A spindling and polishing automation device

Abstract

This invention relates to an automated ingot removal and grinding equipment, belonging to the field of ingot removal processing technology. The automated ingot removal and grinding equipment includes a grinding worktable, a clamping and rotating device, a grinding device, and a control system. The clamping and rotating device includes rollers, a pressing mechanism, a limiting mechanism, and a driving mechanism. Two rollers are rotatably mounted on the grinding worktable, with the distance between them less than the diameter of the intermediate connecting rod of the ingot removal mechanism. The outer circumferential surface of each roller abuts against the intermediate connecting rod. The pressing mechanism is used to press the ingot between the two rollers radially from the intermediate connecting rod or to release the ingot. The limiting mechanism is used to axially limit the end of the ingot where the bevel gear is located. This invention provides convenient positioning and clamping during ingot removal and grinding, and can effectively limit the axial and radial directions of the ingot during actual grinding, thus ensuring the grinding accuracy and surface quality of the ingot head to a certain extent.

Description

Technical Field

[0001] This invention relates to the field of ingot removal processing technology, and in particular to an automated ingot removal and grinding equipment. Background Technology

[0002] The picking spindle is the core working component of a cotton harvester, mainly used to hook, peel, and wrap the torn cotton fibers from the cotton plant. (See reference) Figure 1 In the related technology, the spindle picking mainly includes an intermediate connecting rod 22, a bevel gear 23, and a spindle picking head 24. The intermediate connecting rod 22 is a smooth shaft. One end of the intermediate connecting rod 22 is coaxially connected to the bevel gear 23, and the other end is coaxially connected to the spindle picking head 24. The bevel gear 23 is used to receive and transmit the rotational torque from the power device. The spindle picking head 24 is a conical body with grooves on its conical surface. The spindle picking head 24 is used to directly contact the cotton to hook and wrap the cotton.

[0003] During the manufacturing process of the spindle remover and after long-term use, the spindle remover head 24 usually needs to be polished to ensure its surface finish and the effectiveness of cotton hanging and removing. Currently, a grinding machine is mainly used to polish the spindle remover head 24. Before polishing, the spindle needs to be clamped and fixed on the fixture of the grinding machine. However, the spindle has a bevel gear 23 at its end, which makes it difficult to position and clamp the spindle on the fixture. In the actual polishing process, due to the influence of the grinding force, the clamped spindle is prone to axial movement and / or radial runout, affecting the polishing accuracy and surface quality. Summary of the Invention

[0004] To facilitate positioning and clamping during ingot removal and grinding, and to effectively limit the axial and radial movement of the ingot during the actual grinding process, thereby ensuring the grinding accuracy and surface quality of the ingot removal head to a certain extent, this invention provides an automated ingot removal and grinding device.

[0005] The automated ingot removal and grinding equipment provided by this invention adopts the following technical solution: An automated ingot removal and grinding device, comprising: Grinding worktable; A clamping and rotating device is used to clamp and rotate a pick-up bar. The clamping and rotating device includes rollers, a pressing mechanism, a limiting mechanism, and a driving mechanism. The rollers are rotatably mounted on the grinding worktable. There are two rollers distributed opposite each other, forming a pick-up bar placement area between the two rollers. The distance between the two rollers is less than the diameter of the intermediate connecting rod of the pick-up bar. The outer circumferential surface of the rollers is used to abut against the intermediate connecting rod of the pick-up bar. The pressing mechanism is used to press the pick-up bar between the two rollers or release the pick-up bar from the radial direction of the intermediate connecting rod. The limiting mechanism is used to axially limit the end where the pick-up bar bevel gear is located. The driving mechanism is used to drive the two rollers to rotate synchronously and in the same direction. A grinding device is used to grind the spindle-removing head of the spindle-removing device. The control system is communicatively connected to the clamping mechanism, the driving mechanism, and the grinding device, respectively.

[0006] Preferably, the two rollers are arranged parallel to each other in the horizontal direction.

[0007] Preferably, the clamping mechanism includes: First base; A sliding seat is slidably disposed on the first base, and the moving direction of the sliding seat is perpendicular to the rotation axis of the roller shaft; The lifting seat is slidably mounted on the sliding seat in a vertical direction, and the sliding direction of the sliding seat is perpendicular to the sliding direction of the lifting seat; A pressure roller is rotatably mounted on the lifting seat. The rotation axis of the pressure roller is parallel to the rotation axis of the roller shaft. The pressure roller is used to abut against the intermediate connecting rod of the spindle. A first driving member is disposed on the first base, and the first driving member is used to drive the sliding seat to move. The second driving component is disposed on the sliding seat and is used to drive the lifting seat to move. Both the first driving component and the second driving component are communicatively connected to the control system.

[0008] Preferably, the limiting mechanism includes: A stand is provided on the grinding worktable; A limiting rod is inserted through the stand, the length direction of the limiting rod is parallel to the rotation axis of the roller shaft, the limiting rod is located between the two roller shafts, and is used to abut against the end face of the end where the spindle bevel gear is located.

[0009] Preferably, the limiting rod is slidably mounted on the stand, the sliding direction of the limiting rod is parallel to the length direction of the limiting rod, and the stand is provided with a fixing member for fixing the limiting rod relative to the stand.

[0010] Preferably, the drive mechanism includes: A drive motor is mounted on the grinding worktable, and the drive motor is communicatively connected to the control system. A transmission assembly is connected to the drive motor, and the transmission assembly is used to drive the two rollers to rotate synchronously and in the same direction.

