Efficient pulley material processing and surface treatment all-in-one machine

Abstract

This invention discloses a high-efficiency integrated machine for conveyor belt material handling and surface treatment, belonging to the field of conveyor belt processing technology. It includes: a conveyor belt; a first three-axis assembly. When the drive motor drives the conveyor belt to rotate in a cleaning solution, cleaning brushes and cleaning wiping cotton pads abut against the outer surface of the conveyor belt. When the first three-axis assembly drives the conveyor belt to move to the grinding area, and the first three-axis assembly drives the conveyor belt to rotate in the grinding area via the drive motor, a surface grinding disc abuts against the outer wall of the conveyor belt for grinding. The first three-axis assembly then suspends the conveyor belt and places it again in the cleaning solution for rinsing and cleaning with the cleaning brushes and cleaning wiping cotton pads. A vision detection module on the first three-axis assembly then identifies and detects whether the conveyor belt is clean. This invention achieves simultaneous dynamic brushing and wiping, effectively removing oil and particulate impurities adhering to the conveyor belt groove, achieving a deep cleaning effect.

Description

Technical Field

[0001] This invention belongs to the field of belt pulley processing technology, and in particular, it is a high-efficiency belt pulley material handling and surface treatment integrated machine. Background Technology

[0002] Pulleys, belonging to the category of disc-shaped parts, are key components in mechanical transmission systems and are widely used in various types of machinery. Their surface quality directly affects transmission efficiency, noise levels, and service life.

[0003] Traditional pulley cleaning methods generally employ simple spray cleaning, where cleaning fluid is directly sprayed onto the pulley surface through a fixed or rotating nozzle, relying on the scouring action of the liquid to remove surface dust and some oil stains. This method is simple in structure and low in cost, and is widely used in small and medium-sized processing enterprises. However, this cleaning method is essentially a passive cleaning process. The workpiece itself does not participate in active movement, and the cleaning fluid can only act on the exposed surface, making it difficult to effectively penetrate into complex, confined areas such as pulley grooves. Furthermore, for firmly attached sludge, scale, or residual metal dust from grinding, spray cleaning has extremely limited removal capabilities, often only achieving surface cleaning and failing to meet the requirements of deep cleaning.

[0004] The shortcomings of this primitive cleaning method are quite obvious. For example, if the inside of the wheel groove is not thoroughly cleaned, the remaining impurities will become embedded in the surface of the grinding disc during subsequent grinding processes, resulting in reduced grinding efficiency, accelerated tool wear, and even burns or localized overheating and deformation of the pulley surface, seriously affecting the processing quality. Summary of the Invention

[0005] The purpose of this invention is to provide a high-efficiency integrated machine for conveyor belt material handling and surface treatment, so as to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a high-efficiency integrated machine for conveyor belt material handling and surface treatment, comprising:

[0007] The pulley is used to feed the material into the cleaning solution.

[0008] The first three-axis assembly is located above the pulley and has a lifting connecting plate at its free end. The lower part of the lifting connecting plate is provided with a drive shaft for engaging the central shaft hole of the pulley and a drive motor for driving the pulley. The two sides of the lifting connecting plate are respectively provided with adjustable cleaning brushes, cleaning wiping cotton blocks and surface polishing discs. When the drive motor drives the pulley to rotate in the cleaning liquid, the cleaning brushes and cleaning wiping cotton blocks fit against the outer wall surface of the pulley. When the first three-axis assembly drives the pulley to move to the polishing area, when the first three-axis assembly drives the pulley and drives the pulley to rotate in the polishing area through the drive motor, the surface polishing disc fits against the outer wall of the pulley for polishing.

[0009] After the surface polishing disc polishes the pulley, the first three-axis assembly hoisting pulley is rinsed in cleaning solution and cleaned by cleaning brush and cleaning wiping cotton. Then, the visual inspection module on the first three-axis assembly identifies and detects whether it is clean.

[0010] In a preferred embodiment, the solution also includes a machine base, wherein a cleaning slot is provided on one side of the top surface of the machine base for placing the pulley in the cleaning solution, and a cleaning solution box is pulled out below the cleaning slot and located on one side of the machine base.

[0011] In a preferred embodiment, the top surface of the machine tool is symmetrically equipped with an inverted U-shaped bracket. The first three-axis assembly includes an X-axis upper guide rail installed on the top of each U-shaped bracket, a Y-axis upper guide rail slidably installed between the tops of the two X-axis upper guide rails, and a Z-axis upper hydraulic column slidably connected to the Y-axis upper guide rail. The bottom lifting end of the Z-axis upper hydraulic column is fixedly installed together with the lifting connecting plate.

[0012] In a preferred embodiment, the top surface of the machine tool has a chip discharge ramp on the other side, and a chip collection box is pulled out below the chip discharge ramp and located on the other side of the machine tool.

[0013] In this preferred embodiment, hollow extension tubes are welded to both sides of the lifting connecting plate, and a hydraulic push-pull rod is installed in the inner cavity of each hollow extension tube. Push-pull mounting plates are fixedly installed on the free push-pull ends of the two hydraulic push-pull rods away from the lifting connecting plate. The cleaning brush and cleaning wiping cotton block are set on the inner wall of one of the push-pull mounting plates, and the surface polishing disc is set on the inner wall of the other push-pull mounting plate.

[0014] In this preferred embodiment, positioning crossbars are provided between the upper and lower sides of the two push-pull mounting plates and the upper and lower sides of the adjacent hollow extension tubes, so that the positioning crossbars perform linear positioning when the push-pull mounting plates are pushed and pulled linearly. One of the push-pull mounting plates has second ear plates welded to its upper and lower outer walls, and each second ear plate has a positioning crossbar welded to its inner wall. The other push-pull mounting plate has positioning crossbars symmetrically welded to its inner wall. The two hollow extension tubes have first ear plates welded to their upper and lower outer walls. The ends of the two positioning crossbars furthest from the push-pull mounting plates are connected through the adjacent first ear plates.

[0015] In this preferred embodiment, the outer wall of the back plate of the surface polishing disc, cleaning brush, and cleaning wiping cotton block are all integrally connected with T-shaped quick-release blocks. The inner wall of the two push-pull mounting plates is provided with T-shaped quick-release slots for the T-shaped quick-release blocks to slide and engage. The back of the two push-pull mounting plates is threaded with locking bolts, which pass through the T-shaped quick-release slots and are connected to the T-shaped quick-release blocks.

