Automatic feeding and discharging device, control method and right-angle grinding equipment

Abstract

The invention discloses an automatic feeding and discharging device, a control method and right-angle grinding equipment. The automatic feeding and discharging device comprises a material preparation table; a moving mechanism; the grabbing mechanism comprises an overturning driving component and a suction component, the overturning driving component is connected with the output end of the moving mechanism, the moving mechanism is used for driving the overturning driving component to move back and forth between the workbench and the material preparation table, the suction component is connected with the output end of the overturning driving component, and the overturning driving component is used for driving the suction component to overturn. The suction component is used for sucking workpieces. Automatic feeding and discharging of the right-angle grinding equipment can be achieved, the labor cost and the time cost for manually carrying workpieces one by one are reduced, and the machining efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of automated equipment, in particular to an automatic loading and unloading device, a control method, and a right-angle grinding equipment. Background Art

[0002] For the convenience of transportation and storage, block-shaped workpieces are generally arranged and stacked in the direction of the short side. However, when such placed workpieces need to be subjected to right-angle grinding, workers need to place the workpieces one by one on the workbench of the right-angle grinding equipment. The whole process is cumbersome and consumes a large amount of human resources and time, which is not conducive to the right-angle grinding production of a large number of workpieces. Summary of the Invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. For this purpose, the present invention provides an automatic loading and unloading device, a control method, and a right-angle grinding equipment.

[0004] The solution for the present invention to solve its technical problems is as follows: In a first aspect, an automatic loading and unloading device is provided, which is applied to a right-angle grinding equipment. The right-angle grinding equipment is provided with a workbench. The automatic loading and unloading device includes: A stock preparation table; A moving mechanism; A grasping mechanism, including a flipping driving component and a sucking component. The flipping driving component is connected to the output end of the moving mechanism. The moving mechanism is used to drive the flipping driving component to move back and forth between the workbench and the stock preparation table. The sucking component is connected to the output end of the flipping driving component. The flipping driving component is used to drive the sucking component to flip. The sucking component is used to suck workpieces.

[0005] The present invention has at least the following beneficial effects: The stock preparation table is used to place workpieces. The moving mechanism controls the movement of the grasping mechanism. The grasping mechanism can grasp workpieces from the stock preparation table to the workbench of the right-angle grinding equipment to realize loading. And the grasping mechanism grasps workpieces from the workbench to the stock preparation table, which can realize unloading. In the whole process, the flipping driving component can drive the sucking component to flip, so as to realize the conversion between the upright state and the horizontal state of the workpieces, without the need to manually place the workpieces from the upright state one by one into the horizontal state, greatly reducing the labor cost and time cost of manually transporting workpieces one by one, and improving the processing efficiency of the right-angle grinding equipment.

[0006] As a further improvement of the above technical solution, the moving mechanism includes a left-right moving component, a front-back moving component, an up-down moving component, a first mounting seat and a second mounting seat. The output end of the left-right moving component is connected to the first mounting seat, and the output end of the front-back moving component is connected to the first mounting seat. The second mounting seat is provided at the rear end of the front-back moving component, the up-down moving component is mounted on the second mounting seat, and the up-down moving component is drivingly connected to the flipping driving component.

[0007] As a further improvement of the above technical solution, the left-right moving component includes a first motor, a first lead screw, a first limiting track and a first bracket. The first mounting seat is provided with a first nut and a first limiting block. The first motor is connected to the first bracket, the output end of the first motor is connected to the first lead screw. The first lead screw and the first limiting track extend along the left-right direction respectively. The first limiting track is connected to the first bracket. The first nut is threadedly connected to the first lead screw, and the first limiting block is slidably connected to the first limiting track.

[0008] As a further improvement of the above technical solution, the front-back moving component includes a second motor, a second lead screw, a second limiting track and a second bracket. The first mounting seat is provided with a second nut and a second limiting block. The second motor is connected to the second bracket, the output end of the second motor is connected to the second lead screw. The second lead screw and the second limiting track extend along the front-back direction respectively. The second limiting track is connected to the second bracket. The second nut is threadedly connected to the second lead screw, and the second limiting block is slidably connected to the second limiting track. The second mounting seat is connected to the rear end of the second bracket.

[0009] As a further improvement of the above technical solution, the up-down driving component includes a third motor, a gear, a rack and a third bracket. The third motor is connected to the second mounting seat, the output shaft of the third motor is drivingly connected to the gear. The rack extends along the up-down direction, and the gear is meshed with the rack. The third bracket is slidably connected to the second mounting seat, and the flipping driving component is connected to the lower end of the third bracket.

[0010] As a further improvement of the above technical solution, the up-down driving component further includes a third limiting track and a third limiting block. The third limiting block is connected to the second mounting seat, the third limiting track is connected to the third bracket and extends along the up-down direction, and the third limiting block is slidably connected to the third limiting track.

[0011] As a further improvement of the above technical solution, the flipping drive component includes a flipping cylinder and a connecting plate. The output end of the vertical movement assembly is connected to the flipping cylinder, the output end of the flipping cylinder is connected to the connecting plate, and the sucking component is installed on the connecting plate.

