A bumpless continuous vibratory milling apparatus and method of use thereof

Abstract

The application discloses a kind of anti-collision continuous vibration grinding equipment and its use method, belong to the technical field of grinder, including feed conveyor, discharge conveyor, ground rail linear module, mechanical arm and multiple grinding units located at the side of discharge conveyor and along the length direction distribution of discharge conveyor, by above-mentioned mode, from open-close type baffle assembly will be ground ring groove is divided into multiple relatively independent grinding bin, a workpiece is placed in each extraction hopper assembly of grinding bin, and the mutual contact of workpiece is prevented to cause bruise, then through multi-station material taking and control mechanism control extraction hopper assembly lifting and the opening and closing of separation hopper assembly, realize the automatic separation of workpiece and grinding stone, complete the extraction of workpiece, and grinding stone will directly flow to extraction hopper assembly to realize the cyclic processing and separation extraction of workpiece.

Description

Technical Field

[0001] This invention relates to the field of grinding machine technology, specifically to a continuous vibration grinding device with anti-collision function and its usage method. Background Technology

[0002] Vibratory grinding machines can grind and polish the surfaces of metal castings, hardware parts, and other workpieces, removing burrs from the workpiece surface.

[0003] Chinese patent CN116214355B discloses an automatic discharge device for a vibratory grinder. This device can control the engagement and disengagement of the lifting hopper with the grinder. After grinding is completed, the grinding material in the lifting hopper first exits through the filter holes and enters the grinding ring groove, separating the grinding material from the finished material. To facilitate material discharge, the lifting hopper is then tilted towards the conveying device to pour out the ground material, thus completing the automated discharge of the grinder. Finally, the lifting hopper is controlled to reset and re-engage with the grinder. However, this device and the existing technology still have the following technical problems: 1. When the lifting hopper returns to the grinding ring groove, the grinding material in the grinding ring groove will block the lifting hopper. The device uses a spring to work with the ring groove to vibrate up and down, so that the grinding material gradually passes through the filter hole and enters the lifting hopper. This not only increases the overall grinding time and reduces the grinding efficiency, but also the grinding material will still be squeezed by the lifting hopper and the grinding ring groove, which will cause both of them to deform during long-term production.

[0004] 2. For workpieces with fragile structures and high value, the mainstream approach is to install a fixture with multiple independent compartments in the grinding tank, with each workpiece placed in a separate compartment. This fundamentally eliminates the risk of damage caused by contact between workpieces. However, this approach significantly increases the difficulty of loading and unloading workpieces and is not conducive to continuous grinding of batch workpieces.

[0005] Based on this, the present invention designs a collision-resistant continuous vibration grinding device and its usage method to solve the above problems. Summary of the Invention

[0006] In view of the above-mentioned shortcomings of the existing technology, the present invention provides a continuous vibration grinding device for preventing impact damage and a method for using it.

[0007] To achieve the above objectives, the present invention provides the following technical solution: A collision-resistant continuous vibratory grinding device includes a feeding conveyor, a discharging conveyor, a ground rail linear module, a robotic arm, and multiple grinding units located on one side of the discharging conveyor and distributed along the length of the discharging conveyor. The robotic arm is fixed to the moving end of the linear module on the ground rail, and a multi-station material handling and control mechanism is installed at the output end of the robotic arm. The grinding unit includes a support frame, a grinding mechanism, an anti-collision rotary isolation mechanism, and a separation and extraction mechanism. The grinding mechanism includes a grinding host, a grinding cylinder, and a central column. The support frame is located on one side of the grinding host, the grinding cylinder is fixed to the top of the grinding host, the bottom of the grinding cylinder is conical, the central column is fixed to the inner bottom of the grinding cylinder and is coaxial with the grinding cylinder, and the side wall of the grinding cylinder and the central column form a grinding ring groove. The anti-collision rotary isolation mechanism includes a support ring, a rotary drive assembly, and multiple self-opening and closing partition assemblies. The support ring is rotatably mounted on the top of the grinding cylinder via bearings. The rotary drive assembly is mounted on a support frame, and the output end of the rotary drive assembly is driven and connected to the support ring. Multiple self-opening and closing partition assemblies are equidistantly distributed in a circumferential array within the grinding ring groove and are connected to the support ring. The self-opening and closing partition assemblies divide the grinding ring groove into multiple relatively independent grinding chambers. The separation and extraction mechanism includes a separation bucket assembly and multiple extraction bucket assemblies. The multiple extraction bucket assemblies are arranged one-to-one inside each grinding chamber. Each extraction bucket assembly can slide freely up and down vertically within its matched grinding chamber. The separation bucket assembly is installed on the top of the central column.

