the fixed plate and the replacement mechanism to move to the grinding wheel position on the grinder. The old grinding wheel on the grinding machine is removed by the replacement mechanism, and the new grinding wheel is installed on the grinder, thereby achieving the purpose of automatically disassembling and assembling the grinding wheel and saving manpower.

[0007] Preferably, the replacement mechanism comprises two mutually parallel mounting plates arranged on one side of the fixing plate, the two mounting plates are both arranged perpendicularly to the fixing plate, one of the mounting plates is arranged close to the side of the fixing plate and is penetrated by a sleeve, and the other mounting plate is provided with a driving member that drives the sleeve to rotate and reciprocate in the mounting plate; Two electromagnets are embedded on the surface of the mounting plate close to the side of the fixing plate. The two electromagnets are located on both sides of the sleeve. The sleeve is provided with a slot matched with a fixing nut on the grinding wheel.

[0008] Preferably, when the sleeve unscrews the fixing nut, an ejector nut is placed in the slot, the ejector nut includes a prism at one end that cooperates with the slot, and a connecting column and an ejector column are coaxially arranged on one side of the prism, the diameter of the ejector column is smaller than the diameter of the connecting column and is located on the side of the connecting column away from the prism, and the outer wall of the connecting column is provided with an external thread that is threadedly connected to the center hole of the grinding wheel.

[0009] Preferably, the driving member includes an air motor arranged on a mounting plate facing the sleeve, the air motor is located on a side of the mounting plate facing away from the sleeve, and the mounting plate is provided with an exit hole for the rotating shaft of the air motor to pass through, the rotating shaft of the air motor is connected to the inner wall of the sleeve by a key, one end of the sleeve is sleeved on the outer wall of the rotating shaft of the air motor, and one end of the sleeve is provided with an insertion hole for the rotating shaft of the air motor to pass through, a compression spring is provided at the bottom of the insertion hole, and one end of the compression spring away from the bottom of the insertion hole is fixedly connected to the end face of the rotating shaft of the air motor, and when the compression spring is in an original state, the slot on the sleeve cooperates with the fixing nut on the grinding wheel.

[0010] Preferably, a guide groove is provided at the bottom of the insertion hole, a guide rod is inserted into the compression spring, one end of the guide rod enters into the end face of the rotating shaft of the pneumatic motor and is threadedly connected to the rotating shaft of the pneumatic motor, and the other end enters into the guide groove, and a connecting groove connected to the guide groove is provided at the bottom of the groove of the sleeve, and the size of the connecting groove is larger than that of the guide groove, and a cylindrical block sliding in the connecting groove is provided at one end of the guide rod, and a hexagonal countersunk groove is provided at the end of the cylindrical block facing away from the guide rod.

[0011] Preferably, a plurality of magnetic columns are embedded in the bottom of the slot around the connecting slot, and the fixing nut on the grinding wheel is made of iron.

[0012] Preferably, the fixing plate is detachably connected with an L-shaped mounting strip between the two mounting plates by bolts, the horizontal side of the mounting strip is connected to the fixing plate, and the vertical side is located between the two mounting plates and on one side of the sleeve, and the mounting strip is provided with a proximity switch facing the outer wall of the sleeve on the vertical side, and the proximity switch is used to control the pneumatic motor, and the outer wall diameter of the sleeve at the end close to the pneumatic motor is smaller than the outer wall diameter at the end away from the pneumatic motor. When the slot cooperates with the fixing nut on the grinding wheel, the proximity switch faces the outer wall on the side with a smaller diameter of the sleeve. When the fixing nut is unscrewed off the grinding wheel, the outer wall on the side with a larger diameter of the sleeve moves to the proximity switch. At this time, the proximity switch detects a signal to control the pneumatic motor to stop working.

[0013] Preferably, the number of sleeves on the mounting plate is set to two and they are distributed along the vertical direction of the mounting plate. There are also two driving members, which respectively drive the two sleeves to rotate and move. One of the two sleeves is used to load the prism of the ejector nut, and the other is used to remove the fixing nut on the grinding wheel. There are also two proximity switches on the mounting strip, which are respectively aligned with the two sleeves. There are also two pairs of electromagnets on the mounting plate, which are respectively on both sides of the two sleeves.