[0016] In a preferred embodiment, this solution also includes a second three-axis assembly, which includes two Y-axis lower guide rails symmetrically arranged on the unloading side of the pulley, an X-axis lower guide rail slidably installed between the top surfaces of the two Y-axis lower guide rails, an X-axis lower slider slidably installed on the top surface of the X-axis lower guide rail, a support block fixed to the top surface of the X-axis lower slider, and a hydraulic lifting column installed on the top surface of the X-axis lower slider.

[0017] In a preferred embodiment, an extension lifting block is provided above the hydraulic lifting column. A hydraulic cylinder is installed on the outer wall of the extension lifting block facing the pulley. A support push-pull plate is fixed to the free end of the piston rod of the hydraulic cylinder. A fixed plate is welded to the outer wall of the cylinder body near the support push-pull plate. The diameter of the support push-pull plate is larger than the diameter of the fixed plate. Three first hinge notches are equidistantly opened on the outer wall of the fixed plate. Three second hinge notches are equidistantly opened on the outer wall of the support push-pull plate. The first hinge notches and the second hinge notches are aligned.

[0018] In this preferred embodiment, each of the first hinged notches is hinged with a clamping expansion claw via a pin. The end of each clamping expansion claw, away from the fixed plate, extends and engages with the aligned second hinged notch. When the hydraulic cylinder drives the piston rod to extend and retract, causing the support push-pull plate to move forward and backward, the support push-pull plate drives the three clamping expansion claws to contract concentrically or open in opposite directions. The free ends of the three clamping expansion claws rub against the inner ring wall of the pulley to perform an opening action, causing the clamping expansion claws to open and clamp the support pulley in the opposite direction. The extension lifting block can drive the pulley to rotate to the unloading area.

[0019] Compared with the prior art, the technical effects and advantages of the present invention are as follows:

[0020] This high-efficiency integrated machine for conveyor belt material handling and surface treatment utilizes a design where a drive motor and drive shaft are inserted into the central shaft hole of the pulley to drive its rotation. This allows the pulley to actively and uniformly rotate in the cleaning solution, enhancing the liquid's flushing force on surface stains. Simultaneously, the action of the cleaning brush and cleaning pads against the outer wall achieves dynamic brushing and wiping, effectively removing oil and particulate impurities adhering to the hub and belt grooves, improving initial cleanliness and ensuring the quality of subsequent polishing. This operating method changes the inefficient traditional static immersion or simple spray cleaning mode, achieving a deep cleaning effect.

[0021] By installing cleaning brushes, cleaning pads, and surface polishing discs on both sides of the lifting plate of the first three-axis assembly, and driving the pulleys with the same drive motor, the cleaning and polishing processes share the same main shaft drive. This not only simplifies the equipment structure but also achieves efficient reuse of the power system. Furthermore, during cleaning, the brushing action of the cleaning brushes on the belt grooves can expose micro-cracks or surface defects in advance, essentially performing a "wet pre-inspection." In the subsequent polishing process, the surface polishing disc further treats the brushed areas, removing the oxide layer more evenly and avoiding uneven polishing caused by localized dirt blockage. This achieves a two-way benefit where "cleaning empowers polishing, and polishing enhances cleaning," resulting in a synergistic optimization of the process. Attached Figure Description

[0022] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0023] Figure 1 This is a schematic diagram of the structure of the present invention;

[0024] Figure 2 This is a schematic diagram of the surface treatment component of the present invention;

[0025] Figure 3 This is a schematic diagram of the disassembled structure of the T-shaped quick-release block and the T-shaped quick-release slot of the present invention;

[0026] Figure 4 This is a schematic diagram of the installation structure of the support block and the extension lifting block of the present invention;

[0027] Figure 5 This is a schematic diagram of the connection structure of the clamping and expanding three claws of the present invention;

[0028] Figure 6 This is a schematic diagram of the structure of the inner ring wall of the present invention;

[0029] Figure 7 This is a schematic diagram of the mounting structure of the rotary electric motor of the present invention;

[0030] Figure 8 This is a schematic diagram of the installation structure of the cleaning fluid box of the present invention;

[0031] Figure 9 This is an enlarged structural diagram of point A in this invention;

[0032] Figure 10 This is a flowchart of the industrial vision camera shooting and inspection process of the present invention.

[0033] Explanation of reference numerals in the attached figures:

[0034] In the diagram: 1. Pulley; 2. Cleaning bayonet; 3. First three-axis assembly; 4. Second three-axis assembly; 5. Upper X-axis guide rail; 6. Drive motor; 7. Surface polishing disc; 8. Drive shaft; 9. Chip removal ramp; 10. Chip collection box; 11. Control panel box; 12. Machine base; 13. U-shaped bracket; 14. Upper Y-axis guide rail; 15. Upper Z-axis hydraulic column; 16. Lower X-axis guide rail; 17. Lifting connecting plate; 18. Hollow extension tube; 19. First ear plate; 20. Hydraulic push-pull rod; 21. Positioning crossbar; 22. Second ear plate; 23. Push-pull mounting plate; 24. Locking bolt; 25. Removable maintenance plate; 26. Cleaning brush; 27. Cleaning wiping cotton pad. 28. Matching track; 29. ​​T-shaped quick-release block; 30. T-shaped quick-release slot; 31. Y-axis lower guide rail; 32. X-axis lower slider; 33. Support block; 34. Extension lifting block; 35. Hydraulic cylinder; 36. Clamping expansion three-jaw jack; 37. Support push-pull plate; 38. Fixed plate; 39. First hinge notch; 40. Piston rod; 41. Tension spring; 42. Second hinge notch; 43. Support fitting head; 44. Rubber anti-slip pad; 45. Fitting inner ring wall; 46. Mounting cavity; 47. Rotary motor; 48. Cleaning fluid box; 49. Support base plate; 50. Hydraulic lifting column; 51. Positioning upright; 52. Integrated module box; 53. Industrial vision camera. Detailed Implementation

[0035] In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the invention. However, it will be apparent to those skilled in the art that the invention can be practiced without one or more of these details. In other instances, certain technical features well-known in the art have not been described in order to avoid obscuring the invention.