[0011] Preferably, the polishing device includes: Second base; A grinding head is slidably mounted on the second base, and the sliding direction of the grinding head is perpendicular to the rotation axis of the roller shaft; A grinding wheel is rotatably mounted on the grinding head, and the axis of rotation of the grinding wheel is parallel to the axis of rotation of the roller. The third driving member is disposed on the second base, and the third driving member is used to drive the grinding head to move toward or away from the spindle; A rotation drive is disposed inside the grinding head, and the rotation drive is used to drive the grinding wheel to rotate. A cooling assembly is disposed on the grinding head, and the cooling assembly is used to provide coolant during the grinding process. The third drive component, the rotary drive component and the cooling assembly are all communicatively connected to the control system.

[0012] Preferably, the automated ingot removal and grinding equipment further includes a loading and unloading device, which includes: horizontal frame; The mounting base is slidably disposed on the crossbeam, and the sliding direction of the mounting base is parallel to the rotation axis of the roller shaft; The gripper is slidably mounted on the mounting base in a vertical direction. The gripper is located above the grinding table. There are two grippers arranged opposite each other, and the arrangement direction of the two grippers is parallel to the rotation axis of the roller. A robotic arm corresponds one-to-one with the gripper, and the robotic arm is mounted on the gripper; The feeding conveyor is used to transport the ingots to be processed toward the direction of the crossbeam. The feeding conveyor is used to transport the finished ingots away from the crossbeam. A fourth driving member is disposed on the crossbeam, and the fourth driving member is used to drive the mounting base to move; The fifth driving component is disposed on the mounting base and is used to drive the gripper to move. The robotic arm, the feeding conveyor, the unloading conveyor, the fourth driving component, and the fifth driving component are all communicatively connected to the control system.

[0013] Preferably, the roller shaft has an annular groove along its circumference, and convex rings are formed on both sides of the annular groove on the roller shaft. The outer circumferential surface of the convex rings is used to abut against the intermediate connecting rod of the spindle removal mechanism.

[0014] Preferably, the feeding conveyor, the unloading conveyor, and the grinding table are arranged sequentially along the moving direction of the mounting base.

[0015] In summary, the present invention has the following beneficial technical effects: During operation, the pick is placed between two rollers, with one end of the pick's bevel gear positioned outside the two rollers and abutting against the limiting mechanism to form an axial limit. The middle connecting rod of the pick abuts against the outer circumferential surface of the roller, while the pick head extends out of the roller. Then, a clamping mechanism presses the middle connecting rod of the pick between the two rollers radially. The two rollers are then driven to rotate synchronously in the same direction by a drive mechanism. The friction between the two rollers and the middle connecting rod drives the pick to rotate. Then, a grinding device approaches the pick head to perform grinding operations. In this invention, the clamping and rotation of the pick can be achieved through the cooperation of the rollers, the limiting mechanism, and the clamping mechanism. This method is highly reliable, simple, and fast. At the same time, during the actual grinding process, the axial and radial limits of the pick are effectively limited, making it less prone to axial movement and radial runout, which helps to ensure the grinding accuracy and surface quality of the pick head. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of the ingot removal process in related technologies.

[0017] Figure 2 This is a schematic diagram of the overall structure of an embodiment of the present invention.

[0018] Figure 3 This is a partial structural schematic diagram of an embodiment of the present invention.

[0019] Figure 4 This is a schematic diagram of the pressing mechanism in an embodiment of the present invention.

[0020] Figure 5 This is a schematic diagram of the drive mechanism on the grinding table in an embodiment of the present invention.

[0021] Explanation of reference numerals in the attached drawings: 1. Grinding table; 2. Roller; 3. Clamping mechanism; 31. First base; 32. Sliding seat; 33. Lifting seat; 34. Clamping wheel; 35. First driving component; 36. Second driving component; 4. Limiting mechanism; 41. Stand; 42. Limiting rod; 5. Driving mechanism; 51. Drive motor; 52. Transmission assembly; 6. Grinding device; 61. Second base; 62. Grinding head; 63. Grinding wheel; 64. Third driving component; 66. Cooling. Components; 661. Cooling fluid delivery pipeline; 662. Control valve; 663. Nozzle; 7. Fixture; 8. Cross frame; 9. Mounting base; 10. Gripping base; 11. Robotic arm; 12. Feeding conveyor; 13. Discharging conveyor; 14. Fourth drive component; 15. Fifth drive component; 16. Annular groove; 17. Convex ring; 18. Drive shaft; 19. Support rod; 20. Bearing housing; 21. Protective cover; 22. Intermediate connecting rod; 23. Bevel gear; 24. Spindle removal head. Detailed Implementation

[0022] The following combination Figures 2-5The present invention will be described in further detail below.

[0023] This invention discloses an automated ingot removal and grinding device, applicable to grinding workpieces such as ingots, shafts, and cylindrical rods. (See reference...) Figure 2 The automated ingot removal and grinding equipment includes a grinding worktable 1, a clamping and rotating device, a grinding device 6, and a control system. The grinding worktable 1 is a rectangular worktable used to provide a foundation for clamping and fixing the ingot. The clamping and rotating device is used to clamp the ingot and drive it to rotate.