[0014] Another object of the present invention is to provide a method for fully automatic replacement of grinding wheels for a grinding machine, comprising the following steps: S1: The robot arm moves the mounting plate to a position facing the grinding wheel to be removed, so that the slot of the sleeve is sleeved on the outer wall of the fixing nut on the grinding wheel; S2: Remove the fixing nut: The motor that controls the grinding wheel is a servo motor. When the grinding wheel stops rotating, it will not rotate due to external force. The pneumatic motor drives the sleeve to rotate, so that the slot on the sleeve drives the fixing nut to rotate, and then the fixing nut is screwed off the grinding wheel. In this process, the sleeve moves away from the grinding wheel until the proximity switch detects the outer wall of the sleeve with a larger diameter. The proximity switch controls the pneumatic motor to stop rotating. S3: Replace the ejector nut: The robot arm removes the fixed nut and moves it to the workbench, takes out the fixed nut in the slot, and replaces the ejector nut into the slot. The ejector nut is made of iron. S4: Disassembling the grinding wheel: The robot arm puts the ejector nut into the center hole of the grinding wheel so that the external thread of the ejector nut is connected with the thread of the center hole of the grinding wheel. Then, as the ejector nut is screwed in, the ejector column provides extrusion force to the power output end of the motor, and the grinding wheel is removed from the power output end of the motor. At this time, the electromagnet is energized so that the electromagnet generates adsorption force on the grinding wheel. The robot arm moves the grinding wheel out of the power output end of the motor together, and then moves the grinding wheel to the top of the workbench. The pneumatic motor reverses to remove the ejector nut from the grinding wheel. When the proximity switch detects the outer wall on the side with a larger diameter of the sleeve, the proximity switch controls the pneumatic motor to stop rotating, and the electromagnet is powered off, so that the grinding wheel is placed on the workbench; S5: Install a new grinding wheel: Take out the ejector nut from the slot and put in the fixing nut. The robot arm moves the mounting plate to the top of the new grinding wheel on the workbench and energizes the electromagnet so that the electromagnet adsorbs the new grinding wheel. At this time, the fixing nut is pressed into the mounting plate. The robot arm inserts the new grinding wheel into the outer wall of the power output end of the motor, and then starts the pneumatic motor to rotate the sleeve, thereby screwing the fixing nut into the grinding wheel to fix the grinding wheel. The replacement of the old and new grinding wheels is now completed.

[0015] Another object of the present invention is to provide a method for fully automatic replacement of grinding wheels for a grinding machine, comprising the following steps: S1: The robot arm moves the mounting plate to a position facing the grinding wheel to be removed, so that the slot of the sleeve at a higher height is sleeved on the outer wall of the fixing nut on the grinding wheel, and the ejector nut is installed in the slot of the sleeve at a lower height. After the slot of the sleeve at a higher height is sleeved on the outer wall of the fixing nut on the grinding wheel, the ejector nut is resisted by the grinding wheel disc surface and enters the mounting plate; S2: Remove the fixing nut: The motor that controls the operation of the grinding wheel is a servo motor. When the grinding wheel stops rotating, it will not rotate due to external force. The pneumatic motor located at a high position drives the sleeve located at a high position to rotate, so that the card slot on the sleeve drives the fixing nut to rotate, and then the fixing nut is screwed off the grinding wheel. In this process, the sleeve located at a high position moves away from the grinding wheel until the proximity switch located at a high position detects the outer wall of the sleeve with a larger diameter. The proximity switch located at a high position controls the pneumatic motor located at a high position to stop rotating. S3: Disassembling the grinding wheel: The robot arm will drive the mounting plate to move away from the grinding wheel and then upward, so that the fixing nut is located above the center of the grinding wheel. Then the robot arm will put the ejector nut into the center hole of the grinding wheel. The pneumatic motor located at the lower position drives the sleeve located at the lower position to rotate, so that the external thread of the ejector nut is threadedly connected with the center hole of the grinding wheel. Then, as the ejector nut is screwed in, the ejector column provides extrusion force to the power output end of the motor, and the grinding wheel is removed from the power output end of the motor. At this time, the electromagnet is energized so that the electromagnet generates adsorption force on the grinding wheel. The robot arm moves the grinding wheel out of the power output end of the motor together, and then moves the grinding wheel above the workbench. The pneumatic motor located at the lower position reverses, so that the ejector nut is removed from the grinding wheel. When the proximity switch located at the lower position detects the outer wall on the side with a larger diameter of the sleeve, the proximity switch located at the lower position controls the pneumatic motor located at the lower position to stop rotating, and the electromagnet is powered off, so that the grinding wheel is placed on the workbench; S4: Install new grinding wheel: The robot arm aligns the position where the fixing nut is placed with the new grinding wheel, and energizes the electromagnets on both sides of the fixing nut so that the electromagnets adsorb the new grinding wheel. At this time, the fixing nut is pressed into the mounting plate, and the robot arm inserts the new grinding wheel into the outer wall of the power output end of the motor, and then starts the corresponding pneumatic motor to rotate the sleeve, and then screws the fixing nut into the grinding wheel to fix the grinding wheel. At this point, the replacement of the old and new grinding wheels is completed.

[0016] The beneficial effect of the present invention is that the auxiliary disc is installed on the main disc, and the robot arm can drive the fixed plate and the changing mechanism to move to the grinding wheel position on the grinding machine. The old grinding wheel on the grinding machine is removed by the changing mechanism, and a new grinding wheel is installed on the grinding machine, thereby realizing the purpose of automatically disassembling and assembling the grinding wheel and saving manpower. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 It is a structural schematic diagram of this embodiment; Figure 2 This is a schematic diagram of the structure of the sleeve in this embodiment; Figure 3 This is a schematic diagram of the structure of the robot arm and the grinder in this embodiment; Figure 4 for Figure 3 A schematic diagram of the enlarged structure of the middle part A; Figure 5 This is a schematic diagram of the structure of the present embodiment for reflecting the connection between the robot arm and the fixing plate; Figure 6 This is a schematic diagram of the structure of the dual pneumatic motors of this embodiment; Figure 7 This is a schematic diagram of the structure of two proximity switches in this embodiment; Figure 8 This is a schematic diagram of the structure of the ejector nut according to the present embodiment; Fig. 9 It is a schematic diagram of the structure of the fixing nut in this embodiment.