[0036] Unless otherwise defined, the directions mentioned herein, such as up, down, left, right, front, back, inside, and outside, are based on the directions shown in the figures of this invention, and are explained here together.

[0037] This embodiment provides, for example Figures 1 to 10 The high-efficiency belt pulley material handling and surface treatment integrated machine shown is characterized by including a belt pulley 1, a first three-axis assembly 3, a second three-axis assembly 4, and a machine base 12.

[0038] In this embodiment, the pulley 1 is fed into the cleaning liquid; the first three-axis assembly 3 is disposed above the pulley 1, and a lifting connecting plate 17 is disposed at the free end. The lower part of the lifting connecting plate 17 is respectively provided with a drive shaft 8 for engaging the central shaft hole of the pulley 1 and a drive motor 6 for driving the pulley 1. The two sides of the lifting connecting plate 17 are respectively provided with adjustable cleaning brushes 26, cleaning wiping cotton blocks 27 and surface polishing discs 7. When the drive motor 6 drives the pulley 1 to rotate in the cleaning liquid, the cleaning brushes 26 and cleaning wiping cotton blocks 27 fit against the outer wall surface of the pulley 1. When the first three-axis assembly 3 drives the pulley 1 to move to the polishing area, when the first three-axis assembly 3 drives the pulley 1 and drives the pulley 1 to rotate in the polishing area through the drive motor 6, the surface polishing disc 7 fits against the outer wall of the pulley 1 for polishing.

[0039] In this embodiment, after the surface polishing disc 7 polishes the pulley 1, the first three-axis assembly 3 suspends the pulley 1 and rinses it again in the cleaning solution. It is then cleaned and wiped by the cleaning brush 26 and cleaning cotton pad 27. The visual inspection module on the first three-axis assembly 3 then identifies and checks whether the pulley is clean. If the visual inspection module detects that there are still debris in the belt groove of the pulley 1, it needs to be placed back in the cleaning solution and rotated, then cleaned and wiped again by the cleaning brush 26 and cleaning cotton pad 27 before undergoing visual inspection again, until the inspection is passed. The output shaft of the drive motor 6 is fixedly connected to the drive shaft 8 through the lifting connecting plate 17, and the drive shaft 8 is engaged with the central shaft hole of the pulley 1. When the drive shaft 8 of the first three-axis assembly 3 drives the drive motor 6 to be inserted into the central shaft hole of the pulley 1, in order to ensure a better fit between the shaft hole of the pulley 1 and the drive shaft 8 and prevent it from falling off, the pulley 1 can be clamped in the opposite direction by three clamping expansion jaws 36 against the inner ring wall 45. At the same time, the lower Y-axis guide rail 31 drives the lower X-axis guide rail 16 to move closer to the drive shaft 8, so that the lower X-axis guide rail 16 drives the clamping expansion jaws 36 to move towards the drive shaft 8, so that the clamping expansion jaws 36 clamp the pulley in the opposite direction. The pulley 1 pushes the belt pulley 1 to engage with the drive shaft 8. When unloading the belt pulley 1, the clamping expansion jaws 36 clamp the belt pulley 1 again in the opposite direction. At this time, the lower Y-axis guide rail 31 drives the lower X-axis guide rail 16 to move away from the drive shaft 8. That is, the lower X-axis guide rail 16 moves backward on the lower Y-axis guide rail 31, causing the clamping expansion jaws 36 to remove the belt pulley 1 from the drive shaft 8. Then, when rotating to the unloading area, the clamping expansion jaws 36 release their grip on the belt pulley 1, allowing for unloading. By integrating the entire process of loading, cleaning, grinding, re-cleaning, visual inspection, and unloading of the belt pulley 1 into the same automated system, the various process links are tightly connected in space and flow continuously in time, achieving integrated operation from raw material to finished surface-treated product. This significantly improves production efficiency and reduces labor costs and operational errors. By using the design of "the first three-axis assembly 3 driving the lifting plate 17 to rise and move horizontally, and setting adjustable cleaning brushes 26, cleaning wiping cotton blocks 27 and surface polishing discs 7 on both sides", the same robotic arm system can perform both cleaning and polishing tasks without changing tooling or transferring to different equipment. This achieves multi-functional integration and efficient utilization of equipment resources, avoiding material handling losses and cycle delays caused by traditional multi-machine decentralized operations, and achieving a high degree of process integration.

[0040] In this embodiment, by integrating a vision inspection module (including an industrial vision camera 53 and an analysis module in the integrated module box 52) onto the first three-axis assembly 3, and automatically acquiring images and determining whether the cleaning is qualified after each cleaning, the system possesses intelligent feedback and adaptive control capabilities. If debris is detected in the belt groove, a rewashing process is automatically triggered until the standard is met, realizing a closed-loop quality control mechanism of "inspection-judgment-rework". This changes the subjectivity and lag of traditional manual visual inspection, achieving high product quality consistency and low defect rate. After grinding, the pulley 1 is hoisted back into the cleaning solution for a second rinse, and then wiped again with a cleaning brush 26 and a cleaning wiping cotton pad 27. This design ensures that metal debris, dust, and other residues generated during grinding are thoroughly removed, preventing them from adhering to the surface and affecting subsequent inspection or performance. This achieves a closed-loop "grinding-debris removal" process, solving the problem of incomplete debris removal after grinding in traditional processes, and achieving a dual improvement in process integrity and product cleanliness.

[0041] In this embodiment, a cleaning slot 2 is provided on one side of the top surface of the machine base 12 for placing the pulley 1 in the cleaning fluid. Below the cleaning slot 2 and located on one side of the machine base 12, a cleaning fluid box 48 is pulled out. That is, the cleaning fluid box 48 contains cleaning fluid, so that when the pulley 1 is inserted into the cleaning slot 2, the lower part of the pulley 1 passes through the cleaning slot 2 and is immersed in the cleaning fluid in the cleaning fluid box 48. The cleaning fluid box 48 can be pulled out as a whole, facilitating periodic replacement of the cleaning fluid or cleaning of sediment and impurities. This achieves modularity and ease of maintenance of the cleaning station, avoiding the problems of difficult cleaning and inconvenient fluid replacement in traditional fixed cleaning tanks, and achieving the effect of convenient operation and low maintenance cost of the cleaning system.