[0024] Reference Figure 2 and Figure 3 Specifically, the clamping and rotating device includes rollers 2, a clamping mechanism 3, a limiting mechanism 4, and a driving mechanism 5. Two rollers 2 are arranged parallel to each other in the horizontal direction, with equal diameters. Both rollers 2 are rotatably mounted on the surface of the grinding table 1, and their rotation axes are horizontal. In this embodiment, the rotation axis of the rollers 2 is parallel to the length direction of the grinding table 1. To support the rollers 2, each roller 2 is coaxially fixed with a drive shaft 18. The outer diameter of the drive shaft 18 is smaller than the outer diameter of the corresponding roller 2. The roller 2 is sleeved on the corresponding drive shaft 18. Bearing seats 20 are fixedly mounted on the grinding table 1, with each bearing seat 2 corresponding to one roller 2. The drive shaft 18 rotates through the bearings and passes through the corresponding bearing seats 20, thus ensuring stable and reliable rotation of the rollers 2 and preventing wobbling.

[0025] Reference Figure 3 and Figure 4 Furthermore, a pick-up placement area is formed between the two rollers 2 for placing the pick-up to be polished. The distance between the two rollers 2 is less than the diameter of the middle connecting rod 22 on the pick-up. Specifically, the distance between the two rollers 2 refers to the difference between the distance between the centers of the two rollers 2 and the diameter of the rollers 2, so that when the pick-up is placed in the middle of the two rollers 2, the pick-up will not fall off, and the two rollers 2 support the pick-up. When the pick-up is placed between the two rollers 2, the position of the middle connecting rod 22 of the pick-up abuts against the outer circumference of the two rollers 2, and the pick-up head 24 of the pick-up extends out of the two rollers 2, thereby leaving the necessary space for the polishing operation of the pick-up head 24.

[0026] Reference Figure 3 and Figure 4 The pressing mechanism 3 is used to press the ingot picker between the two rollers 2 or release the ingot picker from the radial direction of the intermediate connecting rod 22. The limiting mechanism 4 is used to axially limit the end of the ingot picker bevel gear 23. The driving mechanism 5 is used to drive the two rollers 2 to rotate synchronously and in the same direction so as to drive the ingot picker to rotate through friction. The grinding device 6 is used to grind the ingot picker head 24.

[0027] Reference Figure 3 and Figure 4To improve the automation and intelligence of the device, the control system is communicatively connected to the clamping mechanism 3, the drive mechanism 5, and the grinding device 6, respectively, to coordinate and control the actions of each component. Specifically, the control system can be integrated into the grinding worktable 1 or set up independently, which is not limited here; the control system can be a PLC controller or an industrial computer, and the control system has a control program and parameter setting interface, and the operator can set the grinding parameters through the control panel or touch screen.

[0028] During operation, the picker is placed between two rollers 2, with one end of the picker's bevel gear 23 located outside the two rollers 2 and abutting against the limiting mechanism 4 to form an axial limit. The middle connecting rod 22 of the picker abuts against the outer circumferential surface of the rollers 2, while the picker head 24 extends out of the rollers 2. Then, the middle connecting rod 22 of the picker is pressed radially between the two rollers 2 by the clamping mechanism 3. Then, the two rollers 2 are driven to rotate synchronously and in the same direction by the driving mechanism 5. The friction between the two rollers 2 and the middle connecting rod 22 drives the picker to rotate. Then, the grinding device 6 approaches the picker head 24 to perform grinding operations on the picker head 24. Through the cooperation of the rollers 2, the limiting mechanism 4 and the clamping mechanism 3, the clamping and rotation of the picker can be realized. It is highly reliable, simple and fast. At the same time, in the actual grinding process, it can effectively limit the axial and radial movement of the picker, making it less likely for the picker to move axially or radially, which helps to ensure the grinding accuracy and surface quality of the picker head 24.

[0029] Reference Figure 4 and Figure 5 To facilitate axial positioning of the end where the bevel gear 23 is located, the positioning mechanism 4 includes a stand 41 and a positioning rod 42. The stand 41 is fixedly mounted on the grinding table 1 and is located between two bearing seats 20. The positioning rod 42 passes through the stand 41, and its length direction is parallel to the rotation axis of the roller shaft 2. The positioning rod 42 is located between the two roller shafts 2. The end of the positioning rod 42 near the roller shaft 2 has an integrally formed positioning head (not shown in the figure). The positioning head is used to abut against the end face of the end where the bevel gear 23 is located to axially position the bevel gear.

[0030] When clamping and removing the ingot, the intermediate connecting rod 22 of the ingot removal is placed between the two rollers 2 and abuts against the outer circumferential surface of the rollers 2, so that the end face of one end of the ingot removal bevel gear 23 abuts against the limiting head, thereby making it difficult for the ingot to move axially away from the grinding device 6 during the grinding process of the conical surface of the ingot removal head 24.

[0031] Reference Figure 4 and Figure 5To accommodate spindles of varying lengths, a limiting rod 42 is slidably mounted on a base 41. The sliding direction of the limiting rod 42 is parallel to its length. A fixing member 7 is provided on the base 41 to fix the limiting rod 42 relative to the base 41. Specifically, in this embodiment, the fixing member 7 can be a threaded bolt connected to the base 41. The bolt abuts against the surface of the limiting rod 42 or engages with a pre-drilled threaded hole on the limiting rod 42. In other embodiments, the fixing member 7 can also have an external threaded section on the outer surface of the limiting rod 42 and an internal threaded section on the inner wall of the through hole on the base 41 through which the limiting rod 42 passes. The threaded engagement of the external and internal threaded sections also achieves the relative fixation of the limiting rod 42 and the base 41.