[0012] As a further improvement of the above technical solution, the stock preparation table includes an unprocessed area and a processed area. The unprocessed area is provided with a first conveyor line for conveying workpieces to be processed, and the processed area is provided with a second conveyor line for conveying the workpieces processed on the workbench. The end point of the first conveyor line and the starting point of the second conveyor line are located below the starting point of the moving mechanism.

[0013] In a second aspect, a control method for an automatic loading and unloading device is proposed, which is applied to the automatic loading and unloading device described in any one of the technical solutions in the first aspect. The control method for the automatic loading and unloading device includes the following steps: After controlling the moving mechanism to drive the grasping mechanism to move above the stock preparation table, control the sucking component to suck the workpiece erected on the stock preparation table; Control the moving mechanism to drive the grasping mechanism to move above the workbench, and control the flipping drive component to drive the sucking component to flip 90 degrees so that the output end of the sucking component faces downward, and then control the sucking component to release the workpiece so that the workpiece is placed flat on the workbench; After the workpiece is processed, control the sucking component to move above the workpiece and control the sucking component to suck the workpiece on the workbench, and then control the flipping drive component to drive the sucking component to flip 90 degrees so that the output end of the sucking component faces the stock preparation table; Control the moving mechanism to drive the grasping mechanism to move above the stock preparation table, and control the sucking component to release the workpiece.

[0014] Through the above control method, the automatic loading and unloading action of the workpiece can be realized, which can reduce the labor cost and time cost of manually transporting the workpieces one by one, and improve the processing efficiency of the right-angle grinding equipment.

[0015] In a third aspect, a right-angle grinding equipment is proposed, which includes the automatic loading and unloading device described in any one of the technical solutions in the first aspect. Since the right-angle grinding equipment is provided with an automatic loading and unloading device, the automatic loading and unloading action of the workpiece can be realized, which can reduce the labor cost and time cost of manually transporting the workpieces one by one, and improve the processing efficiency of the right-angle grinding equipment. Description of the Drawings

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly describe the drawings required for use in the description of the embodiments. Obviously, the described drawings are only a part of the embodiments of the present invention, rather than all embodiments. Those skilled in the art can also obtain other design solutions and drawings based on these drawings without creative efforts.

[0017] Figure 1 is the overall structural schematic diagram of the automatic loading and unloading device according to the embodiment of the present invention; Figure 2 is the structural schematic diagram of the left - right moving component according to the embodiment of the present invention; Figure 3 is the structural schematic diagram of the front - rear moving component according to the embodiment of the present invention; Figure 4 is the structural schematic diagram of the up - down moving component according to the embodiment of the present invention; Figure 5 is the structural schematic diagram of the stock preparation table according to the embodiment of the present invention; Figure 6 is the overall structural schematic diagram of the right - angle grinding equipment according to the embodiment of the present invention; Figure 7 is the flowchart of the control method of the automatic loading and unloading device according to the embodiment of the present invention.

[0018] Reference numerals: 500, workpiece; 600, stock preparation table; 610, first conveyor line; 620, second conveyor line; 700, moving mechanism; 710, left - right moving component; 711, first motor; 712, first lead screw; 713, first limit track; 714, first nut; 715, first limit block; 716, first bracket; 720, front - rear moving component; 721, second motor; 722, second lead screw; 723, second limit track; 724, second nut; 725, second limit block; 726, second bracket; 730, up - down moving component; 731, third motor; 732, gear; 733, rack; 734, third limit track; 735, third limit block; 736, third bracket; 740, first mounting seat; 750, second mounting seat; 800, grasping mechanism; 900, workbench. Detailed Embodiments

[0019] The following will describe in detail the embodiments of the present invention. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals represent the same or similar elements or elements with the same or similar functions throughout. The embodiments described by referring to the drawings are exemplary and are only used to explain the present invention and should not be construed as a limitation of the present invention.

[0020] In the description of the present invention, orientation descriptions are involved. For example, the orientations or positional relationships indicated by up, down, front, back, left, right, etc. are based on the orientations or positional relationships shown in the drawings. This is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present invention.

[0021] In the description of the present invention, the meaning of several is one or more, the meaning of multiple is two or more. Understandings such as greater than, less than, exceeding, etc. do not include the recited number, and understandings such as above, below, within, etc. include the recited number. If there is a description of first and second, it is only for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features or implicitly indicating the sequence relationship of the indicated technical features.

[0022] In the description of the present invention, unless otherwise clearly defined, words such as setting, installing, connecting, etc. should be understood in a broad sense. Those skilled in the art can reasonably determine the specific meanings of the above words in the present invention in combination with the specific content of the technical solution.

[0023] Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, other embodiments obtained by those skilled in the art without creative efforts all belong to the scope of protection of the present invention. Each technical feature in the present invention can be combined interactively on the premise of not conflicting with each other.

[0024] Refer to Figure 1 , an embodiment of the present invention provides an automatic loading and unloading device, which is applied to a right-angle grinding device. Refer to Figure 6 , which can realize the automatic loading and unloading of the right-angle grinding device, reduce the labor cost and time cost of manually transporting workpieces 500 one by one, and improve the processing efficiency.