[0042] In this embodiment, an inverted U-shaped bracket 13 is symmetrically mounted on the top surface of the machine base 12. The first three-axis assembly 3 includes an X-axis upper guide rail 5 mounted on the top of each U-shaped bracket 13, a Y-axis upper guide rail 14 slidably mounted between the tops of the two X-axis upper guide rails 5, and a Z-axis upper hydraulic column 15 slidably connected to the Y-axis upper guide rail 14. The bottom lifting end of the Z-axis upper hydraulic column 15 is fixedly mounted together with the lifting connecting plate 17. The lifting connecting plate 17 can move precisely in three-dimensional space, realizing efficient positioning and stable transfer of the pulley 1 between the cleaning area, grinding area, and inspection area. This structure has high rigidity, effectively supporting the needs of continuous multi-station operation, avoiding shaking and deviation during movement, and achieving the effects of high motion accuracy and strong operational stability.

[0043] In this embodiment, the top surface of the machine base 12 has a chip discharge ramp 9 on the other side, and a chip collection box 10 is pulled out below the chip discharge ramp 9 and located on the other side of the machine base 12. Metal dust and chips generated during the grinding process can automatically slide down the ramp into the chip collection box 10 for centralized collection, avoiding secondary pollution or affecting visual inspection accuracy caused by chip accumulation on the equipment surface. The chip collection box 10 can be periodically pulled out for cleaning, achieving closed-loop chip discharge and easy cleaning, resulting in a clean working environment and strong self-cleaning ability of the equipment.

[0044] In this embodiment, hollow extension tubes 18 are welded to both sides of the lifting connecting plate 17. A hydraulic push-pull rod 20 is installed inside the cavity of each hollow extension tube 18. Push-pull mounting plates 23 are fixedly installed on the free ends of the two hydraulic push-pull rods 20 away from the lifting connecting plate 17. A cleaning brush 26 and a cleaning wiping cotton pad 27 are disposed on the inner wall of one of the push-pull mounting plates 23, and a surface polishing disc 7 is disposed on the inner wall of the other push-pull mounting plate 23. The cleaning brush 26, cleaning wiping cotton pad 27, and surface polishing disc 7 can be laterally adjusted according to the outer diameter of different specifications of pulleys 1, achieving compatible processing of various workpiece models. This structure achieves precise push-pull control through hydraulic drive, ensuring stable contact pressure between the tool and the workpiece surface.

[0045] In this embodiment, positioning crossbars 21 are provided between the upper and lower sides of the two push-pull mounting plates 23 and the upper and lower sides of the adjacent hollow extension tubes 18, so that the positioning crossbars 21 are linearly positioned when the push-pull mounting plates 23 are pushed and pulled linearly. Second ear plates 22 are welded to the outer walls of the upper and lower sides of one of the push-pull mounting plates 23, and positioning crossbars 21 are welded to the inner walls of each second ear plate 22. Positioning crossbars 21 are symmetrically welded to the inner walls of the other push-pull mounting plate 23. First ear plates 19 are welded to the outer walls of the upper and lower sides of the two hollow extension tubes 18. The ends of the two positioning crossbars 21, located away from the push-pull mounting plates 23, are connected through the adjacent first ear plates 19. A removable inspection plate 25 is installed on the outer wall of each hollow extension tube 18 by screws. The hydraulic push-pull rod 20 can be inspected, installed, or disassembled by removing the removable inspection plate 25. By setting a positioning crossbar 21 between the push-pull mounting plate 23 and the hollow extension tube 18, and cooperating with the first ear plate 19 and the second ear plate 22 to achieve a through connection, the push-pull mounting plate 23 can move smoothly in a straight line under the drive of the hydraulic push-pull rod 20, avoiding uneven loading or jamming. This guide structure improves the linearity and repeatability of the tool mounting plate's movement, ensuring a uniform distribution of force during cleaning and polishing, achieving high work consistency and extended tool life. By setting a positioning crossbar 21 on the push-pull mounting plate 23 and connecting it through the first ear plate 19, not only is the linear motion accuracy of the tool mounting plate guaranteed, but the system's vibration resistance is also enhanced. When the surface grinding disc 7 grinds the belt pulley 1 at high speed, periodic vibrations will occur. The positioning crossbar 21, as a rigid support rod, forms a "double guide + horizontal pull" structure with the hollow extension tube 18, which effectively suppresses the swaying and resonance of the push-pull mounting plate 23, thereby indirectly improving the flatness and roughness consistency of the grinding surface. It achieves the dual function of "guide structure as vibration damping support", and achieves the effect of stable improvement in processing quality.

[0046] In this embodiment, the outer walls of the back plates of the surface polishing disc 7, the cleaning brush 26, and the cleaning wiping pad 27 are all integrally connected with T-shaped quick-release blocks 29. The inner walls of the two push-pull mounting plates 23 are each provided with T-shaped quick-release slots 30 for the T-shaped quick-release blocks 29 to slide and engage. Locking bolts 24 are threaded onto the back of the two push-pull mounting plates 23, passing through the T-shaped quick-release slots 30 and connecting to the T-shaped quick-release blocks 29. The cooperation between the T-shaped quick-release blocks 29 and the T-shaped quick-release slots 30 facilitates the quick release and installation of the surface polishing disc 7, the cleaning brush 26, and the cleaning wiping pad 27. The locking bolts 24 lock the T-shaped quick-release blocks 29 in place.

[0047] In this embodiment, the second three-axis assembly 4 includes two Y-axis lower guide rails 31 symmetrically arranged on the loading and unloading side of the pulley 1, an X-axis lower guide rail 16 slidably mounted between the top surfaces of the two Y-axis lower guide rails 31, an X-axis lower slider 32 slidably mounted on the top surface of the X-axis lower guide rail 16, a support block 33 fixed to the top surface of the X-axis lower slider 32, and a hydraulic lifting column 50 mounted on the top surface of the X-axis lower slider 32. The second three-axis assembly 4 can independently perform clamping, lifting, and translation operations after the pulley 1 has undergone surface treatment, realizing functional decoupling and collaborative operation with the first three-axis assembly 3.