[0032] In actual use, by rotating the clamping bolt, the clamping bolt is disengaged from the limiting rod 42, and the distance from the upper limit head of the limiting rod 42 to the two rollers 2 can be adjusted. After the position of the limiting rod 42 is adjusted, by rotating the clamping bolt, the clamping bolt abuts against the surface of the limiting rod 42 or engages with the threaded hole pre-drilled on the limiting rod 42, and the limiting rod 42 is fixed relative to the stand 41, thereby adapting to the different length specifications of the spindle and ensuring that the end of the limiting rod 42 can accurately abut against the end face of the spindle bevel gear 23.

[0033] Reference Figure 3 and Figure 4 To facilitate the radial pressing of the spindle between the two rollers 2 or the release of the spindle, the pressing mechanism 3 includes a first base 31, a sliding seat 32, a lifting seat 33, a pressing wheel 34, a first driving member 35, and a second driving member 36. The first base 31 is fixedly installed on the workshop floor and is located on one side of the grinding table 1. The sliding seat 32 is slidably installed on the first base 31, and the moving direction of the sliding seat 32 is perpendicular to the rotation axis of the rollers 2. The lifting seat 33 is slidably installed on the sliding seat 32 in the vertical direction, and the sliding direction of the sliding seat 32 is perpendicular to the sliding direction of the lifting seat 33, so that the sliding direction of the sliding seat 32 is set in the horizontal direction.

[0034] Reference Figure 3 and Figure 4 Furthermore, a support rod 19 is fixed on the lifting seat 33. The support rod 19 is L-shaped and extends towards the grinding table 1. The pressure wheel 34 is rotatably mounted at the lower end of the support rod 19. The rotation axis of the pressure wheel 34 is parallel to the rotation axis of the roller 2. The pressure wheel 34 is used to abut against the intermediate connecting rod 22 of the spindle. Through the design of the support rod 19, the pressure wheel 34 extends out of the lifting seat 33 and the sliding seat 32, ensuring that the lifting seat 33 and the sliding seat 32 will not interfere with the roller 2 and the grinding table 1.

[0035] Reference Figure 3 and Figure 4 The first driving member 35 is disposed on the first base 31 and is used to drive the sliding seat 32 to move toward or away from the grinding table 1; the second driving member 36 is disposed on the sliding seat 32 and is used to drive the lifting seat 33 to move toward or away from the roller 2. Furthermore, both the first driving member 35 and the second driving member 36 are communicatively connected to the control system and are uniformly coordinated and controlled by the control system.

[0036] Reference Figure 3 and Figure 4 In this embodiment, both the first driving member 35 and the second driving member 36 employ a combination of a servo motor and a ball screw. Specifically, the servo motor of the first driving member 35 is fixedly mounted on the first base 31, and the ball screw of the first driving member 35 is rotatably mounted on the first base 31. The sliding seat 32 is fixedly connected to the moving nut of the ball screw of the first driving member 35. Similarly, the servo motor of the second driving member 36 is fixedly mounted on the sliding seat 32, and the ball screw of the second driving member 36 is rotatably mounted on the sliding seat 32. The lifting seat 33 is fixedly connected to the moving nut of the ball screw of the second driving member 36. In other embodiments, the first driving member 35 and the second driving member 36 can also both employ linear drive elements such as cylinders, hydraulic cylinders, or electric push rods. The sliding seat 32 is fixedly connected to the output end of the first driving member 35, and the lifting seat 33 is fixedly connected to the output end of the second driving member 36, which also allows the sliding seat 32 and the lifting seat 33 to slide in the desired direction.

[0037] When it is necessary to clamp the spindle, the control system controls the first drive component 35 to drive the sliding seat 32 to move towards the grinding table 1, so that the clamping wheel 34 moves to the spindle above the spindle between the two rollers 2. At this time, the clamping wheel 34 is aligned with the position of the intermediate connecting rod 22 of the spindle. Then, the control system controls the second drive component 36 to drive the lifting seat 33 to move downward, so that the lower end face of the clamping wheel 34 contacts the surface of the intermediate connecting rod 22 of the spindle and applies a preset clamping force, pressing the intermediate connecting rod 22 of the spindle between the two rollers 2, completing the clamping and positioning of the spindle. When the two rollers 2 drive the spindle to rotate, the position of the intermediate connecting rod 22 of the spindle drives the clamping wheel 34 to rotate through friction, which helps to reduce the risk of scratching the surface of the intermediate connecting rod 22 and energy loss.

[0038] When it is necessary to release the ingot, the second drive unit 36 ​​drives the lifting seat 33 to move upward, so that the clamping wheel 34 disengages from the intermediate connecting rod 22 of the ingot. Then the first drive unit 35 drives the sliding seat 32 to retract to the initial position, thereby reserving sufficient space for loading and unloading the ingot.

[0039] Reference Figure 4 and Figure 5To facilitate the synchronous and co-directional rotation of the two rollers 2, thereby driving the spindle rotation, the drive mechanism 5 includes a drive motor 51 and a transmission assembly 52. ​​The drive motor 51 is fixedly mounted on the grinding table 1 and is communicatively connected to the control system. The transmission assembly 52 is connected to the drive motor 51 and is used to drive the two transmission shafts 18 to rotate synchronously and co-directionally.

[0040] Reference Figure 4 and Figure 5 Specifically, the transmission assembly 52 can be driven by belt, chain, or gear. In this embodiment, the transmission assembly 52 includes a driving pulley, a driven pulley, and a synchronous belt. The output shaft of the drive motor 51 is coaxially connected to the driving pulley. The driven pulleys correspond one-to-one with the transmission shafts 18, and the driven pulleys are coaxially fixed to their corresponding transmission shafts 18. The driving pulley and the driven pulley are connected by a synchronous belt.