[0019] Description of reference numerals: In the figure: 1. fixing plate; 11. auxiliary disk; 12. mounting plate; 121. sleeve; 122. electromagnet; 123. slot; 124. ejector nut; 1241. prism; 1242. connecting column; 1243. ejector column; 13. pneumatic motor; 131. outlet hole; 132. entry hole; 133. compression spring; 134. guide groove; 135. guide rod; 136. connecting groove; 137. cylindrical block; 14. magnetic column; 15. mounting strip; 151. proximity switch; 2. robot arm; 21. main disk; 3. grinding wheel; 31. fixing nut; 4. grinder; 41. motor; 5. workbench; 51. vertical plate; 52. pneumatic clamp. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] Embodiment 1: A fully automatic replacement device for grinding wheel of a grinding machine, such as Figure 1 and Figure 3 and Figure 5 , including a fixed plate 1 and a replacement mechanism arranged on a side of the fixed plate 1, a side of the fixed plate 1 facing away from the replacement mechanism is provided with a secondary plate 11 connected to the main plate 21 on the robot arm 2; the robot arm 2 can be a base of the robot arm 2 fixed on the ground, so that the robot arm 2 is located on one side of the grinder 4, when the main plate 21 and the secondary plate 11 are installed, so that the replacement mechanism faces the grinding wheel 3 of the grinder 4, the fixed plate 1 is horizontally distributed. The main plate 21 and the secondary plate 11 are quick-connect structures, which are prior art and will not be described in detail here.

[0022] like Figure 1 and Figure 3 and Fig. 9 The replacement mechanism is used to unscrew the fixing nut 31 on the grinding wheel 3, remove the old grinding wheel 3, and install the new grinding wheel 3 on the grinding machine 4.

[0023] like Figure 1 and Figure 3 and Figure 5 , install the auxiliary disk 11 on the main disk 21, the robot arm 2 can drive the fixed plate 1 and the replacement mechanism to move to the position of the grinding wheel 3 on the grinder 4, remove the old grinding wheel 3 on the replacement mechanism grinder 4, and install the new grinding wheel 3 on the grinder 4, thereby realizing the purpose of automatically disassembling and assembling the grinding wheel 3 and saving manpower.

[0024] like Figure 1 and Figure 2The replacement mechanism includes two mutually parallel mounting plates 12 arranged on one side surface of the fixed plate 1, and the two mounting plates 12 are vertically distributed with the fixed plate 1, one of the mounting plates 12 is distributed close to the side edge of the fixed plate 1 and is penetrated with a sleeve 121, and the other mounting plate 12 is provided with a driving member for driving the sleeve 121 to rotate and reciprocate in the mounting plate 12, and the mounting plate 12 with the sleeve 121 is provided with a convex surface on the side facing the grinding wheel 3, which is convenient for the movement of the sleeve 121 and the installation and adsorption of the grinding wheel 3 by the electromagnet 122 in the later stage; at this time, the mounting plate 12 distributed close to the side edge of the fixed plate 1 is provided with a moving groove for the reciprocating movement of the sleeve 121, and the diameter of the moving groove is larger than the diameter of the sleeve 121, which is convenient for the sleeve 121 to reciprocate in the moving groove. When the moving groove is reciprocated, the friction with the wall of the moving groove is reduced; when the fixed plate 1 is horizontally distributed, the two mounting plates 12 are vertically distributed and face the wheel surface of the grinding wheel 3 of the grinder 4.

[0025] like Figure 1 and Figure 2 Two electromagnets 122 are embedded on the surface of the mounting plate 12 near the side of the fixing plate 1. The two electromagnets 122 are located on both sides of the sleeve 121. The sleeve 121 is provided with a slot 123 that matches the fixing nut 31 on the grinding wheel 3. For example, when one end of the fixing nut 31 is a hexagonal column, the slot 123 is a hexagonal groove that is sleeved on the hexagonal column. The electromagnet 122 is provided to adsorb with the iron flange on the grinding wheel 3.

[0026] like Figure 1 and Figure 2 and Figure 8 When the sleeve 121 unscrews the fixing nut 31, a ejector nut 124 is placed in the slot 123. The ejector nut 124 includes a prism 1241 at one end of which cooperates with the slot 123, and a connecting column 1242 and an ejector column 1243 are coaxially arranged on one side of the prism 1241. The diameter of the ejector column 1243 is smaller than the diameter of the connecting column 1242 and is located on the side of the connecting column 1242 away from the prism 1241. The outer wall of the connecting column 1242 is provided with an external thread threadedly connected to the center hole of the grinding wheel 3. The center hole of the grinding wheel 3 is the center hole of the flange of the grinding wheel 3.

[0027] like Figure 1 and Figure 2 and Figure 3The purpose of setting the ejector nut 124 is that after the fixing nut 31 is removed from the grinding wheel 3, the grinding wheel 3 is still tightly connected to the power output end of the motor 41. The ejector nut 124 enters the center hole of the grinding wheel 3, and the external thread of the ejector nut 124 is threadedly connected with the center hole of the grinding wheel 3, thereby fixing the grinding wheel 3. The ejector column 1243 contacts the end face of the power output end of the motor 41. As the ejector nut 124 continues to be screwed in, an extrusion force is generated on the power output end of the motor 41, thereby driving the grinding wheel 3 to slide down from the power output end of the motor 41, and the electromagnet 122 adsorbs the iron flange on the grinding wheel 3, thereby removing the grinding wheel 3 from the power output end of the motor 41.