[0048] In this embodiment, an extension lifting block 34 is provided above the hydraulic lifting column 50. A hydraulic cylinder 35 is installed on the outer wall of the extension lifting block 34 facing the pulley 1. A support push-pull plate 37 is fixed to the free end of the piston rod 40 of the hydraulic cylinder 35. A fixed plate 38 is welded to the outer wall of the cylinder body of the hydraulic cylinder 35 near the support push-pull plate 37. The diameter of the support push-pull plate 37 is larger than the diameter of the fixed plate 38. Three first hinge notches 39 are equidistantly opened on the outer wall of the fixed plate 38, and three second hinge notches 42 are equidistantly opened on the outer wall of the support push-pull plate 37. The first hinge notches 39 and the second hinge notches 42 are aligned. The three clamping expansion claws 36 can drive the support push-pull plate 37 to move backward and expand outward through the piston rod 40, thereby clamping the inner ring wall of the pulley 1 in the opposite direction. This clamping method uses the workpiece's own structure to achieve stable gripping, avoiding scratches on the outer surface. It is especially suitable for high-gloss workpieces that have been polished, achieving reliable clamping without damaging the workpiece surface.

[0049] In this embodiment, each first hinge notch 39 is hinged with a clamping expansion claw 36 by a pin. The end of each clamping expansion claw 36 away from the fixed plate 38 extends and is engaged in the aligned second hinge notch 42. When the hydraulic cylinder 35 drives the piston rod 40 to extend and retract, causing the support push-pull plate 37 to move forward and backward, the support push-pull plate 37 drives the three clamping expansion claws 36 to contract inward or open in opposite directions. The free ends of the three clamping expansion claws 36 rub against the inner ring wall 45 of the pulley 1 to perform the opening action, so that the clamping expansion claws 36 open and reverse clamp the support pulley 1. The extension lifting block 34 can drive the pulley 1 to rotate to the unloading area. Each clamping expansion claw 36 has its inner wall near the fixed plate 38 fixedly connected to the outer wall of the piston rod 40 by a tension spring 41. This causes the distance between the free ends of the three clamping expansion claws 36 to decrease when the piston rod 40 pushes the support push-pull plate 37 forward, causing the three clamping expansion claws 36 to contract. During the contraction process, the elastic force of the tension spring 41 keeps the clamping expansion claws 36 locked in the second hinge notch 42 and prevents them from disengaging. The three tension springs 41 also act as centripetal tensions to hold the three clamping expansion claws 36 in place. When the piston rod 40 pulls the support push-pull plate 37 backward, the support push-pull plate 37 opens the three clamping expansion claws 36, causing them to unfold.

[0050] In this embodiment, each clamping expansion claw 36 has a support fitting head 43 integrally formed at its free end away from the oil cylinder 35. Each support fitting head 43 has a rubber anti-slip pad 44 bonded to its outer wall, and the rubber anti-slip pad 44 is bonded to the inner ring wall 45.

[0051] In this embodiment, the bottom of the extension lifting block 34 has a support base plate 49. The top lifting end of the hydraulic lifting column 50 is fixedly installed to the bottom surface of the support base plate 49 by bolts. An installation cavity 46 is opened in the middle of the top surface of the support base plate 49. A rotary motor 47 is installed in the installation cavity 46. The output shaft of the rotary motor 47 is fixedly connected to the extension lifting block 34, so that the rotary motor 47 can drive the extension lifting block 34 to rotate. This allows the extension lifting block 34 to reverse and clamp the support pulley 1, driving the pulley 1 to rotate to the back side of the machine platform 12 for unloading.

[0052] In this embodiment, positioning rods 51 are welded to the four corners of the bottom surface of the support base plate 49. The positioning rods 51 are longitudinally inserted into the support block 33, so that when the hydraulic lifting column 50 drives the support base plate 49 and the extension lifting block 34 to rise, the four positioning rods 51 will rise synchronously. By designing the positioning rods 51, the lifting of the support base plate 49 and the extension lifting block 34 is longitudinally positioned. A control panel box 11 is installed at one corner of the top surface of the machine base 12. The control panel box 11 contains a PLC for controlling the opening and closing of the above-mentioned electronic devices. The inner walls of the cleaning wiping cotton block 27 and the surface polishing disc 7 are provided with matching tracks 28 that fit and engage with the outer wall of the hub of the pulley 1, so that the cleaning, wiping and polishing of the pulley 1 is more precise and the surface treatment efficiency is improved.

[0053] In this embodiment, the vision inspection module includes an integrated module box 52 disposed on one side of the top of the hydraulic column 15 on the Z-axis and an industrial vision camera 53 installed on the bottom surface of the integrated module box 52. The industrial vision camera 53 is responsible for data acquisition. The integrated module box 52 has an analysis module for analyzing whether the outer wall of the pulley 1 is clean and whether the grinding is qualified.

[0054] In this embodiment, the industrial vision camera 53 faces the belt groove area of ​​the pulley 1. To analyze and determine whether there are residual debris or incomplete cleaning in the belt groove area of ​​the pulley 1, the system mainly relies on the industrial vision camera 53 in the vision inspection module and the analysis module in the integrated module box 52. The specific detection steps include:

[0055] S1: Use an industrial vision camera 53 to photograph the belt groove area of ​​pulley 1. A high-resolution industrial vision camera 53 is used to clearly capture minute details, such as fine scratches and residual dust particles.

[0056] S2: Remove noise from the acquired image, for example, by using filtering algorithms (such as Gaussian filtering) to reduce random noise in the image, ensuring the accuracy of subsequent processing, and adjusting the brightness and contrast of the image to make impurities of different materials or colors more obvious and easier to identify.

[0057] Specifically, the Gaussian filtering denoising formula (image preprocessing) is used to remove random noise during image acquisition and improve image quality. The formula is as follows:

[0058]

[0059] In the formula, : Indicates the Gaussian kernel function at pixel coordinates The weight value at that point is used to calculate the weighted average of neighboring pixels.

[0060] : Represents the offset coordinates (in pixels) of the current pixel relative to the center of the filter window, indicating the position of a point in the image relative to the center point.

[0061] : Represents the standard deviation of the Gaussian distribution, controlling the smoothness of the filter. In this system, The value is set according to the fineness of the surface texture of the pulley (usually 1 to 2 pixels) to avoid excessive blurring that could affect subsequent edge detection.

[0062] The Gaussian kernel generated by the formula is convolved with the original image to achieve smoothing of the image acquired by the industrial vision camera (53) and suppress noise caused by cleaning liquid reflection or ambient light interference.