[0041] When it is necessary to drive the spindle to rotate, the drive motor 51 is started. The drive motor 51 drives the drive pulley to rotate. The drive pulley drives the two driven pulleys to rotate synchronously in the same direction through the synchronous belt. The two transmission shafts 18 drive the two roller shafts 2 to rotate synchronously in the same direction, so that the clamped spindle rotates at the set speed, which facilitates grinding.

[0042] Reference Figure 3 and Figure 5 To ensure the long-term stable operation of the device, the drive motor 51 is located on the side of the roller 2 away from the grinding device 6, and a protective cover 21 is fixed on the grinding table 1. The drive motor 51, the driving pulley, the driven pulley and the synchronous belt are all located inside the protective cover 21, and the two transmission shafts 18 rotate and extend into the protective cover 21.

[0043] Reference Figure 3 and Figure 4 To facilitate the grinding of the spindle-removing head 24, the grinding device 6 includes a second base 61, a grinding head 62, a grinding wheel 63, a third drive component 64, a rotation drive component, and a cooling assembly 66. The second base 61 is fixedly installed on the workshop floor. The second base 61 and the first base 31 are located on the same side of the grinding table 1. The arrangement direction of the second base 61 and the first base 31 is parallel to the rotation axis of the roller 2. The second base 61 is located on the side of the first base 31 away from the limiting mechanism 4. When the spindle is placed between the two rollers 2, the end of the bevel gear 23 is located on one side of the limiting mechanism 4, while the spindle-removing head 24 extends toward one side of the grinding device 6, thereby facilitating clamping and grinding and reducing the likelihood of mechanical interference.

[0044] Reference Figure 3 and Figure 4The grinding head 62 is slidably mounted on the second base 61. The sliding direction of the grinding head 62 is perpendicular to the rotation axis of the roller 2. When grinding is required, the grinding head 62 moves towards the roller 2. When loading or unloading the ingot, the grinding head 62 moves away from the roller 2. Specifically, the moving direction of the grinding head 62 is parallel to the sliding direction of the sliding seat 32. The grinding wheel 63 is rotatably mounted on the grinding head 62. The rotation axis of the grinding wheel 63 is parallel to the rotation axis of the roller 2. The grinding wheel 63 is used to grind the ingot-loading head 24. Specifically, the grinding wheel 63 can be a grinding wheel, a diamond grinding wheel, or a belt grinding wheel, etc. Its type, shape, and specifications can be set according to actual needs.

[0045] Reference Figure 3 The third driving component 64 is disposed on the second base 61 and is used to drive the grinding head 62 to move toward or away from the spindle. Specifically, the third driving component 64 can be a combination of a servo motor and a ball screw. The servo motor of the third driving component 64 is fixedly mounted on the second base 61, and the ball screw of the third driving component 64 is rotatably disposed on the second base 61. The grinding head 62 is fixedly connected to the moving nut of the ball screw of the third driving component 64. Furthermore, the third driving component 64 can also be a linear drive element such as a cylinder, a hydraulic cylinder, or an electric push rod.

[0046] Reference Figure 3 A rotating drive component is installed inside the grinding head 62 to drive the grinding wheel 63 to rotate. Specifically, the rotating drive component can be a grinding motor. The shaft of the grinding wheel 63 is coaxially connected to the output shaft of the grinding motor. The rotation speed of the grinding wheel 63 can be adjusted according to the grinding process requirements.

[0047] Reference Figure 3 A cooling assembly 66 is mounted on the grinding head 62 to provide coolant during the grinding process. Specifically, the cooling assembly 66 includes a cooling fluid supply line 661, a control valve 662, and a nozzle 663. The cooling fluid supply line 661 is a flexible hose, mounted on the grinding head 62, and connected to an external coolant reservoir via a pump. The control valve 662 is mounted on the cooling fluid supply line 661, and the nozzle 663 is mounted at the inlet of the cooling fluid supply line 661. The outlet of the nozzle 663 is directed towards the contact point between the grinding wheel 63 and the spindle head 24. The third drive unit 64, the rotation drive unit, and the control valve 662 are all communicatively connected to the control system.

[0048] During the grinding process, coolant is continuously sprayed onto the contact area between the grinding wheel 63 and the spindle head 24 through the nozzle 663 to reduce the temperature of the grinding area, reduce the impact of grinding heat on the surface quality of the spindle head 24, and at the same time help to wash away the debris generated during grinding.

[0049] Reference Figure 3 Furthermore, a transverse shift seat (not shown in the figure) can be slidably mounted on the second base 61 via a drive component such as a rodless cylinder or an electric cylinder. The moving direction of the transverse shift seat is parallel to the axial direction of the roller 2. The grinding head 62 is slidably mounted on the transverse shift seat, and the third drive component 64 is mounted on the transverse shift seat. The transverse shift seat can drive the grinding wheel 63 to move axially, which helps to meet complex grinding requirements.