[0028] like Figure 1 and Figure 2 The driving member includes an air motor 13 arranged on the mounting plate 12 facing the sleeve 121. The air motor 13 is located on a side of the mounting plate 12 away from the sleeve 121, and a through hole 131 is provided on the mounting plate 12 for the rotation shaft of the air motor 13 to pass through. The rotation shaft of the air motor 13 is connected to the inner wall of the sleeve 121 through a key, so that the air motor 13 drives the sleeve 121 to rotate, and the sleeve 121 is convenient for sliding on the rotation shaft of the air motor 13. One end of the sleeve 121 is sleeved on The outer wall of the rotating shaft of the pneumatic motor 13 and one end of the sleeve 121 are provided with an insertion hole 132 for the rotating shaft of the pneumatic motor 13 to penetrate, and a compression spring 133 is provided at the bottom of the insertion hole 132. The end of the compression spring 133 away from the bottom of the insertion hole 132 is fixedly connected to the end face of the rotating shaft of the pneumatic motor 13. When the compression spring 133 is in the original state, the slot 123 on the sleeve 121 cooperates with the fixing nut 31 on the grinding wheel 3, that is, the slot 123 is sleeved on the outer wall of the fixing nut 31.

[0029] like Figure 1 and Figure 2 A guide groove 134 is provided at the bottom of the insertion hole 132, a guide rod 135 is inserted into the compression spring 133, one end of the guide rod 135 enters the end surface of the rotating shaft of the pneumatic motor 13 and is threadedly connected with the rotating shaft of the pneumatic motor 13, and the other end enters the guide groove 134. A connecting groove 136 connected to the guide groove 134 is provided at the bottom of the groove 123 of the sleeve 121, and the size of the connecting groove 136 is larger than that of the guide groove 134. A cylindrical block 137 sliding in the connecting groove 136 is provided at one end of the guide rod 135, and a hexagonal countersunk groove is provided at the end of the cylindrical block 137 away from the guide rod 135.

[0030] like Figure 1 and Figure 2The setting of the hexagonal groove makes it easy for people to use tools to screw one end of the guide rod 135 into the rotating shaft of the pneumatic motor 13 until the cylindrical block 137 abuts against the bottom of the connecting groove 136. At this time, the guide rod 135 guides the deformation of the compression spring 133. In addition, the sleeve 121 is also installed on the rotating shaft of the pneumatic motor 13.

[0031] like Figure 1 and Figure 2 The bottom of the slot 123 is embedded with a plurality of magnetic columns 14 around the connecting slot 136. The fixing nut 31 on the grinding wheel 3 is made of iron. The purpose is to fix the fixing nut 31 in the slot 123 so that it will not fall out of the slot 123 when it is removed from the grinding wheel 3. The ejector nut 124 is also made of iron to facilitate the ejector nut 124 to be fixed in the slot 123.

[0032] like Figure 1 and Figure 2 The fixing plate 1 is detachably connected with an L-shaped mounting strip 15 between the two mounting plates 12 by bolts. The horizontal side of the mounting strip 15 is connected to the fixing plate 1, and the vertical side is located between the two mounting plates 12 and on one side of the sleeve 121. The mounting strip 15 is provided with a proximity switch 151 facing the outer wall of the sleeve 121 on the vertical side. The proximity switch 151 is used to control the pneumatic motor 13. The outer wall diameter of the sleeve 121 at one end close to the pneumatic motor 13 is smaller than the outer wall diameter of the end away from the pneumatic motor 13. When the slot 123 cooperates with the fixing nut 31 on the grinding wheel 3, the proximity switch 151 faces the outer wall of the side with a smaller diameter of the sleeve 121. When the fixing nut 31 is unscrewed from the grinding wheel 3, the outer wall of the side with a larger diameter of the sleeve 121 moves to the proximity switch 151. At this time, the proximity switch 151 detects a signal to control the pneumatic motor 13 to stop working. The proximity switch 151 is convenient for controlling the pneumatic motor 13 on the one hand, and is also convenient for detecting whether the fixing nut 31 is unscrewed on the other hand.

[0033] The specific implementation process is the method in Example 2, please refer to Example 2 for details.

[0034] Embodiment 2: A method for fully automatic replacement of grinding wheel of a grinding machine according to the device of embodiment 1, such as Figure 1 and Figure 2 and Figure 3 and Figure 4 , including the following steps, S1: The robot arm 2 moves the mounting plate 12 to a position facing the grinding wheel 3 to be removed, so that the slot 123 of the sleeve 121 is sleeved on the outer wall of the fixing nut 31 on the grinding wheel 3; S2: Remove the fixing nut 31: The motor 41 that controls the operation of the grinding wheel 3 is a servo motor 41. When the grinding wheel 3 stops rotating, it will not rotate due to external force. The pneumatic motor 13 drives the sleeve 121 to rotate, so that the slot 123 on the sleeve 121 drives the fixing nut 31 to rotate, and then the fixing nut 31 is screwed off the grinding wheel 3. In this process, the sleeve 121 moves away from the grinding wheel 3 until the proximity switch 151 detects the outer wall of the sleeve 121 with a larger diameter. The proximity switch 151 controls the pneumatic motor 13 to stop rotating. In the process of unscrewing the fixing nut 31, the sleeve 121 moves away from the grinding wheel 3 because the position of the mounting plate 12 is fixed. When the air motor 13 rotates to make the slot 123 drive the fixing nut 31 to rotate, the fixing nut 31 gradually moves out of the grinding wheel 3, thereby generating a thrust on the sleeve 121 away from the grinding wheel 3, thereby moving the sleeve 121. When the proximity switch 151 detects the outer wall of the sleeve 121 with a larger diameter, the fixing nut 31 is completely unscrewed from the grinding wheel 3, and the proximity switch 151 controls the air motor 13 to stop rotating.