[0008] Furthermore, the rotary drive assembly includes a gear ring, a gear, an ear plate, a coupling, and a motor. The gear ring is fixedly connected to the support ring, the ear plate is fixedly connected to the outer wall of the grinding cylinder, the gear is rotatably connected to the ear plate through a bearing, and the gear is meshed with the gear ring; the motor is fixedly connected to the support frame, and the output end of the motor is connected to the gear transmission through the coupling.

[0009] Furthermore, the self-opening and closing partition assembly includes a support arm, a partition plate, a passage window, an inner movable plate, and a stop block. The support arm is fixed to the support ring, and the partition plate is fixed to the lower end of the support arm. The partition plate is in contact with the inner wall of the grinding ring groove. Multiple passage windows are equidistantly opened at the lower end of the partition plate. The inner movable plate is horizontally slidable inside the partition plate, and multiple stop blocks corresponding to and cooperating with the passage windows are fixed to the lower end of the inner movable plate.

[0010] Furthermore, the inner movable plate is rotatably connected to a roller at one end near the central column, and two guide push blocks are fixed to the central column and located on both sides of the fixed hopper. The roller is in rolling connection with the guide push blocks and the side wall of the separation hopper assembly.

[0011] Furthermore, the extraction hopper assembly includes a movable hopper, a discharge port, and a through hole. The outer contour of the movable hopper cooperates with the grinding cylinder, the partition plate, and the central column, so that the bottom of the movable hopper near the central column is inclined downward, and the discharge port is opened at the end of the movable hopper near the central column. Multiple through holes are evenly opened on the side wall of the movable hopper, and the grinding stones can freely pass through the through holes.

[0012] Furthermore, the separating hopper assembly includes a fixed hopper, a lifting baffle, a grid plate, and a feed inlet. The fixed hopper is fixedly connected to the top of the central column, and a feed inlet is provided at one extended end of the fixed hopper. The bottom of the fixed hopper near the feed inlet is inclined downward, and the grid plate is fixedly connected to the bottom of the feed inlet. The lifting baffle is attached to the outer wall of the grid plate, and the lifting baffle can slide up and down to connect with the inner wall of the feed inlet.

[0013] Furthermore, the multi-station material handling and control mechanism includes a horizontal arm, two pneumatic grippers, a telescopic push cylinder, and a hook block. The horizontal arm is fixed to the output end of the robotic arm, and the two pneumatic grippers are fixed to the two extension ends of the horizontal arm. The telescopic push cylinder is fixed to the middle of the horizontal arm, and the hook block is fixed to the output end of the telescopic push cylinder.

[0014] Furthermore, the movable hopper has a first latch at the end furthest from the central column, and a second latch is provided at the top of the lifting baffle. Both the first and second latches are engaged with the hook block.

[0015] Furthermore, the grinding mechanism also includes a drain pipe and a water spray pipe. The drain pipe is fixed at the lowest point of the bottom of the grinding cylinder and aligned with the discharge end of the separation hopper assembly. The water spray pipe is fixed on the support frame and is located on the side of the fixed hopper away from the grid plate. The water outlet of the water spray pipe is inclined downward toward the grid plate.