[0050] Reference Figure 2 To improve production efficiency and facilitate the loading and unloading of ingots for grinding, the automated ingot grinding equipment also includes a loading and unloading device. Specifically, the loading and unloading device includes a horizontal frame 8, a mounting base 9, a gripping base 10, a robotic arm 11, a loading conveyor 12, a discharging conveyor 13, a fourth drive component 14, and a fifth drive component 15. The horizontal frame 8 is fixedly mounted on the workshop floor by multiple support columns. The length of the horizontal frame 8 is parallel to the rotation axis of the roller 2, and the horizontal frame 8 is arranged parallel to the grinding worktable 1. The clamping mechanism 3 and the grinding device 6 are both located below the horizontal frame 8, thereby making reasonable use of space and reducing the overall area occupied by the device.

[0051] Reference Figure 2 and Figure 3 The mounting base 9 is slidably mounted on the crossbeam 8, and the sliding direction of the mounting base 9 is parallel to the rotation axis of the roller shaft 2. The gripping base 10 is slidably mounted on the mounting base 9 in the vertical direction and is located above the grinding table 1. Specifically, there are two gripping bases 10 arranged opposite each other, and the arrangement direction of the two gripping bases 10 is parallel to the rotation axis of the roller shaft 2. The robot arm 11 corresponds one-to-one with the gripping base 10 and is mounted on the corresponding gripping base 10. Specifically, the robot arm 11 can be a pneumatic gripper or an electric gripper, and its gripping and releasing actions are controlled by the control system. The robot arm 11 is existing technology, and its structure and principle will not be described in detail here. Among them, the robot arm 11 on the side away from the grinding device 6 is used for loading, and the robot arm 11 on the side closer to the grinding device 6 is used for unloading.

[0052] Reference Figure 2 and Figure 3 The fourth driving member 14 is disposed on the cross frame 8 and is used to drive the mounting base 9 to move along the cross frame 8. In this embodiment of the invention, the fourth driving member 14 is a rodless cylinder mounted on the cross frame 8, and the mounting base 9 is connected to the moving part of the rodless cylinder. In other embodiments, the fourth driving member 14 may also be a combination of a servo motor and a ball screw.

[0053] Reference Figure 2 and Figure 3The fifth driving member 15 corresponds one-to-one with the gripping seat 10. The fifth driving member 15 is disposed on the mounting base 9 and is used to drive the gripping seat 10 to move in the vertical direction. In this embodiment of the invention, the fifth driving member 15 is a cylinder, and the gripping seat 10 is fixedly connected to the output end of the corresponding cylinder. In other embodiments, the fifth driving member 15 can also be an electric cylinder, a hydraulic cylinder, etc.

[0054] Reference Figure 2 Both the loading conveyor 12 and the unloading conveyor 13 are located below the crossbeam 8 and on the side of the crossbeam 8 closest to the grinding table 1. The conveying directions of both the loading conveyor 12 and the unloading conveyor 13 are perpendicular to the length of the crossbeam 8. Both the loading conveyor 12 and the unloading conveyor 13 are located on the side of the grinding table 1 furthest from the grinding device 6. The loading conveyor 12 is used to transport the unfinished ingots to be processed towards the crossbeam 8, while the unloading conveyor 13 is used to transport the finished ingots away from the crossbeam 8 to proceed to the next process. Specifically, the robot arm 11, the loading conveyor 12, the unloading conveyor 13, the fourth drive unit 14, and the fifth drive unit 15 are all communicatively connected to the control system.

[0055] Reference Figure 2 To further improve processing efficiency, the feeding conveyor 12, the unloading conveyor 13, and the grinding table 1 are arranged sequentially along the moving direction of the mounting base 9. The spacing between the ingot picking on the feeding conveyor 12 and the ingot picking on the unloading conveyor 13 is adapted to the spacing between the two robotic arms 11, so that when the feeding robotic arm 11 on the side away from the grinding device 6 is gripping the ingot to be processed on the feeding conveyor 12, the unloading robotic arm 11 on the side close to the grinding device 6 is putting the ground ingot back on the unloading conveyor 13.

[0056] When feeding is required, the control system controls the fourth drive component 14 to drive the mounting base 9 to move along the crossbeam 8 to a position above the feeding conveyor 12. Then, the fifth drive component 15 corresponding to the feeding robot 11 drives the gripper 10 to move downward, causing the feeding robot 11 to descend to the gripping height. Then, the robot 11 grips the ingot to be processed from the feeding conveyor 12. Next, the corresponding fifth drive component 15 drives the gripper 10 to move upward, lifting the ingot to be processed. Then, the fourth drive component 14 drives the mounting base 9 to move along the crossbeam 8 to a position above the grinding table 1. The fifth drive component 15 corresponding to the unloading robot 11 drives the corresponding gripper 10 to move downward, and the unloading robot 11 grips the ingot processed between the two rollers 2, and then... After grinding, the ingot is lifted, and then the fourth drive unit 14 continues to drive the mounting base 9 to move along the cross frame 8 toward the grinding device 6, so that the ingot on the loading robot 11 is aligned with the position between the two rollers 2. Then the loading robot 11 places the ingot to be ground between the two rollers 2. Then the loading robot 11 rises, and the fourth drive unit 14 drives the mounting base 9 to move along the cross frame 8 toward the loading conveyor 12 and the unloading conveyor 13, until the loading robot 11 is aligned with the loading conveyor 12 and the unloading robot 11 is aligned with the unloading conveyor 13. Then the loading robot 11 grabs the ingot to be processed on the loading conveyor 12, and the unloading robot 11 puts the ground ingot back onto the unloading conveyor 13. This cycle is repeated to achieve continuous processing.