[0035] S3: Replace the ejector nut 124: The robot arm 2 removes the fixing nut 31 and moves to the workbench 5, takes out the fixing nut 31 in the slot 123, and replaces the ejector nut 124 into the slot 123. The ejector nut 124 is made of iron. At this time, in order to facilitate the placement of the fixing nut 31 and the ejection nut 124 on the workbench 5, a vertical plate 51 can be set on the workbench 5, and two pneumatic clamps 52 are provided on the vertical plate 51. The two pneumatic clamps 52 clamp the fixing nut 31 and the ejection nut 124 away from the end connected to the slot 123. When the robot arm 2 removes the fixing nut 31 and moves it to the workbench 5, the pneumatic clamp 52 clamps the lower end of the fixing nut 31, and the robot arm 2 moves upward to pull the fixing nut 31 out of the slot 123; when the robot arm 2 moves the slot 123 to the ejection nut 124, the magnetic column 14 of the slot 123 absorbs the upper end of the ejection nut 124, and the pneumatic clamp 52 releases the ejection nut 124, and the ejection nut 124 is installed on the robot arm 2. Unmanned management is realized, and the degree of automation is improved.

[0036] S4: Disassembling the grinding wheel 3: The robot arm 2 places the ejector nut 124 into the center hole of the grinding wheel 3, so that the external thread of the ejector nut 124 is threadedly connected with the center hole of the grinding wheel 3, and then as the ejector nut 124 is screwed in, the ejector column 1243 provides an extrusion force on the power output end of the motor 41, and the grinding wheel 3 is removed from the power output end of the motor 41. At this time, the electromagnet 122 is energized so that the electromagnet 122 generates an adsorption force on the grinding wheel 3, and the robot arm 2 moves the grinding wheel 3 out of the power output end of the motor 41 together, and then moves the grinding wheel 3 to above the workbench 5, and the pneumatic motor 13 reverses to remove the ejector nut 124 from the grinding wheel 3. When the proximity switch 151 detects the outer wall on the side with a larger diameter of the sleeve 121, it indicates that the ejector nut 124 is removed from the grinding wheel 3, and the proximity switch 151 controls the pneumatic motor 13 to stop rotating, and the electromagnet 122 is powered off, so that the grinding wheel 3 is placed on the workbench 5; the workbench 5 is located on one side of the grinder 4.

[0037] S5: Install the new grinding wheel 3: Take out the ejector nut 124 from the slot 123, and put in the fixing nut 31. The robot arm 2 moves the mounting plate 12 to the top of the new grinding wheel 3 on the workbench 5, and energizes the electromagnet 122 so that the electromagnet 122 adsorbs the new grinding wheel 3. At this time, the fixing nut 31 is pressed into the mounting plate 12. The robot arm 2 inserts the new grinding wheel 3 into the outer wall of the power output end of the motor 41, and then starts the pneumatic motor 13 to rotate the sleeve 121, and then screws the fixing nut 31 into the grinding wheel 3 to fix the grinding wheel 3. The replacement of the old and new grinding wheels 3 is now completed.

[0038] Embodiment 3: A fully automatic replacement device for grinding wheel of a grinding machine, which is different from Embodiment 1 in that: Figure 5 and Figure 6 and Figure 7 , the number of sleeves 121 on the mounting plate 12 is set to two and distributed along the vertical direction of the mounting plate 12. At this time, the mounting plate 12 is distributed toward the grinding wheel 3. There are also two driving members, which respectively drive the two sleeves 121 to rotate and move. One of the two sleeves 121 is used to load the prism 1241 of the ejector nut 124, and the other is used to remove the fixing nut 31 on the grinding wheel 3. There are also two proximity switches 151 on the mounting strip 15, which are respectively aligned with the two sleeves 121. The electromagnets 122 on the mounting plate 12 are also set to two pairs, respectively on both sides of the two sleeves 121. At this time, there is no need to take and place the fixing nut 31 and the ejector nut 124 during the process of replacing the grinding wheel 3, thereby improving the replacement efficiency of the grinding wheel 3; and the electromagnets 122 are set to two pairs, the electromagnets 122 located on both sides of the fixing nut 31 are for facilitating the adsorption of the new grinding wheel 3, and the electromagnets 122 located on both sides of the ejector nut 124 are for adsorbing the old grinding wheel 3 on the grinder 4.

[0039] The specific operation process is the method in Example 4, please refer to Example 4 for details.