[0016] To better achieve the objectives of this invention, the present invention also provides a method for using an anti-collision continuous vibration grinding device, comprising the following steps: Step 1: The ground rail linear module and the robotic arm work together to drive the pneumatic gripper to pick up multiple workpieces to be processed from the feeding conveyor in sequence and place the workpieces in the grinding cylinder, so that there is one workpiece in the movable hopper of each grinding chamber. Step 2: The grinding host drives the grinding cylinder to vibrate, so that the grinding stones in the grinding chamber can continuously roll and rotate to rub against each other and grind the surface of the workpiece. The grinding stones can also flow and exchange in different grinding chambers through the windows of the isolation plate, ensuring that the grinding stones are evenly distributed in the entire grinding ring groove. Step 3: The rotary drive assembly controls the support ring to drive the isolation plate to slowly rotate around the central column. The grinding operation is completed after the workpiece has rotated once inside the grinding cylinder. Step 4: The guide block and the side wall of the separation bucket assembly will push the inner movable plate away from the central column, causing the window to close; Step 5: The telescopic push cylinder drives the hook block to extend, so that the hook block connects with the first bayonet of the movable hopper; Step Six: Raise the movable hopper until its outlet is higher than the lifting baffle. Under the vibration of the grinding host, the grinding stones and workpieces in the movable hopper flow into the fixed hopper, and the movable hopper returns to the grinding chamber. Step 7: Connect the hook block to the second bayonet of the lifting baffle, lift the lifting baffle to open the grid plate. Under the vibration of the grinding host, the grinding stones in the fixed hopper pass through the grid plate and flow directly back into the movable hopper. The workpiece stays in the fixed hopper. Then reset the lifting baffle to close the grid plate again. Step 8: The water spray pipe continuously sprays water onto the workpiece in the fixed hopper to remove the adhering substances on the surface of the workpiece; Step 9: The robotic arm can drive the pneumatic gripper to replenish new workpieces to be processed in the movable hopper, and remove the finished parts from the fixed hopper and place them on the discharge conveyor for discharge.

[0017] Compared with the prior art, the beneficial effects of this invention are as follows: The self-opening and closing partition assembly divides the grinding ring groove into multiple relatively independent grinding chambers. Each grinding chamber has an extraction bucket assembly containing a workpiece, preventing collision damage caused by contact between workpieces. The multi-station material handling and control mechanism controls the lifting of the extraction bucket assembly and the opening and closing of the separation bucket assembly, realizing the automatic separation of the workpiece from the grinding stone and completing the extraction of the workpiece. The grinding stone will directly flow back into the extraction bucket assembly, simplifying the overall process, improving the efficiency of workpiece loading and unloading, reducing the total time required for workpiece grinding, and avoiding equipment deformation caused by the extrusion of the grinding stone. This achieves cyclic processing and separation extraction of workpieces. At the same time, the feeding conveyor, the discharging conveyor, the ground rail linear module, the robotic arm, and the multi-station material handling and control mechanism work together to operate multiple grinding units, realizing automated loading and unloading of workpieces. This application can meet the continuous grinding processing needs of batch workpieces. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0019] Figure 1 This is a top view of a collision-resistant continuous vibratory grinding device according to the present invention; Figure 2 The three-dimensional representation of the grinding unit of the present invention Figure 1 ; Figure 3 This is a front view of the grinding unit of the present invention; Figure 4 The three-dimensional representation of the grinding unit of the present invention Figure 2 ; Figure 5 This is a front half-sectional perspective view of the grinding unit of the present invention; Figure 6This is a perspective view of the multi-station material handling and control mechanism of the present invention; Figure 7 This is a three-dimensional structural view of the self-opening and closing partition assembly and the separation and extraction mechanism of the present invention; Figure 8 This is a three-dimensional structural view of the self-opening and closing partition assembly of the present invention; Figure 9 This is a three-dimensional structural view of the extraction bucket assembly of the present invention; Figure 10 This is a three-dimensional structural view of the separation bucket assembly of the present invention.

[0020] The labels in the diagram represent: 10. Feeding conveyor; 11. Discharging conveyor; 12. Ground rail linear module; 13. Robotic arm; 2. Multi-station material handling and control mechanism; 21. Horizontal arm; 22. Pneumatic gripper; 23. Telescopic push cylinder; 24. Hook block; 3. Support frame; 4. Grinding mechanism; 41. Grinding host; 42. Grinding cylinder; 43. Central column; 44. Grinding ring groove; 45. Drain pipe; 46. Water spray pipe; 5. Anti-collision rotary isolation mechanism; 51. Support ring; 52. Rotary drive assembly; 521. Gear ring; 522. Gear; 523. Ear plate; 524. 525. Coupling; 53. Motor; 54. Self-opening and closing partition assembly; 55. Support arm; 56. Isolation plate; 57. Through window; 58. Inner movable plate; 59. Stop block; 50. Roller; 51. Guide push block; 52. Grinding chamber; 6. Separation and extraction mechanism; 61. Extraction hopper assembly; 62. Movable hopper; 63. Discharge port; 64. Through hole; 65. First bayonet; 66. Separation hopper assembly; 62. Fixed hopper; 62. Lifting baffle; 62. Grating plate; 62. Feed inlet; 62. Second bayonet. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0022] The terms "left," "right," "front," "back," "up," and "down" used in the following description refer to the orientation from the perspective of the front view.