[0063] S3: Apply edge detection algorithms (such as the Sobel operator) to highlight the surface features of the belt grooves of the pulley and any possible foreign object boundaries.

[0064] Specifically, the Sobel edge detection operator (edge ​​enhancement) is used to highlight the pulley contour and belt groove boundary, facilitating subsequent defect localization. The formula is as follows:

[0065] Horizontal gradient:

[0066] Vertical gradient:

[0067] Synthesized gradient magnitude:

[0068] in, Original image at location The grayscale values ​​are obtained by an industrial vision camera (53).

[0069] The gradient components of the image in the horizontal and vertical directions reflect the degree of grayscale change and are used to identify the outer edge of the pulley and the edge of the belt groove.

[0070] : Edge intensity of the pixel. The larger the value, the more likely the location is to be an edge (such as the wall of a belt groove or the boundary of residual debris).

[0071] By calculating the gradient magnitude of each pixel, the system can accurately extract the contour of the pulley structure, providing a basis for subsequent comparison with a standard template.

[0072] S4: Use image segmentation techniques (such as thresholding) to separate the pulley from its background and identify the specific location and shape of the belt groove.

[0073] Specifically, thresholding is used to divide pixels into several classes by setting one or more thresholds. For binary images, the simplest form is to select a grayscale threshold. Then, based on the grayscale value of each pixel... and The comparison results are used to classify them, and the formula is as follows:

[0074]

[0075] in:

[0076] The original image is in position The grayscale value.

[0077] It is a preset threshold.

[0078] It is a binary image after thresholding.

[0079] This formula is suitable for situations where the background and target have high contrast.

[0080] S5: Based on a pre-defined standard template or machine learning model, scan the surface of the pulley to find discrepancies with the ideal state. For example, by comparing the actual contour with the standard contour, determine whether there are abnormal protrusions or depressions.

[0081] Specifically, the defect area determination formula (dimensional measurement) is used to quantify the size of residual debris and determine whether rework is required. The formula is as follows:

[0082]

[0083] Among them, if If it does not meet the requirements, it will be deemed unqualified.

[0084] : The total number of pixels in the detected defect area, representing the area of ​​residual debris or stains.

[0085] The set of all suspected defective pixels extracted through image segmentation (such as thresholding or region growing).

[0086] Preset qualified threshold (unit: pixels) 2 This is set according to the pulley specifications and process requirements. For example, the maximum allowable residual area is 50 pixels. 2 .

[0087] When the grayscale of a certain area is abnormal and the area exceeds the threshold, the system determines that the cleaning is "incomplete" and triggers the rewash process.

[0088] S6: For certain types of impurities, texture analysis techniques (such as gray-level co-occurrence matrix GLCM) can be used to assess the changes in surface roughness, thereby determining whether there are any substances that have not been completely removed.

[0089] Specifically, the Gray-Level Co-occurrence Matrix (GLCM) texture analysis formula is used to determine whether there are residual stains or uneven polishing on the surface, based on the difference in texture roughness:

[0090] Let the gray levels in the image be . and Two pixels in direction ,distance The probability of the following two occurrences is ,but:

[0091] Contrast:

[0092] Energy:

[0093] Correlation:

[0094] in, : at distance ,angle Below, grayscale value and The joint probability of adjacent occurrences. In this system, it is commonly taken as... , Perform multi-directional statistics.

[0095] The total number of gray levels in the image (e.g., 256 for an 8-bit image).

[0096] Grayscale value and The mean.

[0097] : Standard deviation of the corresponding grayscale value.

[0098] C: Contrast ratio. A higher value indicates a coarser texture. Incompletely cleaned areas (such as oil stains or dust accumulation) will cause localized increases in contrast.

[0099] Energy reflects the uniformity of the texture. Clean, smooth surfaces have higher energy; residual debris lowers the energy value.

[0100] Correlation measures the linear dependence of local gray levels. Normally polished surfaces show high correlation, while contaminated areas show decreased correlation.

[0101] By extracting multiple GLCM features, the system constructs a "cleanliness fingerprint" and compares it with standard samples to determine whether it meets the standard.

[0102] S7: The integrated module box 52 is internally configured with image analysis algorithms or deep learning models. These models have been trained on a large number of samples and can accurately distinguish between normal wear marks and stains or debris that need to be cleaned. The location of suspected impurities is precisely measured; if its size exceeds a predetermined threshold, it is considered a non-compliant area. A comprehensive score is calculated based on the above indicators. If the score is lower than a certain passing standard, an alarm signal is triggered, prompting the operator to re-clean the pulley.

[0103] Specifically, using a comprehensive scoring model (intelligent judgment), the integrated module box 52 employs a weighted scoring function for comprehensive judgment:

[0104]

[0105] in, : Overall cleanliness score; the higher the value, the cleaner the surface.

[0106] : GLCM energy, correlation, and contrast of the current image.

[0107] : Average GLCM characteristic value of a standard clean pulley sample (as a baseline).

[0108] : The maximum area of ​​the detected defect.

[0109] : Maximum allowable defect area (i.e. ).

[0110] Weighting coefficients, derived from machine learning training, reflect the importance of each feature in cleanliness assessment. For example: .

[0111] The passing score is the minimum acceptable score; anything below this score is considered unacceptable for cleanliness.

[0112] This model integrates multiple image features to achieve intelligent and quantitative assessment of the surface condition of pulleys, avoiding misjudgment based on a single indicator.

[0113] S8: The system presents the test results to the user in an intuitive way, such as marking all the problems found and their severity on the screen. Based on the test results, the system can automatically determine whether the pulley meets the quality requirements. Qualified products directly enter the unloading process, while unqualified products are sent back to the cleaning stage for further processing.

[0114] S9: Data from each test will be saved for future reference and quality tracking, and can also be used to optimize production process parameters.

[0115] Specifically, data recording and tracking formulas are used for quality traceability, establishing a testing file for each product. The formula is as follows:

[0116]

[0117] in, : No. Inspection records for each pulley.

[0118] : Detection timestamp (year, month, day, hour, minute, second).

[0119] : Original image data (or hash value).

[0120] : The corresponding GLCM eigenvalue.

[0121] : Maximum defect area.

[0122] Overall score.