[0057] Reference Figure 2 and Figure 5 The roller 2 has an annular groove 16 along its circumference. Both sides of the annular groove 16 on the roller 2 form raised rings 17, the outer circumferential surface of which abuts against the intermediate connecting rod 22 for picking up the ingot. The annular groove 16 facilitates the robot arm 11 in picking up and placing ingots between the two rollers 2.

[0058] The implementation principle of this invention is as follows: During operation, the fourth driving component 14 drives the mounting base 9 to move along the crossbeam 8, so that the loading robot 11 is positioned above the loading conveyor 12. The loading robot 11 picks up the ingot to be processed from the loading conveyor 12 and lifts it up. Then, the fourth driving component 14 drives the mounting base 9 to move along the crossbeam 8 to the position above the grinding table 1. The loading robot 11 places the ingot to be processed between the two rollers 2, so that one end of the bevel gear 23 of the ingot pick abuts against the limiting head, while the ingot pick head 24 extends out of the roller 2. At this time, the clamping wheel 34 and the grinding head 62 are both in their initial positions and will not interfere with the mounting base 9, the gripping base 10 and the robot 11. Then, the loading robot 11 rises, and the fourth driving component 14 drives the mounting base 9 to move along the crossbeam 8 toward the loading conveyor 12.

[0059] Next, the first drive unit 35 drives the sliding seat 32 to move towards the grinding table 1, so that the pressure roller 34 moves to the top of the pick-up head between the two rollers 2. At this time, the pressure roller 34 is aligned with the middle connecting rod 22 of the pick-up head. Then, the second drive unit 36 ​​drives the lifting seat 33 to move downward, so that the lower end face of the pressure roller 34 contacts the surface of the middle connecting rod 22 of the pick-up head and applies a preset pressure force. Then, the drive motor 51 is started. The drive motor 51 drives the two rollers 2 to rotate synchronously and in the same direction through the transmission component 52. The friction between the two rollers 2 and the middle connecting rod 22 will drive the pick-up head to rotate. Then, the rotation drive unit drives the grinding wheel 63 to rotate at high speed. The third drive unit 64 drives the grinding head 62 to move towards the pick-up head, so that the grinding surface of the grinding wheel 63 contacts the conical surface of the pick-up head 24 and performs grinding on the surface of the pick-up head 24. The cooling component 66 continuously provides coolant during the grinding process to ensure that the temperature of the grinding area is within a reasonable range.

[0060] While grinding, the loading robot 11 located at the loading conveyor 12 grabs the ingot to be processed from the loading conveyor 12 and lifts the ingot to be processed; when the ingot on the grinding worktable 1 is finished grinding, the third drive 64 drives the grinding head 62 to move away from the grinding worktable 1 to reset, the grinding wheel 63 stops rotating, the roller 2 stops rotating, the second drive 36 drives the lifting seat 33 to move upward, so that the clamping wheel 34 is disengaged from the ingot, and the first drive 35 drives the sliding seat 32 to move away from the grinding worktable 1 to reset, thereby avoiding the movement of the mounting seat 9.

[0061] Next, the fourth drive unit 14 drives the mounting base 9 to move along the crossbeam 8 to a position above the grinding table 1. The unloading robot arm 11 grabs the finished ingot between the rollers 2 and lifts the ground ingot. Then, the fourth drive unit 14 continues to drive the mounting base 9 to move along the crossbeam 8 towards the grinding table 1, aligning the ingot on the loading robot arm 11 with the position between the two rollers 2. Then, the loading robot arm 11 places the ingot to be ground between the two rollers 2. Next, the loading robot arm 11 rises, and the fourth drive unit 14 drives the mounting base 9 to move along the crossbeam 8 towards the grinding table 1. The frame 8 moves toward the feeding conveyor 12 and the unloading conveyor 13. After the mounting base 9 moves away from the grinding table 1, the ingot between the two rollers 2 can be ground. The feeding robot 11 is aligned with the feeding conveyor 12, and the unloading robot 11 is aligned with the unloading conveyor 13. The feeding robot 11 grabs the ingot to be processed on the feeding conveyor 12, and the unloading robot 11 puts the ground ingot back onto the unloading conveyor 13. After the ingot on the grinding table 1 is ground, the above steps are repeated to load and unload, so as to achieve continuous processing.

[0062] In this invention, the clamping and rotation of the ingot can be achieved through the cooperation of the roller 2, the limiting mechanism 4 and the pressing mechanism 3. This method is highly reliable, simple and quick, and can effectively limit the axial and radial movement of the ingot during the actual grinding process. This makes it less likely for the ingot to move axially or radially, which helps to ensure the grinding accuracy and surface quality of the ingot head 24. At the same time, the cooperation of the two robotic arms 11 with the feeding conveyor 12 and the unloading conveyor 13 respectively effectively improves the production cycle and overall efficiency.

[0063] The above are all preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Therefore, all equivalent changes made in accordance with the structure, shape and principle of the present invention should be covered within the scope of protection of the present invention.

Claims

1. An automated ingot removal and grinding device, characterized in that, include: Grinding table (1); A clamping and rotating device is used to clamp and rotate the ingot. The clamping and rotating device includes a roller (2), a pressing mechanism (3), a limiting mechanism (4), and a driving mechanism (5). The roller (2) is rotatably mounted on the grinding table (1). There are two rollers (2) distributed opposite each other. An ingot placement area is formed between the two rollers (2). The distance between the two rollers (2) is less than the diameter of the intermediate connecting rod (22) of the ingot. The outer circumferential surface of the roller (2) is used to abut against the intermediate connecting rod (22) of the ingot. The pressing mechanism (3) is used to press the ingot between the two rollers (2) or release the ingot from the radial direction of the intermediate connecting rod (22). The limiting mechanism (4) is used to axially limit the end where the ingot bevel gear (23) is located. The driving mechanism (5) is used to drive the two rollers (2) to rotate synchronously in the same direction. Grinding device (6) is used to grind the ingot removal head (24) of the ingot removal device; The control system is communicatively connected to the clamping mechanism (3), the driving mechanism (5), and the grinding device (6), respectively.