[0025] The automatic loading and unloading device includes a stock preparation table 600, a moving mechanism 700, and a grasping mechanism 800. The stock preparation table 600 is used to place the workpieces 500. After the worker transports the workpieces 500 in a pile to the stock preparation table 600, the moving mechanism 700 controls the movement of the grasping mechanism 800. The grasping mechanism 800 can grasp the workpieces 500 from the stock preparation table 600 to the workbench 900 of the right-angle grinding device to realize loading. And when the grasping mechanism 800 grasps the workpieces 500 from the workbench 900 to the stock preparation table 600, unloading can be realized.

[0026] Specifically, the grasping mechanism 800 of this embodiment includes a flipping drive component and a suction component. The workpieces 500 are placed in an upright state on the stock table 600 and arranged in the front-rear direction. The grasping mechanism 800 is driven by the moving mechanism 700 to move above the stock table 600, and the suction end of the suction component is arranged facing the workpiece 500. After the suction end of the suction component contacts the workpiece 500, the suction component performs an air extraction action to adsorb the workpiece 500 on the suction end of the suction component. The grasping mechanism 800 is driven by the moving mechanism 700 to move above the worktable 900, and the flipping drive component drives the suction component to flip so that the suction end is arranged facing downward. At this time, the workpiece 500 is converted from an upright state to a horizontal state. The moving mechanism 700 drives the grasping mechanism 800 to move downward so that the lower surface of the workpiece 500 contacts the upper surface of the worktable 900, and the suction component releases the workpiece 500 by blowing air, and the workpiece 500 can be stably placed on the worktable 900 and wait for edge grinding processing.

[0027] It can be understood that the workpieces 500 on the stock table 600 are placed upright and arranged in the front-rear direction, which can shorten the overall length of the whole batch of workpieces 500, reduce the floor area of the stock table 600, and is also more conducive to workers using tools such as forklifts to place the whole batch of workpieces 500 on the stock table 600.

[0028] Refer to Figure 1 、 Figure 2 、 Figure 3 and Figure 4 In some embodiments, the moving mechanism 700 includes a left-right moving component 710, a front-rear moving component 720, an up-down moving component 730, a first mounting seat 740, and a second mounting seat 750, which can control the three-axis movement of the grasping mechanism 800 in the front-rear direction, left-right direction, and up-down direction. The output end of the left-right moving component 710 is connected to the first mounting seat 740, and the output end of the front-rear moving component 720 is also connected to the first mounting seat 740. The left-right moving component 710 can drive the first mounting seat 740 to move in the left-right direction, thereby driving the front-rear moving component 720 to move in the left-right direction relative to the left-right moving component 710. The second mounting seat 750 is arranged at the rear end of the front-rear moving component 720, and the front-rear moving component 720 can drive the second mounting seat 750 to move in the front-rear direction relative to the first mounting seat 740. The up-down moving component 730 is mounted on the second mounting seat 750. When the second mounting seat 750 moves in the front-rear direction relative to the first mounting seat 740, the up-down moving component 730 also moves in the front-rear direction relative to the first mounting seat 740.

[0029] The up-down moving component 730 is drivingly connected to the flipping drive component. Under the driving action of the up-down moving component 730, the flipping drive component and the suction component connected thereto can achieve movement in the up-down direction.

[0030] Referring to Figure 2 , in this embodiment, a first nut 714 and a first limiting block 715 are provided on the lower side of the first mounting seat 740. The first limiting block 715 is provided with a first limiting groove downward. The screw hole of the first nut 714 penetrates through the left and right end faces of the first nut 714 in the left - right direction. The left - right moving assembly 710 includes a first motor 711, a first lead screw 712, a first limiting track 713 and a first bracket 716. The first motor 711 is installed at the left end or the right end of the first bracket 716. The first lead screw 712 and the first limiting track 713 extend in the left - right direction respectively. First supporting seats for installing the first lead screw 712 are provided at the left and right ends of the first bracket 716. The left and right ends of the first lead screw 712 respectively pass through the first supporting seats on the left and right sides. One end of the first lead screw 712 is connected to the output shaft of the first motor 711. The first limiting track 713 is installed on the first bracket 716 and cooperates with the first limiting groove. The first limiting block 715 can slide along the extending direction of the first limiting track 713.

[0031] The screw hole of the first nut 714 is in threaded connection with the first lead screw 712. When the first motor 711 is started, the first lead screw 712 can rotate along its central axis. Under the limiting action of the first limiting track 713 and the first limiting block 715, the first nut 714 can move along the extending direction of the first lead screw 712, thereby driving the first mounting seat 740 to move along the extending direction of the first lead screw 712, that is, to move in the left - right direction.

[0032] In some embodiments, the first supporting seat is provided with a first bearing, which can support the first lead screw 712 and is beneficial to the relative rotation between the first supporting seat and the first lead screw 712.