[0040] Embodiment 4: A method for fully automatic replacement of grinding wheel of a grinding machine according to the device of embodiment 3, such as Figure 5 and Figure 6 and Figure 7 , including the following steps, S1: The robot arm 2 moves the mounting plate 12 to a position facing the grinding wheel 3 to be removed, so that the slot 123 of the sleeve 121 at a higher height is sleeved on the outer wall of the fixing nut 31 on the grinding wheel 3, and the ejector nut 124 is installed in the slot 123 of the sleeve 121 at a lower height. After the slot 123 of the sleeve 121 at a higher height is sleeved on the outer wall of the fixing nut 31 on the grinding wheel 3, the ejector nut 124 is resisted by the surface of the grinding wheel 3 and enters into the mounting plate 12; S2: Remove the fixing nut 31: The motor 41 controlling the operation of the grinding wheel 3 is a servo motor 41. When the grinding wheel 3 stops rotating, it will not rotate due to external force. The pneumatic motor 13 located at a high position drives the sleeve 121 located at a high position to rotate, so that the slot 123 on the sleeve 121 drives the fixing nut 31 to rotate, and then the fixing nut 31 is screwed off the grinding wheel 3. In this process, the sleeve 121 located at a high position moves away from the grinding wheel 3 until the proximity switch 151 located at a high position detects the outer wall of the sleeve 121 with a larger diameter. Then, the proximity switch 151 located at a high position controls the pneumatic motor 13 located at a high position to stop rotating. S3: Disassembling the grinding wheel 3: The robot arm 2 will drive the mounting plate 12 to move away from the grinding wheel 3 and then upward, so that the fixing nut 31 is located above the center of the grinding wheel 3. Then the robot arm 2 will put the ejector nut 124 into the center hole of the grinding wheel 3. The pneumatic motor 13 located at the lower position will drive the sleeve 121 located at the lower position to rotate, so that the external thread of the ejector nut 124 is threadedly connected with the center hole of the grinding wheel 3. Then, as the ejector nut 124 is screwed in, the ejector column 1243 provides an extrusion force to the power output end of the motor 41, and the grinding wheel 3 is removed from the power output end of the motor 41. At this time, the electromagnet 122 is energized to make the electric The magnet 122 generates an adsorption force on the grinding wheel 3, and the robot arm 2 moves the grinding wheel 3 out of the power output end of the motor 41, and then moves the grinding wheel 3 to the top of the workbench 5. At this time, the two sleeves 121 are both vertically distributed, and the pneumatic motor 13 at the lower position is reversed, so that the ejector nut 124 is removed from the grinding wheel 3. The pneumatic motor 13 at the lower position is in the state when the sleeve 121 is horizontal. When the proximity switch 151 at the lower position detects the outer wall of the side with a larger diameter of the sleeve 121, the proximity switch 151 at the lower position controls the pneumatic motor 13 at the lower position to stop rotating, and the electromagnet 122 is powered off, so that the grinding wheel 3 is placed on the workbench 5; S4: Installing the new grinding wheel 3: The robot arm 2 aligns the position where the fixing nut 31 is placed with the new grinding wheel 3, and energizes the electromagnets 122 on both sides of the fixing nut 31, so that the electromagnets 122 adsorb the new grinding wheel 3. At this time, the fixing nut 31 is pressed into the mounting plate 12, and the robot arm 2 inserts the new grinding wheel 3 into the outer wall of the power output end of the motor 41, and then starts the corresponding pneumatic motor 13 to rotate the sleeve 121, and then screws the fixing nut 31 into the grinding wheel 3 to fix the grinding wheel 3, thereby completing the replacement of the old and new grinding wheels 3.

[0041] The replacement method of the comparative embodiment 2 omits the process of taking and placing the fixing nut 31 and the ejecting nut 124 , thus saving working procedures, improving the replacement efficiency, and increasing the automation during the replacement process, thereby reducing manual intervention.

[0042] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A fully automatic replacement device for grinding wheel of a grinding machine, characterized in that: It comprises a fixed plate (1) and a replacement mechanism arranged on a side surface of the fixed plate (1); a side of the fixed plate (1) facing away from the replacement mechanism is provided with a secondary plate (11) connected to a main plate (21) on a robot arm (2); The replacement mechanism is used to unscrew the fixing nut (31) on the grinding wheel (3), remove the old grinding wheel (3), and install the new grinding wheel (3) on the grinding machine (4).

2. The fully automatic grinding wheel replacement device for a grinding machine according to claim 1, characterized in that: The replacement mechanism comprises two mutually parallel mounting plates (12) arranged on one side of the fixing plate (1), the two mounting plates (12) being arranged perpendicular to the fixing plate (1), one of the mounting plates (12) being arranged close to the side of the fixing plate (1) and having a sleeve (121) passing through it, and the other mounting plate (12) being provided with a driving member which drives the sleeve (121) to rotate and reciprocate in the mounting plate (12); Two electromagnets (122) are embedded on the surface of the mounting plate (12) near the side of the fixing plate (1), and the two electromagnets (122) are located on both sides of the sleeve (121). The sleeve (121) is provided with a slot (123) that cooperates with a fixing nut (31) on the grinding wheel (3).

3. The fully automatic grinding wheel replacement device for a grinding machine according to claim 2, characterized in that: When the sleeve (121) screws down the fixing nut (31), an ejector nut (124) is placed in the slot (123), the ejector nut (124) comprising a prism (1241) at one end that cooperates with the slot (123), and a connecting column (1242) and an ejector column (1243) coaxially arranged on a side surface of the prism (1241), the ejector column (1243) having a diameter smaller than that of the connecting column (1242) and being located on a side surface of the connecting column (1242) away from the prism (1241), and an outer wall of the connecting column (1242) being provided with an external thread that is threadedly connected to a center hole of a grinding wheel (3).