2. The automated ingot removal and grinding equipment according to claim 1, characterized in that, The two rollers (2) are arranged parallel to each other in the horizontal direction.

3. The automated ingot removal and grinding equipment according to claim 2, characterized in that, The clamping mechanism (3) includes: First base (31); The sliding seat (32) is slidably disposed on the first base (31), and the moving direction of the sliding seat (32) is perpendicular to the rotation axis of the roller (2); The lifting seat (33) is slidably disposed on the sliding seat (32) in the vertical direction, and the sliding direction of the sliding seat (32) is perpendicular to the sliding direction of the lifting seat (33); The pressing wheel (34) is rotatably mounted on the lifting seat (33). The rotation axis of the pressing wheel (34) is parallel to the rotation axis of the roller (2). The pressing wheel (34) is used to abut against the intermediate connecting rod (22) of the spindle. A first driving member (35) is disposed on the first base (31), and the first driving member (35) is used to drive the sliding seat (32) to move; The second drive member (36) is disposed on the sliding seat (32). The second drive member (36) is used to drive the lifting seat (33) to move. The first drive member (35) and the second drive member (36) are both connected to the control system in communication.

4. The automated ingot removal and grinding equipment according to claim 1, characterized in that, The limiting mechanism (4) includes: A stand (41) is mounted on the grinding worktable (1); A limiting rod (42) is inserted on the stand (41). The length direction of the limiting rod (42) is parallel to the rotation axis of the roller shaft (2). The limiting rod (42) is located between the two roller shafts (2) and is used to abut against the end face of the spindle bevel gear (23).

5. The automated ingot removal and grinding equipment according to claim 4, characterized in that, The limiting rod (42) slides through the stand (41), and the sliding direction of the limiting rod (42) is parallel to the length direction of the limiting rod (42). The stand (41) is provided with a fixing member (7) for fixing the limiting rod (42) and the stand (41) relative to each other.

6. The automated ingot removal and grinding equipment according to claim 1, characterized in that, The drive mechanism (5) includes: A drive motor (51) is mounted on the grinding table (1), and the drive motor (51) is communicatively connected to the control system; The transmission assembly (52) is connected to the drive motor (51) and is used to drive the two rollers (2) to rotate synchronously in the same direction.

7. The automated ingot removal and grinding equipment according to claim 1, characterized in that, The polishing device (6) includes: Second base (61); A grinding head (62) is slidably disposed on the second base (61), and the sliding direction of the grinding head (62) is perpendicular to the rotation axis of the roller (2); A grinding wheel (63) is rotatably mounted on the grinding head (62), and the rotation axis of the grinding wheel (63) is parallel to the rotation axis of the roller (2); A third driving member (64) is disposed on the second base (61), and the third driving member (64) is used to drive the grinding head (62) to move toward or away from the spindle. A rotation drive is disposed inside the grinding head (62), and the rotation drive is used to drive the grinding wheel (63) to rotate; A cooling assembly (66) is disposed on the grinding head (62). The cooling assembly (66) is used to provide coolant during the grinding process. The third drive (64), the rotation drive and the cooling assembly (66) are all communicatively connected to the control system.

8. An automated ingot removal and grinding device according to any one of claims 1-7, characterized in that, The automated ingot removal and grinding equipment also includes a loading and unloading device, which includes: horizontal frame(8); The mounting base (9) is slidably disposed on the cross frame (8), and the sliding direction of the mounting base (9) is parallel to the rotation axis of the roller shaft (2); The gripping seat (10) is slidably disposed on the mounting seat (9) in the vertical direction. The gripping seat (10) is located above the grinding table (1). There are two gripping seats (10) arranged opposite each other. The arrangement direction of the two gripping seats (10) is parallel to the rotation axis of the roller (2). A robotic arm (11) corresponds one-to-one with the gripping seat (10), and the robotic arm (11) is mounted on the gripping seat (10); The feeding conveyor (12) is used to transport the ingots to be processed toward the direction of the cross frame (8); The feeding conveyor (13) is used to transport the finished ingots in a direction away from the crossbeam (8); A fourth driving member (14) is disposed on the cross frame (8), and the fourth driving member (14) is used to drive the mounting base (9) to move; The fifth drive unit (15) is disposed on the mounting base (9). The fifth drive unit (15) is used to drive the gripper (10) to move. The robot (11), the feeding conveyor (12), the unloading conveyor (13), the fourth drive unit (14) and the fifth drive unit (15) are all connected to the control system.

9. The automated ingot removal and grinding equipment according to claim 8, characterized in that, The roller (2) has an annular groove (16) along its circumference. The two sides of the annular groove (16) on the roller (2) form convex rings (17). The outer circumferential surface of the convex rings (17) is used to abut against the intermediate connecting rod (22) of the spindle.

10. The automated ingot removal and grinding equipment according to claim 8, characterized in that, The feeding conveyor (12), the unloading conveyor (13), and the grinding table (1) are arranged sequentially along the moving direction of the mounting base (9).

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