[0033] In this embodiment, a first limiting track 713 is respectively provided on the front and rear sides of the first lead screw 712. The distances between the two first limiting tracks 713 and the first lead screw 712 are equal. Two first limiting blocks 715 are respectively provided on the front and rear sides of the first nut 714. The two first limiting blocks 715 located on the front side of the first nut 714 are slidably connected to the first limiting track 713 located on the front side of the first lead screw 712. The two first limiting blocks 715 located on the rear side of the first nut 714 are slidably connected to the first limiting track 713 located on the rear side of the first lead screw 712. When the first mounting seat 740 moves in the left - right direction, the limiting action of the first limiting track 713 and the first limiting block 715 can make the movement of the first mounting seat 740 more stable.

[0034] Referring to Figure 3, in this embodiment, the front-back moving component 720 includes a second motor 721, a second bracket 726, a second lead screw 722, and a second limiting track 723. The second bracket 726, the second limiting track 723, and the second lead screw 722 are respectively arranged to extend in the front-back direction. The second limiting track 723 is installed on the lower wall surface of the second bracket 726. A second bearing seat is respectively arranged at the front end and the rear end of the second bracket 726, and the front end and the rear end of the second lead screw 722 respectively pass through the second bearing seats at the front and rear ends.

[0035] In some embodiments, the second bearing seat is provided with a second bearing, which can support the second lead screw 722 and is beneficial to the relative rotation between the second bearing seat and the second lead screw 722.

[0036] A second nut 724 and a second limiting block 725 are arranged on the upper surface of the first mounting seat 740. The second limiting block 725 is provided with a second limiting groove with an upward opening. The second limiting groove cooperates with the second limiting track 723, and the second limiting block 725 can slide along the extending direction of the second limiting track 723. The threaded hole of the second nut 724 penetrates through the front and rear end faces of the second nut 724 in the front-back direction. The second lead screw 722 is in threaded connection with the threaded hole of the second nut 724. The second motor 721 is installed at the front end of the second bracket 726, and the output shaft of the second motor 721 is connected to the second lead screw 722 through a coupling or other connecting parts.

[0037] When the second motor 721 is started, the second lead screw 722 can rotate along its central axis. Under the limiting action of the second limiting track 723 and the second limiting block 725, the second nut 724 can move along the extending direction of the second lead screw 722. Since the first mounting seat 740 is restricted by the left-right moving component 710 in the front-back direction, the position of the second nut 724 in the front-back direction does not change, while the second lead screw 722 can move in the front-back direction and drive the entire second bracket 726 and the second limiting track 723 to move in the front-back direction.

[0038] When the second bracket 726 moves in the front-back direction, the second mounting seat 750 located at the rear end of the second bracket 726 can also move in the front-back direction, so that the up-down moving component 730 and the grasping mechanism 800 installed on the second mounting seat 750 move in the front-back direction.

[0039] In this embodiment, a second limiting track 723 is provided on each of the left and right sides of the second lead screw 722, and the distances between the two second limiting tracks 723 and the second lead screw 722 are equal. Four second limiting blocks 725 are respectively provided on the left and right sides of the second nut 724. The two second limiting blocks 725 on the left side of the second nut 724 are slidably connected to the second limiting track 723 on the left side of the second lead screw 722, and the two second limiting blocks 725 on the right side of the second nut 724 are slidably connected to the second limiting track 723 on the right side of the second lead screw 722.

[0040] It should be noted that among the four second limiting blocks 725 on the left side of the second nut 724, two of the second limiting blocks 725 are provided on the front side of the second nut 724, and these two second limiting blocks 725 are respectively located on the front and rear sides of the front first limiting track 713, and the horizontal distances between the two second limiting blocks 725 and the first limiting track 713 are the same; the other two second limiting blocks 725 are provided on the rear side of the second nut 724, and these two second limiting blocks 725 are respectively located on the front and rear sides of the rear first limiting track 713, and the horizontal distances between the two second limiting blocks 725 and the first limiting track 713 are the same. The arrangement of the four second limiting blocks 725 on the right side of the second nut 724 is symmetric with respect to the central axis of the second nut 724 in the front-rear direction as that of the four second limiting blocks 725 on the left side of the second nut 724.

[0041] It can be understood that with such an arrangement, the movement of the second bracket 726 in the front-rear direction can be made more stable, avoiding the situation where the second bracket 726 tilts due to an excessive difference in weight between the front and rear of the second bracket 726, maintaining the straightness of the second bracket 726, the second lead screw 722, and the second limiting track 723 on the horizontal plane, so as to improve the accuracy of workpiece 500 conveyance, and being able to reduce the damage of components and improve the service life of the automatic loading and unloading device.

[0042] In some embodiments, a plurality of mounting holes are respectively provided on the first limiting track 713 and the second limiting track 723. The mounting holes on the first limiting track 713 are arranged in the left-right direction, and the mounting holes on the second limiting track 723 are arranged in the front-rear direction. The first limiting track 713 is fixed to the first bracket 716 by using the mounting holes and screws, and the second limiting track 723 is fixed to the second bracket 726 by using the mounting holes and screws. It can be understood that by using a plurality of screws to fix the first limiting track 713 and the second limiting track 723, the stability of the movement can be improved during the movement of the workpiece 500.