4. The fully automatic grinding wheel replacement device for a grinding machine according to claim 3, characterized in that: The driving member comprises an air motor (13) arranged on a mounting plate (12) facing the sleeve (121); the air motor (13) is located on a side of the mounting plate (12) facing away from the sleeve (121); and the mounting plate (12) is provided with an outlet hole (131) for a rotating shaft of the air motor (13) to pass through; the rotating shaft of the air motor (13) is connected to the inner wall of the sleeve (121) by a key; one end of the sleeve (121) is sleeved on the outer side of the rotating shaft of the air motor (13). A wall is formed at one end of the sleeve (121) with an insertion hole (132) for the rotation shaft of the pneumatic motor (13) to penetrate therethrough, a compression spring (133) is provided at the bottom of the insertion hole (132), and one end of the compression spring (133) away from the bottom of the insertion hole (132) is fixedly connected to the end face of the rotation shaft of the pneumatic motor (13), and when the compression spring (133) is in an original state, the slot (123) on the sleeve (121) cooperates with the fixing nut (31) on the grinding wheel (3).

5. The fully automatic grinding wheel replacement device for a grinding machine as claimed in claim 4, characterized in that: A guide groove (134) is provided at the bottom of the insertion hole (132), a guide rod (135) is inserted into the compression spring (133), one end of the guide rod (135) enters the end surface of the rotating shaft of the pneumatic motor (13) and is threadedly connected to the rotating shaft of the pneumatic motor (13), and the other end enters the guide groove (134), the sleeve (121) is provided with a connecting groove (136) connected to the guide groove (134) at the bottom of the groove (123), the size of the connecting groove (136) is larger than the size of the guide groove (134), one end of the guide rod (135) is provided with a cylindrical block (137) that slides in the connecting groove (136), and the end of the cylindrical block (137) that is away from the guide rod (135) is provided with a hexagonal recessed groove.

6. The fully automatic grinding wheel replacement device for a grinding machine as claimed in claim 5, characterized in that: A plurality of magnetic columns (14) are embedded in the bottom of the slot (123) and are located around the connecting slot (136). The fixing nut (31) on the grinding wheel (3) is made of iron.

7. The fully automatic grinding wheel replacement device for a grinding machine according to claim 6, characterized in that: The fixing plate (1) is detachably connected to an L-shaped mounting strip (15) between the two mounting plates (12) by bolts. The mounting strip (15) has a horizontal side connected to the fixing plate (1), and a vertical side located between the two mounting plates (12) and located on one side of the sleeve (121). The mounting strip (15) is provided with a proximity switch (151) facing the outer wall of the sleeve (121) on the vertical side. The proximity switch (151) is used to control the pneumatic motor (13). The sleeve (121) is The outer wall diameter of the end close to the pneumatic motor (13) is smaller than the outer wall diameter of the end away from the pneumatic motor (13). When the slot (123) cooperates with the fixing nut (31) on the grinding wheel (3), the proximity switch (151) faces the outer wall of the sleeve (121) with a smaller diameter. When the fixing nut (31) is screwed off the grinding wheel (3), the outer wall of the sleeve (121) with a larger diameter moves to the proximity switch (151). At this time, the proximity switch (151) detects a signal to control the pneumatic motor (13) to stop working.

8. The fully automatic grinding wheel replacement device for a grinding machine according to claim 7, characterized in that: The number of sleeves (121) on the mounting plate (12) is set to two and they are distributed along the vertical direction of the mounting plate (12). The number of driving members is also two and they respectively drive the two sleeves (121) to rotate and move. One of the two sleeves (121) is used to load a prism (1241) of an ejector nut (124), and the other is used to remove a fixing nut (31) on a grinding wheel (3). The number of proximity switches (151) on the mounting strip (15) is also set to two and they are respectively aligned with the two sleeves (121). The number of electromagnets (122) on the mounting plate (12) is also set to two pairs and they are respectively on both sides of the two sleeves (121).