[0023] In some embodiments, please refer to the accompanying drawings. Figures 1-10A collision-resistant continuous vibration grinding device includes a feeding conveyor 10, a discharging conveyor 11, a ground rail linear module 12, a robotic arm 13, and multiple grinding units located on one side of the discharging conveyor 11 and distributed along the length of the discharging conveyor 11. The discharge end of the feeding conveyor 10 is on the same straight line as multiple grinding units; The ground rail linear module 12 is located between the grinding unit and the discharge conveyor 11. The robotic arm 13 is fixed to the moving end of the ground rail linear module 12. The output end of the robotic arm 13 is equipped with a multi-station material handling and control mechanism 2. The grinding unit includes a support frame 3, a grinding mechanism 4, an anti-collision rotary isolation mechanism 5, and a separation and extraction mechanism 6. The grinding mechanism 4 includes a grinding host 41, a grinding cylinder 42, and a central column 43. The support frame 3 is located on one side of the grinding host 41. The grinding cylinder 42 is fixed to the top of the grinding host 41. The bottom of the grinding cylinder 42 is conical. The central column 43 is fixed to the inner bottom of the grinding cylinder 42 and is coaxial with the grinding cylinder 42. The side wall of the grinding cylinder 42 and the central column 43 form a grinding ring groove 44. The anti-collision rotary isolation mechanism 5 includes a support ring 51, a rotary drive assembly 52, and multiple self-opening and closing partition assemblies 53. The support ring 51 is rotatably mounted on the top of the grinding cylinder 42 via bearings. The rotary drive assembly 52 is mounted on the support frame 3, and the output end of the rotary drive assembly 52 is drivenly connected to the support ring 51. Multiple self-opening and closing partition assemblies 53 are equidistantly distributed in a circumferential array within the grinding ring groove 44 and are connected to the support ring 51. The self-opening and closing partition assemblies 53 divide the grinding ring groove 44 into multiple relatively independent grinding chambers 55.

[0024] The separation and extraction mechanism 6 includes a separation bucket assembly 62 and multiple extraction bucket assemblies 61. The multiple extraction bucket assemblies 61 are arranged one-to-one inside each grinding chamber 55. Each extraction bucket assembly 61 can slide freely up and down vertically within its matching grinding chamber 55. The separation bucket assembly 62 is installed at the top of the central column 43.

[0025] In this embodiment, the discharge end of the feed conveyor 10 is provided with a stop bar for blocking the workpiece.

[0026] In this embodiment, both the feeding conveyor 10 and the discharging conveyor 11 are belt conveyors.

[0027] In this embodiment, the robotic arm 13 adopts a vision robotic arm that is mature in the field, which can obtain the position of the workpiece through a camera and realize the autonomous grasping of the workpiece.

[0028] In this invention, the ground rail linear module 12 and the robotic arm 13 cooperate to drive the multi-station material handling and control mechanism 2 to sequentially grab multiple workpieces to be processed from the feeding conveyor 10 and place the workpieces in the grinding cylinder 42, so that each grinding chamber 55 has one workpiece in the extraction bucket assembly 61; the grinding host 41 drives the grinding cylinder 42 to vibrate, so that the grinding stones in the grinding chamber 55 can continuously roll and rotate to rub and grind the surface of the workpiece, and the grinding stones can flow and exchange in different grinding chambers 55 through the self-opening and closing partition assembly 53, ensuring that the grinding stones can be evenly distributed in the entire grinding ring groove 44; The rotary drive assembly 52 controls the support ring 51 to drive the self-opening and closing baffle assembly 53 to slowly rotate around the central column 43. After the workpiece rotates once inside the grinding cylinder 42, the grinding operation is completed. At this time, the self-opening and closing baffle assembly 53 on the side of the workpiece closes, preventing the grinding stones from flowing into the grinding chamber 55 where the workpiece is located. The multi-station material handling and control mechanism 2 controls the lifting of the extraction bucket assembly 61 until the discharge end of the extraction bucket assembly 61 is higher than the feed end of the separation bucket assembly 62. Under the vibration of the grinding cylinder 42, the grinding stones and workpiece in the extraction bucket assembly 61 will flow into the separation bucket assembly 62, and then the extraction bucket assembly 61 will reset and fall back into the grinding chamber 55. Then the discharge end of the separation bucket assembly 62 is opened. Under the vibration of the grinding cylinder 42, the grinding stones in the separation bucket assembly 62 separate from the workpiece, so that the workpiece still stays in the separation bucket assembly 62, while the grinding stones flow back into the extraction bucket assembly 61. Finally, the multi-station material handling and control mechanism 2 replenishes new workpieces to be processed in the extraction bucket assembly 61, and removes the finished parts from the separation bucket assembly 62 and places them on the discharge conveyor 11 for discharge, thereby realizing automated loading and unloading of workpieces. Meanwhile, the self-opening and closing partition assembly 53 continues to rotate, realizing the cyclic processing and separation extraction of workpieces.