[0043] In some embodiments, position sensors are provided on the first limiting block 715 and the second limiting block 725, capable of monitoring the relative positions between the first limiting block 715 and the first limiting track 713 or between the second limiting block 725 and the second limiting track 723. The position sensors determine the positions by monitoring the mounting holes on the first limiting track 713 or the second limiting track 723, thereby ensuring the accurate position of the workpiece 500 during transportation.

[0044] Referring to Figure 4 , in some embodiments, the vertical movement assembly 730 includes a third motor 731, a gear 732, a rack 733, and a third bracket 736. The third motor 731 is installed on the second mounting seat 750, and its output shaft is drivingly connected to the gear 732. Under the driving action of the third motor 731, the gear 732 can rotate. The rack 733 is arranged on the third bracket 736 extending in the vertical direction, and the gear 732 is meshed with the rack 733. The second mounting seat 750 is slidably connected to the third bracket 736, and the flipping driving component of the grasping mechanism 800 is connected to the lower end of the third bracket 736. When the gear 732 rotates under the driving action of the third motor 731, the rotation of the gear 732 can drive the rack 733 to move along its own extending direction, and drive the third bracket 736 connected to the rack 733 to move along the extending direction of the rack 733, thereby realizing the vertical movement of the grasping mechanism 800.

[0045] In some embodiments, the vertical movement assembly 730 further includes a third limiting track 734, which is arranged on the third bracket 736 extending in the vertical direction. The second mounting seat 750 is provided with a third limiting block 735, and the third limiting block 735 is provided with a third limiting groove. The third limiting groove penetrates through the upper end surface and the lower end surface of the third limiting block 735 in the vertical direction, and the third limiting groove cooperates with the third limiting track 734. When the third motor 731 is started, the gear 732 rotates, enabling the third bracket 736 to move in the vertical direction, and the third limiting track 734 and the third limiting block 735 slide relative to each other.

[0046] Due to the provision of the third limiting block 735 and the third limiting track 734, the vertical movement of the third bracket 736 can be made more stable, thereby ensuring the stable and reliable vertical movement of the grasping mechanism 800.

[0047] In this embodiment, an installation groove is provided in the second mounting seat 750. The installation groove is open towards the rear side and penetrates through the upper and lower end faces of the second mounting seat 750. The third motor 731 is installed on the front side of the second mounting seat 750. The third bracket 736 and the rack 733 are both arranged vertically through the installation groove, and the third limit block 735 is installed in the installation groove. The gear 732 is arranged in the installation groove. The output shaft of the third motor 731 penetrates through the front wall surface of the second mounting seat 750 and extends into the installation groove to be drivingly connected to the gear 732.

[0048] With such a setting, it is convenient to install and repair the third limit block 735, the third limit track 734, the gear 732, the rack 733 and the third bracket 736.

[0049] In addition, the third motor 731 is arranged on the front side of the second mounting seat 750 and on the upper side of the second bracket 726. On the premise of not affecting the up-and-down movement and the front-and-back movement of the grasping mechanism 800, it can also reduce the occupied space of the automatic loading and unloading device on the horizontal plane and avoid interference between the automatic loading and unloading device and other components of the right-angle grinding equipment.

[0050] In this embodiment, there are two third limit tracks 734. The two third limit tracks 734 are respectively installed on the left side and the right side of the third bracket 736. Each third limit track 734 corresponds to two third limit blocks 735 respectively. The two third limit blocks 735 located on the left side of the third bracket 736 are respectively fixed to the left side wall surface of the installation groove by screws, and the two third limit blocks 735 located on the right side of the third bracket 736 are respectively fixed to the right side wall surface of the installation groove by screws. The two third limit blocks 735 on the same side of the third bracket 736 are arranged vertically in the up-and-down direction.

[0051] With such an arrangement, it is more beneficial to the up-and-down movement of the third bracket 736, making the up-and-down movement of the third bracket 736 more stable, keeping the third bracket 736 vertical in the up-and-down direction, and avoiding the situation that the third bracket 736 tilts.

[0052] It can be understood that the rotation speed of the first motor 711 can control the moving speed of the grasping mechanism 800 in the left-right direction, the rotation speed of the second motor 721 can control the moving speed of the grasping mechanism 800 in the front-back direction, and the rotation speed of the third motor 731 can control the moving speed of the grasping mechanism 800 in the up-down direction. The first motor 711, the second motor 721 and the third motor 731 with appropriate models can be selected according to actual needs.

[0053] In some embodiments, the flipping drive component includes a flipping cylinder and a connecting plate. The connecting plate is connected to the suction component to provide an installation space for the suction component. The output end of the flipping cylinder is drivingly connected to the connecting plate. Under the driving action of the flipping cylinder, the connecting plate can rotate, and the rotation angle thereof is 90°.

[0054] When the suction component needs to suck the workpiece 500 on the stock preparation table 600 or place the workpiece 500 on the stock preparation table 600, the flipping cylinder drives the connecting plate to rotate, so that the suction component is arranged forward. When the suction component needs to suck the workpiece 500 on the workbench 900 or place the workpiece 500 on the workbench 900, the flipping cylinder drives the connecting plate to rotate, so that the suction component is arranged downward.