[0123] Result n : Judgment result ("qualified" or "unqualified").

[0124] All data is stored in the PLC database of the control panel electrical box 11, supporting subsequent querying, statistical analysis and process optimization.

[0125] In this embodiment, the design of automatically determining the cleanliness level after each cleaning by the visual inspection module (industrial vision camera 53 and integrated module box 52) and triggering a rewash process when the cleanliness is unqualified not only achieves closed-loop quality control but also indirectly monitors the wear status of the cleaning brush 26 and cleaning wiping cotton pad 27. For example, if multiple workpieces require multiple cleanings to pass inspection, the system can infer that the cleaning tools have aged or failed, and then issue a replacement reminder through the control panel electrical box 11. The data feedback logic actually constitutes an intelligent early warning function for tool life management, realizing the function of "inspection results driving maintenance decisions" and achieving the effect of equipment self-diagnosis and preventive maintenance.

[0126] Working principle

[0127] This high-efficiency integrated machine for handling and surface treatment of pulleys allows the operator to place the pulley 1 to be treated at a predetermined position above the machine base 12, preparing it for the cleaning process. The hydraulic column 15 on the Z-axis of the first three-axis assembly 3 drives the lifting plate 17 to descend, aligning the drive shaft 8 with the central shaft hole of the pulley 1. The drive motor 6 then rotates the drive shaft 8 to insert it into the shaft hole of the pulley 1. At this point, the second three-axis assembly 4 has not yet moved, and the pulley 1 is suspended in the air. The lifting plate 17 continues to descend, allowing the pulley 1 to pass through the cleaning slot 2, its bottom immersed in the cleaning fluid in the pull-out cleaning fluid box 48 below. The drive motor 6 starts, driving the drive shaft 8 to rotate, thus driving the pulley 1 to rotate slowly in the cleaning fluid. During rotation, oil, dust, and other impurities on the surface of the pulley are washed away by the liquid.

[0128] The hydraulic push-pull rod 20 pushes the push-pull mounting plate 23 inward, causing the cleaning brush 26 and the cleaning wiping cotton pad 27 to adhere to the outer wall of the pulley 1. While the pulley 1 continues to rotate, the cleaning brush 26 scrapes away stubborn stains, and the cleaning wiping cotton pad 27 absorbs residual liquid and wipes the surface. After a certain period of rotation and wiping, the lifting connecting plate 17 rises, lifting the pulley 1 out of the cleaning fluid, completing the first stage of cleaning.

[0129] The first three-axis assembly 3, through the coordinated movement of the X-axis upper guide rail 5 and the Y-axis upper guide rail 14, moves the pulley 1 to the preset grinding position. On the other side, the push-pull mounting plate 23, under the action of the hydraulic push-pull rod 20, pushes the surface grinding disc 7 to fit against the outer edge or groove surface of the pulley 1. The drive motor 6 starts again, causing the pulley 1 to rotate. Under pressure, the surface grinding disc 7 grinds the surface of the pulley 1, removing burrs, oxide layers, or performing surface finishing. After the grinding time is completed, the surface grinding disc 7 retracts, and the first three-axis assembly 3 prepares to move the pulley 1 back to the cleaning area for secondary cleaning.

[0130] The first three-axis assembly 3 moves the pulley 1 back above the cleaning bayonet 2 and lowers it again to immerse it in the cleaning solution. The drive motor 6 is then restarted to rotate the pulley 1, and the cleaning brush 26 and cleaning pads 27 are used to rinse and wipe the pulley, removing metal shavings and dust generated during grinding. After cleaning, the lifting plate 17 rises to the inspection height. The industrial vision camera 53 is activated to acquire high-definition images of the pulley 1 surface, especially the belt groove area. The analysis module within the integrated module box 52 processes the images to determine if there are any residual debris or areas that are not thoroughly cleaned.

[0131] If the surface of pulley 1 is determined to be clean enough, the material preparation stage begins. If impurities are still detected, the control system automatically triggers the rewashing program, and the pulley descends into the cleaning solution again to repeat the rotation cleaning and wiping process. Visual inspection is then performed again. This process can be repeated multiple times until the inspection is qualified, ensuring the consistency of the final product quality.

[0132] After the cleaning and polishing process is completed, the second three-axis assembly 4 starts to work. The Y-axis lower guide rail 31 drives the X-axis lower guide rail 16 to move laterally, so that the support block 33, hydraulic lifting column 50, and extension lifting block 34 are close to the pulley 1. The hydraulic lifting column 50 rises, so that the clamping expansion three-jaw 36 is aligned with the inner ring of the pulley 1. The oil cylinder 35 drives the piston rod 40 to move backward, which drives the support push-pull plate 37 to move backward. The support push-pull plate 37 pushes the three clamping expansion three-jaw 36 to open outward, so that the support fitting head 43 and the rubber anti-slip pad 44 at their ends are tightly attached to the inner ring wall 45 of the pulley 1, realizing reverse clamping and fixing.

[0133] The X-axis lower guide rail 16 drives the entire clamping mechanism to move backward, smoothly pulling the pulley 1 out of the drive shaft 8 and completing the separation from the first three-axis assembly 3. The rotary motor 47 starts and drives the extension lifting block 34 to rotate 180° through the output shaft, turning the pulley 1 from the front processing area to the unloading area on the back of the machine table 12. The four positioning rods 51 are inserted into the support block 33 to ensure smooth rotation and prevent swaying. The hydraulic cylinder 35 drives the piston rod 40 forward, which moves the support push-pull plate 37 forward, causing the clamping expansion three-jaw 36 to retract concentrically, releasing the clamp on the pulley 1. The pulley 1 is placed on the unloading table or conveyor belt and picked up manually or automatically.

[0134] The second three-axis assembly 4 resets, the clamping mechanism retracts and returns to its original position, the hydraulic lifting column 50 descends, ready to receive the next pulley, and at the same time, the first three-axis assembly 3 also returns to its initial position, waiting for the next round of feeding.

[0135] Metal dust and debris generated during the grinding process are partially carried away by the cleaning fluid, while the remainder slides into the chip collection box 10 through the chip discharge ramp 9 for centralized collection. The chip collection box 10 can be periodically pulled out for cleaning to keep the equipment clean. The cleaning brush 26, cleaning wiping cotton pad 27, and surface grinding disc 7 all adopt a T-shaped quick-release block 29 and T-shaped quick-release slot 30 structure, which, together with the locking bolt 24, allows for quick replacement. The removable maintenance plate 25 on the hollow extension tube 18 facilitates the maintenance or replacement of the internal hydraulic push-pull rod 20.