[0029] In this invention, the self-opening and closing partition assembly 53 divides the grinding ring groove 44 into multiple relatively independent grinding chambers 55. Each grinding chamber 55 has an extraction bucket assembly 61 containing a workpiece, preventing damage caused by contact between workpieces. The multi-station material handling and control mechanism 2 controls the lifting of the extraction bucket assembly 61 and the opening and closing of the separation bucket assembly 62 to achieve automatic separation of the workpiece from the grinding stone, completing the extraction of the workpiece. The grinding stone will flow directly back into the extraction bucket assembly 61, simplifying the overall process, improving the efficiency of workpiece loading and unloading, reducing the total time required for workpiece grinding, and avoiding equipment deformation caused by the extrusion of the grinding stone. This achieves cyclic processing and separation extraction of workpieces. At the same time, the feeding conveyor 10, the discharging conveyor 11, the ground rail linear module 12, the robotic arm 13, and the multi-station material handling and control mechanism 2 work together to operate multiple grinding units, realizing automated loading and unloading of workpieces. This application can meet the continuous grinding processing needs of batch workpieces.

[0030] Please refer to the accompanying drawings in the instruction manual. Figure 2 The rotary drive assembly 52 includes a gear ring 521, a gear 522, an ear plate 523, a coupling 524, and a motor 525. The gear ring 521 is fixedly connected to the support ring 51, the ear plate 523 is fixedly connected to the outer wall of the grinding cylinder 42, the gear 522 is rotatably connected to the ear plate 523 through a bearing, and the gear 522 is meshed with the gear ring 521; the motor 525 is fixedly connected to the support frame 3, and the output end of the motor 525 is connected to the gear 522 through the coupling 524. In this embodiment, the coupling 524 is a flexible coupling to overcome the vibration and deviation caused by the operation of the grinding host 41.

[0031] Please refer to the accompanying drawings in the instruction manual. Figure 7 and Figure 8 The self-opening and closing partition assembly 53 includes a support arm 531, a partition plate 532, a passage window 533, an inner movable plate 534, and a stop block 535. The support arm 531 is fixed to the support ring 51, and the partition plate 532 is fixed to the lower end of the support arm 531. The partition plate 532 is in contact with the inner wall of the grinding ring groove 44. The lower end of the partition plate 532 is provided with a plurality of passage windows 533 at equal intervals. The inner movable plate 534 is horizontally slidable inside the partition plate 532, and the lower end of the inner movable plate 534 is fixed with a plurality of stop blocks 535 that correspond one-to-one with the passage windows 533 and cooperate to block them. The inner movable plate 534 is also rotatably connected to a roller 536 at one end near the central column 43. Two guide push blocks 54 are fixed on the central column 43 and located on both sides of the fixed hopper 621. The roller 536 is in rolling connection with the guide push blocks 54 and the side wall of the separation hopper assembly 62. In this embodiment, a spring is also provided inside the isolation plate 532, with the two ends of the spring abutting against the two ends of the isolation plate 532 and the inner movable plate 534, respectively. In its natural state, the spring is completely misaligned with the stop block 535 through the window 533. The particle size of the grinding stone is much larger than the thickness of the inner movable plate 534, so that the grinding stone will not get stuck in the isolation plate 532. Under the vibration of the grinding host 41, the spring can smoothly drive the inner movable plate 534 to reset.