[0055] In this embodiment, the flipping cylinder includes a cylinder body, a first connecting rod, a second connecting rod, a rotating shaft and a mounting shell. The mounting shell provides an installation space for the rotating shaft and the cylinder body. The output end of the vertical movement component 730 is connected to the mounting shell. The rotating shaft extends along the left-right direction. The connecting plate is mounted on the rotating shaft. When the rotating shaft rotates around its own central axis, the mounting plate can be flipped. The output shaft of the cylinder body is hinged to one end of the first connecting rod. The other end of the first connecting rod is hinged to one end of the second connecting rod. The other end of the second connecting rod is connected to the rotating shaft. When the output shaft of the cylinder body expands and contracts, the first connecting rod acts under the drive of the output shaft of the cylinder body and drives the second connecting rod to rotate around the central axis of the rotating shaft. The rotation of the second connecting rod can drive the rotating shaft to rotate around its own central axis, so as to realize the flipping of the connecting plate.

[0056] In this embodiment, the suction component includes an air flow pipeline and a suction cup. The air flow pipeline is connected to the suction cup. The suction cup is mounted on the connecting plate. It can be understood that the air flow pipeline is connected to an external air source component. The air source component can be an air pump or the like. The forward and reverse rotations of the air pump can change the air flow direction in the air flow pipeline, so as to realize the change of the suction or blowing state of the suction component. When the suction component sucks air, the suction cup can suck the workpiece 500; when the suction component blows air, the suction cup can release the workpiece 500.

[0057] In this embodiment, a plurality of suction cups are provided. The plurality of suction cups are respectively connected to the air source component through air flow pipelines. By sucking the workpiece 500 through the plurality of suction cups, it is possible to prevent the workpiece 500 from falling during the movement process and ensure the stability of the movement of the workpiece 500.

[0058] In addition, the suction cup can also play a buffering role, preventing the workpiece 500 from directly touching the connecting plate, thereby playing a certain protective role for the workpiece 500, preventing the workpiece 500 from being damaged during the suction process, and improving the qualified rate of the workpiece 500.

[0059] Refer to Figure 5, in some embodiments, the stock preparation table 600 includes an unprocessed area and a processed area. The unprocessed area is provided with a first conveyor line 610 for conveying the workpiece 500 to be processed. The processed area is provided with a second conveyor line 620 for conveying the workpiece 500 that has been processed on the workbench 900. The end of the first conveyor line 610 and the start of the second conveyor line 620 are arranged below the start of the moving mechanism 700.

[0060] In this embodiment, both the first conveyor line 610 and the second conveyor line 620 are arranged in the front-rear direction and are located on the front side of the workbench 900. The first conveyor line 610 can convey the workpiece 500 to move backward, and the second conveyor line 620 can convey the workpiece 500 to move forward. The first conveyor line 610 and the second conveyor line 620 are arranged side by side in the left-right direction. The first bracket 716 of the left-right driving assembly is located above the first conveyor line 610 and the second conveyor line 620, and the stroke of the left-right driving assembly is greater than the width of the stock preparation table 600 formed by the first conveyor line 610 and the second conveyor line 620 in the left-right direction.

[0061] In this embodiment, both the first conveyor line 610 and the second conveyor line 620 are belt conveyor lines. The workpiece 500 is placed upright on the belt conveyor line, and the conveying speed is coordinated with the moving mechanism 700.

[0062] In a second aspect, an embodiment of the present invention provides a control method for an automatic loading and unloading device, which is applied to the automatic loading and unloading device proposed in any one of the embodiments in the first aspect. The control method includes step S100, step S200, step S300, and step S400. Refer to Figure 7 .

[0063] Through this control method, the automatic loading and unloading action of the workpiece 500 can be realized, which can reduce the labor cost and time cost of manually transporting the workpiece 500 piece by piece and improve the processing efficiency of the right-angle grinding equipment.

[0064] In step S100, after controlling the moving mechanism 700 to drive the grasping mechanism 800 to move above the stock preparation table 600, control the suction component to suck the workpiece 500 placed upright on the stock preparation table 600.

[0065] Specifically, under the action of the flipping motor, the connecting plate maintains the state where the suction cup is set forward. The first motor 711 drives the first lead screw 712 to rotate, so that the second bracket 726 moves in the left - right direction to be above the workpiece 500 to be processed. The second motor 721 drives the second lead screw 722 to rotate, so that the third bracket 736 moves in the front - back direction to be above the workpiece 500 to be processed. The third motor 731 drives the gear 732 to rotate, so that the suction component moves downward, and the connecting plate moves to the rear side of the workpiece 500 to be processed. Then, the second motor 721 drives the second lead screw 722 to rotate to finely adjust the connecting plate forward, so that the suction cup contacts the workpiece 500. Through the suction action of the suction component, the grasping mechanism 800 stably grasps the workpiece 500.