[0136] It should be noted that, in this document, relational terms such as "one" and "two" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, the phrase "comprising an element defined as..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0137] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A high-efficiency belt pulley material handling and surface treatment integrated machine, characterized in that, include: Pulley (1), feed material into cleaning solution; The first three-axis assembly (3) is located above the pulley (1) and has a lifting connecting plate (17) at its free end. The lower part of the lifting connecting plate (17) is provided with a drive shaft (8) that engages with the central shaft hole of the pulley (1) and a drive motor (6) that drives the pulley (1). The two sides of the lifting connecting plate (17) are respectively provided with a cleaning brush (26), a cleaning wiping cotton block (27) and a surface polishing disc (7) for fitting and abutting against the outer wall surface of the pulley (1). After the first three-axis assembly (3) drives the pulley (1) to move to the polishing area, the drive motor (6) drives the pulley (1) to rotate in the polishing area to perform polishing. Among them, after the surface polishing disc (7) polishes the pulley (1), the first three-axis assembly (3) suspends the pulley (1) and rinses it in the cleaning liquid again and cleans it with the cleaning brush (26) and the cleaning wiping cotton block (27). Then, the visual detection module on the first three-axis assembly (3) identifies and detects whether it is clean and feeds back the result. Hollow extension tubes (18) are welded to both sides of the lifting connecting plate (17). A hydraulic push-pull rod (20) is installed in the inner cavity of each hollow extension tube (18). Push-pull mounting plates (23) are fixedly installed on the free push-pull ends of the two hydraulic push-pull rods (20) away from the lifting connecting plate (17). The cleaning brush (26) and the cleaning wiping cotton block (27) are set on the inner wall of one of the push-pull mounting plates (23). The surface polishing disc (7) is set on the inner wall of the other push-pull mounting plate (23). The outer wall of the back plate of the surface polishing disc (7), the cleaning brush (26) and the cleaning wiping cotton block (27) are all integrally connected with T-shaped quick-release blocks (29). The inner wall of the two push-pull mounting plates (23) is provided with T-shaped quick-release slots (30) for the T-shaped quick-release blocks (29) to slide and engage. The back of the two push-pull mounting plates (23) is threaded with locking bolts (24). The locking bolts (24) pass through the T-shaped quick-release slots (30) and are connected to the T-shaped quick-release blocks (29). It also includes a machine base (12), on one side of the top surface of the machine base (12) is a cleaning slot (2) for placing the pulley (1) in the cleaning liquid, below the cleaning slot (2) and on one side of the machine base (12) is a cleaning liquid box (48), on the other side of the top surface of the machine base (12) is a chip discharge ramp (9), below the chip discharge ramp (9) and on the other side of the machine base (12) is a chip collection box (10).

2. The high-efficiency belt pulley material handling and surface treatment integrated machine according to claim 1, characterized in that: The top surface of the machine base (12) is symmetrically equipped with an inverted U-shaped bracket (13). The first three-axis assembly (3) includes an X-axis upper guide rail (5) installed on the top of each U-shaped bracket (13), a Y-axis upper guide rail (14) slidably installed between the tops of the two X-axis upper guide rails (5), and a Z-axis upper hydraulic column (15) slidably connected to the Y-axis upper guide rail (14). The bottom lifting end of the Z-axis upper hydraulic column (15) is fixedly installed together with the lifting connecting plate (17).

3. The high-efficiency belt pulley material handling and surface treatment integrated machine according to claim 2, characterized in that: Positioning crossbars (21) are provided between the upper and lower sides of the two push-pull mounting plates (23) and the upper and lower sides of the adjacent hollow extension tube (18), so that when the push-pull mounting plates (23) are pushed and pulled in a straight line, the positioning crossbars (21) are positioned in a straight line.

4. A high-efficiency belt pulley material handling and surface treatment integrated machine according to any one of claims 1-3, characterized in that: It also includes a second three-axis assembly (4), which includes two Y-axis lower guide rails (31) symmetrically arranged on the loading and unloading side of the pulley (1), an X-axis lower guide rail (16) slidably installed between the top surfaces of the two Y-axis lower guide rails (31), an X-axis lower slider (32) slidably installed on the top surface of the X-axis lower guide rail (16), a support block (33) fixed on the top surface of the X-axis lower slider (32), and a hydraulic lifting column (50) installed on the top surface of the X-axis lower slider (32).

5. The high-efficiency belt pulley material handling and surface treatment integrated machine according to claim 4, characterized in that: An extension lifting block (34) is provided above the hydraulic lifting column (50). An oil cylinder (35) is installed on the outer wall of the extension lifting block (34) facing the pulley (1). A support push-pull plate (37) is fixed to the free end of the piston rod (40) of the oil cylinder (35). A fixed plate (38) is welded to the outer wall of the cylinder body of the oil cylinder (35) near the support push-pull plate (37). The diameter of the support push-pull plate (37) is larger than the diameter of the fixed plate (38). Three first hinge notches (39) are equidistantly opened on the outer wall of the periphery of the fixed plate (38). Three second hinge notches (42) are equidistantly opened on the outer wall of the periphery of the support push-pull plate (37). The first hinge notches (39) and the second hinge notches (42) are aligned.

6. The high-efficiency belt pulley material handling and surface treatment integrated machine according to claim 5, characterized in that: Each of the first hinge notches (39) is hinged with a clamping expansion claw (36) by a pin. The end of each clamping expansion claw (36) away from the fixed plate (38) extends and is mounted in the aligned second hinge notch (42). When the cylinder (35) drives the piston rod (40) to extend and retract, driving the support push-pull plate (37) to move forward and backward, the support push-pull plate (37) drives the three clamping expansion claws (36) to retract inward or open in opposite directions. The free ends of the three clamping expansion claws (36) rub against the inner ring wall (45) of the pulley (1) and perform the opening action, so that the clamping expansion claws (36) open to clamp the support pulley (1) in the opposite direction. The extension lifting block (34) can drive the pulley (1) to rotate to the unloading area.

Images