9. The method for replacing a grinding wheel of a grinding machine according to claim 7, characterized in that: The following steps are included: S1: The robot arm (2) moves the mounting plate (12) to a position facing the grinding wheel (3) to be removed, so that the slot (123) of the sleeve (121) is sleeved on the outer wall of the fixing nut (31) on the grinding wheel (3); S2: Remove the fixing nut (31): The motor (41) controlling the operation of the grinding wheel (3) is a servo motor (41). When the grinding wheel (3) stops rotating and does not rotate due to external force, the pneumatic motor (13) drives the sleeve (121) to rotate, so that the slot (123) on the sleeve (121) drives the fixing nut (31) to rotate, and then the fixing nut (31) is screwed off the grinding wheel (3). During this process, the sleeve (121) moves away from the grinding wheel (3) until the proximity switch (151) detects the outer wall of the sleeve (121) with a larger diameter, and the proximity switch (151) controls the pneumatic motor (13) to stop rotating. S3: Replace the ejector nut (124): the robot arm (2) removes the fixing nut (31) and moves to the workbench (5), takes out the fixing nut (31) in the slot (123), and replaces the ejector nut (124) into the slot (123), wherein the ejector nut (124) is made of iron; S4: Disassembling the grinding wheel (3): The robot arm (2) places the ejector nut (124) into the center hole of the grinding wheel (3), so that the external thread of the ejector nut (124) is threadedly connected with the center hole of the grinding wheel (3). Then, as the ejector nut (124) is screwed in, the ejector column (1243) provides a squeezing force to the power output end of the motor (41), so that the grinding wheel (3) is removed from the power output end of the motor (41). At this time, the electromagnet (122) is energized so that the electromagnet (122) exerts a force on the grinding wheel (3). Adsorption force, the robot arm (2) moves the grinding wheel (3) out of the power output end of the motor (41), and then moves the grinding wheel (3) to the top of the workbench (5), and the pneumatic motor (13) is reversed, so that the ejector nut (124) is removed from the grinding wheel (3), and when the proximity switch (151) detects the outer wall of the sleeve (121) with a larger diameter, the proximity switch (151) controls the pneumatic motor (13) to stop rotating, and the electromagnet (122) is powered off, so that the grinding wheel (3) is placed on the workbench (5); S5: Installing a new grinding wheel (3): The ejector nut (124) is removed from the slot (123) and the fixing nut (31) is inserted. The robot arm (2) moves the mounting plate (12) to the top of the new grinding wheel (3) on the workbench (5), and energizes the electromagnet (122) so that the electromagnet (122) adsorbs the new grinding wheel (3). At this time, the fixing nut (31) is pressed into the mounting plate (12). The robot arm (2) inserts the new grinding wheel (3) into the outer wall of the power output end of the motor (41), and then starts the pneumatic motor (13) to rotate the sleeve (121), thereby screwing the fixing nut (31) into the grinding wheel (3) to fix the grinding wheel (3). At this point, the replacement of the old grinding wheel (3) with the new one is completed.

10. The method for replacing a grinding wheel of a grinding machine according to claim 8, characterized in that: The following steps are included: S1: The robot arm (2) moves the mounting plate (12) to a position facing the grinding wheel (3) to be removed, so that the slot (123) of the sleeve (121) at a higher position is sleeved on the outer wall of the fixing nut (31) on the grinding wheel (3), and the ejector nut (124) is installed in the slot (123) of the sleeve (121) at a lower position. After the slot (123) of the sleeve (121) at a higher position is sleeved on the outer wall of the fixing nut (31) on the grinding wheel (3), the ejector nut (124) is resisted by the surface of the grinding wheel (3) and enters the mounting plate (12); S2: Remove the fixing nut (31): The motor (41) controlling the operation of the grinding wheel (3) is a servo motor (41). When the grinding wheel (3) stops rotating and does not rotate due to external force, the pneumatic motor (13) located at a high position drives the sleeve (121) located at a high position to rotate, so that the slot (123) on the sleeve (121) drives the fixing nut (31) to rotate, and then the fixing nut (31) is screwed off the grinding wheel (3). In this process, the sleeve (121) located at a high position moves in a direction away from the grinding wheel (3), until the proximity switch (151) located at a high position detects the outer wall of the sleeve (121) with a larger diameter, and the proximity switch (151) located at a high position controls the pneumatic motor (13) located at a high position to stop rotating; S3: Disassembling the grinding wheel (3): The robot arm (2) drives the mounting plate (12) to move away from the grinding wheel (3) and then upward, so that the fixing nut (31) is located above the center of the grinding wheel (3). Then, the robot arm (2) puts the ejector nut (124) into the center hole of the grinding wheel (3). The pneumatic motor (13) at the lower position drives the sleeve (121) at the lower position to rotate, so that the external thread of the ejector nut (124) is connected with the thread of the center hole of the grinding wheel (3). Then, as the ejector nut (124) is screwed in, the ejector column (1243) provides a squeezing force to the power output end of the motor (41), so that the grinding wheel (3) is removed from the power output end of the motor (41). The electromagnet (122) is energized so that the electromagnet (122) generates an adsorption force on the grinding wheel (3), and the robot arm (2) moves the grinding wheel (3) out of the power output end of the motor (41), and then moves the grinding wheel (3) to the top of the workbench (5). The pneumatic motor (13) at the lower position is reversed so that the ejector nut (124) is removed from the grinding wheel (3). When the proximity switch (151) at the lower position detects the outer wall of the sleeve (121) with a larger diameter, the proximity switch (151) at the lower position controls the pneumatic motor (13) at the lower position to stop rotating, and the electromagnet (122) is de-energized, so that the grinding wheel (3) is placed on the workbench (5); S4: Installing a new grinding wheel (3): The robot arm (2) aligns the position where the fixing nut (31) is placed with the new grinding wheel (3), and energizes the electromagnets (122) on both sides of the fixing nut (31), so that the electromagnets (122) adsorb the new grinding wheel (3). At this time, the fixing nut (31) is pressed into the mounting plate (12), and the robot arm (2) inserts the new grinding wheel (3) into the outer wall of the power output end of the motor (41), and then starts the corresponding pneumatic motor (13) to rotate the sleeve (121), thereby screwing the fixing nut (31) into the grinding wheel (3) to fix the grinding wheel (3), thereby completing the replacement of the old and new grinding wheels (3).

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