[0066] Step S200: Control the moving mechanism 700 to drive the grasping mechanism 800 to move above the workbench 900, and control the flipping drive component to drive the suction component to flip 90 degrees. After the output end of the suction component faces downward, control the suction component to release the workpiece 500, so that the workpiece 500 is placed flat on the workbench 900.

[0067] Specifically, after the suction component sucks the workpiece 500, the third motor 731 drives the gear 732 to rotate, so that the suction component drives the workpiece 500 to move upward. The second motor 721 drives the second lead screw 722 to rotate, so that the third bracket 736 moves in the front - back direction to be above the processing table. The first motor 711 drives the first lead screw 712 to rotate to adjust the position of the third bracket 736 in the left - right direction. The flipping cylinder drives the connecting plate to rotate 90 degrees, so that the suction cup is set downward. At this time, the workpiece 500 is located below the connecting plate. The third motor 731 drives the gear 732 to rotate, so that the suction component drives the workpiece 500 to move downward until the lower surface of the workpiece 500 contacts the workbench 900, and the suction component blows air to release the workpiece 500.

[0068] The workpiece 500 placed flat on the workbench 900 is subjected to edge grinding by other structures of the right - angle grinding device. In some embodiments, the right - angle grinding device is provided with a clamping mechanism. The clamping mechanism includes two clamping cylinders and two fixed blocks. One clamping cylinder is arranged on the front side of the workbench 900, and its output shaft extends in the front - back direction. The other clamping cylinder is arranged on the right side of the workbench 900, and its output shaft extends in the left - right direction. The two fixed blocks are respectively arranged on the rear side and the left side of the workbench 900. When the suction component releases the workpiece 500, the two clamping cylinders and the two fixed blocks provide a clamping force to the workpiece 500, which can assist the workpiece 500 to be taken off from the suction component.

[0069] It can be understood that after the suction component releases the workpiece 500, the third motor 731 drives the gear 732 to rotate, so that the suction component moves upward by a certain distance to avoid the suction component interfering with the edge grinding of the workpiece 500.

[0070] Step S300, after the workpiece 500 is processed, control the suction component to move above the workpiece 500, and after controlling the suction component to suck the workpiece 500 on the workbench 900, control the flipping drive component to drive the suction component to flip 90 degrees so that the output end of the suction component faces the stock table 600.

[0071] Specifically, control the third motor 731 to drive the gear 732 to rotate, so that the suction component moves downward above the workpiece 500, the suction cup contacts the upper surface of the workpiece 500, control the suction component to suck air to suck the workpiece 500, and then control the third motor 731 to drive the gear 732 to reverse, so that the suction component moves upward a certain distance. Control the flipping cylinder to start, so that the connecting plate flips 90 degrees and the suction cup faces forward. At this time, the workpiece 500 is located on the front side of the connecting plate.

[0072] Step S400, control the moving mechanism 700 to drive the grasping mechanism 800 to move above the stock table 600, and control the suction component to release the workpiece 500. It can be understood that the released workpiece 500 is placed upright on the stock table 600.

[0073] Specifically, control the second motor 721 to drive the second lead screw 722 to rotate, so that the second mounting seat 750 moves forward, and control the first motor 711 to drive the first lead screw 712 to rotate, so that the first mounting seat 740 moves to a suitable position in the left-right direction. Then control the third motor 731 to drive the gear 732 to rotate, so that the suction component sucking the workpiece 500 moves downward to the stock table 600 until the lower end surface of the workpiece 500 contacts the stock table 600, and the suction component releases the workpiece 500 by blowing air.

[0074] In some embodiments, the stock table 600 is located on the front side of the workbench 900. Since the stock table 600 is provided with an unprocessed area and a processed area, and is provided with a first conveyor line 610 and a second conveyor line 620. Before performing step S100, the control method of the automatic loading and unloading device further includes: controlling the first conveyor line 610 to convey the workpiece 500 backward. After performing step S400, the control method of the automatic loading and unloading device further includes: controlling the second conveyor line 620 to convey the workpiece 500 forward.

[0075] It can be understood that the distance that the first conveyor line 610 conveys the workpiece 500 backward is the width of the workpiece 500 in the front-rear direction when the workpiece 500 is placed upright, and the distance that the second conveyor line 620 conveys the workpiece 500 forward is the width of the workpiece 500 in the front-rear direction when the workpiece 500 is placed upright. With such a setting, it can be ensured that each workpiece 500 is grasped by the grasping mechanism 800 at the same position and placed by the grasping mechanism 800 at the same position.

[0076] Thirdly, referring toFigure 6 , an embodiment of the present invention provides a right-angle grinding device, which includes an automatic loading and unloading device as described in any one of the embodiments in the first aspect.

[0077] It can be understood that since the right-angle grinding device is provided with an automatic loading and unloading device, the automatic loading and unloading operation of the workpiece 500 can be realized, the labor cost and time cost of manually transporting the workpiece 500 piece by piece can be reduced, and the processing efficiency of the right-angle grinding device can be improved.

[0078] In some embodiments, the right-angle grinding device is provided with a control panel, and the control panel is electrically connected to each electrical structure of the right-angle grinding device. The operator can, according to the actual situation, such as parameters such as the thickness of the workpiece 500 and the number of workpieces 500, set parameters for electrical structures such as the first motor 711, the second motor 721, the third motor 731, the first conveyor line 610, and the second conveyor line 620, which is more conducive to the operator's monitoring of the right-angle grinding device and improves the processing accuracy and efficiency of the right-angle grinding device.

[0079] The above has specifically described the preferred embodiments of the present invention, but the present invention is not limited to the above embodiments. Those skilled in the art can make various equivalent variations or substitutions without departing from the spirit of the present invention, and these equivalent variations or substitutions are all included within the scope defined by the claims of this application.

Claims

1. An automatic loading and unloading device, characterized in that, Applied to a right-angle grinding device, the right-angle grinding device is provided with a workbench, and the automatic loading and unloading device includes: A stock preparation table; A moving mechanism; A grasping mechanism, including a flipping drive component and a suction component. The flipping drive component is connected to the output end of the moving mechanism. The moving mechanism is used to drive the flipping drive component to move back and forth between the workbench and the stock preparation table. The suction component is connected to the output end of the flipping drive component. The flipping drive component is used to drive the suction component to flip, and the suction component is used to suck workpieces.

2. The automatic loading and unloading device according to claim 1, wherein, The moving mechanism includes a left-right moving component, a front-back moving component, an up-down moving component, a first mounting seat, and a second mounting seat. The output end of the left-right moving component is connected to the first mounting seat. The output end of the front-back moving component is connected to the first mounting seat. The second mounting seat is arranged at the rear end of the front-back moving component. The up-down moving component is mounted on the second mounting seat, and the up-down moving component is drivingly connected to the flipping drive component.

3. The automatic loading and unloading device according to claim 2, characterized in that, The left-right moving component includes a first motor, a first lead screw, a first limiting track, and a first bracket. The first mounting seat is provided with a first nut and a first limiting block. The first motor is connected to the first bracket. The output end of the first motor is connected to the first lead screw. The first lead screw and the first limiting track respectively extend in the left-right direction. The first limiting track is connected to the first bracket. The first nut is in threaded engagement with the first lead screw. The first limiting block is slidably connected to the first limiting track.

4. The automatic loading and unloading device according to claim 2, wherein, The front-back moving component includes a second motor, a second lead screw, a second limiting track, and a second bracket. The first mounting seat is provided with a second nut and a second limiting block. The second motor is connected to the second bracket. The output end of the second motor is connected to the second lead screw. The second lead screw and the second limiting track respectively extend in the front-back direction. The second limiting track is connected to the second bracket. The second nut is in threaded engagement with the second lead screw. The second limiting block is slidably connected to the second limiting track. The second mounting seat is connected to the rear end of the second bracket.

5. The automatic loading and unloading device according to claim 2, wherein The up-down driving component includes a third motor, a gear, a rack, and a third bracket. The third motor is connected to the second mounting seat. The output shaft of the third motor is drivingly connected to the gear. The rack extends in the up-down direction. The gear is in meshing connection with the rack. The third bracket is slidably connected to the second mounting seat. The flipping drive component is connected to the lower end of the third bracket.

6. The automatic loading and unloading device according to claim 5, wherein, The up-down driving component further includes a third limiting track and a third limiting block. The third limiting block is connected to the second mounting seat. The third limiting track is connected to the third bracket and extends in the up-down direction. The third limiting block is slidably connected to the third limiting track.

7. The automatic loading and unloading device according to claim 2, wherein The flipping drive component includes a flipping cylinder and a connecting plate. The output end of the up-down moving component is connected to the flipping cylinder. The output end of the flipping cylinder is connected to the connecting plate. The suction component is mounted on the connecting plate.

8. The automatic loading and unloading device according to claim 1, characterized in that, The stock preparation table includes an unprocessed area and a processed area. The unprocessed area is provided with a first conveyor line for conveying workpieces to be processed, and the processed area is provided with a second conveyor line for conveying the workpieces processed on the workbench. The end of the first conveyor line and the start of the second conveyor line are located below the start of the moving mechanism.

9. A control method for an automatic loading and unloading device, characterized in that, Applying the automatic loading and unloading device according to any one of claims 1 to 8, the control method of the automatic loading and unloading device includes the following steps: After controlling the moving mechanism to drive the grasping mechanism to move above the stock preparation table, control the suction component to suck the workpiece erected on the stock preparation table; Control the moving mechanism to drive the grasping mechanism to move above the workbench, and control the flipping drive component to drive the suction component to flip 90 degrees so that the output end of the suction component faces downward, and then control the suction component to release the workpiece so that the workpiece is placed flat on the workbench; After the workpiece is processed, control the suction component to move above the workpiece and control the suction component to suck the workpiece on the workbench, and then control the flipping drive component to drive the suction component to flip 90 degrees so that the output end of the suction component faces the stock preparation table; Control the moving mechanism to drive the grasping mechanism to move above the stock preparation table, and control the suction component to release the workpiece.

10. A right-angle grinding device, characterized in that, It includes the automatic loading and unloading device according to any one of claims 1 to 8.

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