[0032] In this invention, the motor 525 drives the gear 522 to rotate via the coupling 524. The gear ring 521 and the gear 522 work together to rotate the support ring 51, causing the isolation plate 532 to rotate within the grinding ring groove 44. When the stop block 535 is misaligned with the through window 533, the through window 533 is open, allowing the grinding stones to flow through the through window 533 into different grinding chambers 55. After the workpiece has finished grinding, the grinding chamber 55 containing the workpiece aligns with the feed end of the separation bucket assembly 62, guiding the push block 54 and the separation bucket assembly 62. The side wall pushes the inner movable plate 534 away from the central column 43, compressing the spring and causing the stop block 535 to align with the passage window 533, blocking the passage window 533. The passage window 533 is in a closed state, and at this time, the grinding stones in this grinding chamber 55 will not flow with the grinding stones in other grinding chambers 55. When the self-opening and closing partition assembly 53 continues to rotate, the roller 536 disengages from the guide push block 54 and the side wall of the separation bucket assembly 62, and the spring drives the inner movable plate 534 to reset, thereby releasing the blocking effect of the stop block 535 on the passage window 533.

[0033] Please refer to the accompanying drawings in the instruction manual. Figures 6-10 The extraction bucket assembly 61 includes a movable hopper 611, a discharge port 612, and a through hole 613. The outer contour of the movable hopper 611 cooperates with the grinding cylinder 42, the partition plate 532, and the central column 43, so that the bottom of the movable hopper 611 near the central column 43 is inclined downward, and the discharge port 612 is opened at the end of the movable hopper 611 near the central column 43. Multiple through holes 613 are evenly opened on the side wall of the movable hopper 611, and the grinding stones can freely pass through the through holes 613. The separating hopper assembly 62 includes a fixed hopper 621, a lifting baffle 622, a grid plate 623, and a feed inlet 624. The fixed hopper 621 is fixedly connected to the top of the central column 43. The feed inlet 624 is opened at one extended end of the fixed hopper 621. The bottom end of the fixed hopper 621 near the feed inlet 624 is inclined downward. The grid plate 623 is fixedly connected to the bottom of the feed inlet 624. The lifting baffle 622 is in contact with the outer wall of the grid plate 623, and the lifting baffle 622 can slide up and down and is connected to the inner wall of the feed inlet 624. The roller 536 is in rolling connection with the outer wall of the lifting baffle 622. In this embodiment, the discharge port 612 of the movable hopper 611 is in contact with the central column 43 and the lifting baffle 622.

[0034] In this embodiment, the height of the grating plate 623 and the lifting baffle 622 is half the height of the feed inlet 624.

[0035] The multi-station material handling and control mechanism 2 includes a horizontal arm 21, two pneumatic grippers 22, a telescopic push cylinder 23, and a hook block 24. The horizontal arm 21 is fixed to the output end of the robotic arm 13, and the two pneumatic grippers 22 are fixed to the two extended ends of the horizontal arm 21. The telescopic push cylinder 23 is fixed to the middle part of the horizontal arm 21, and the hook block 24 is fixed to the output end of the telescopic push cylinder 23. The movable hopper 611 has a first slot 614 at the end away from the central column 43, and the top of the lifting baffle 622 has a second slot 625. Both the first slot 614 and the second slot 625 are engaged with the hook block 24. In this embodiment, the hook block 24 is smaller than the first bayonet 614 and the second bayonet 625 to overcome the vibration caused by the grinding host 41 during operation.

[0036] In this invention, the telescopic push cylinder 23 drives the hook block 24 to extend, so that the hook block 24 connects with the first latch 614 of the movable hopper 611, and then the movable hopper 611 is raised until the discharge port 612 of the movable hopper 611 is higher than the lifting baffle 622. At this time, the side wall of the movable hopper 611 is still lower than the grinding cylinder 42 and the highest point of the isolation plate 532. Under the vibration of the grinding host 41, the grinding stones and workpieces in the movable hopper 611 flow into the fixed hopper 621, and the movable hopper 611 returns to its original position. The workpiece returns to the grinding chamber 55, and then the hook block 24 connects with the second bayonet 625 of the lifting baffle 622. The lifting baffle 622 is raised to open the grid plate 623. Under the vibration of the grinding host 41, the grinding stones in the fixed hopper 621 pass through the grid plate 623 and flow directly back into the extraction hopper assembly 61. The workpiece stays in the fixed hopper 621. Then the lifting baffle 622 is reset to close the grid plate 623 again, and the robotic arm 13 can drive the pneumatic gripper 22 to move to grab the workpiece.

[0037] In this embodiment, multiple robotic arms 13 are provided, and each robotic arm 13 is responsible for multiple grinding units in a preset area, reducing the arrangement of the driving device, so that the robotic arm 13 and the hook block 24 cooperate to realize the separation and extraction operation of the workpiece.

[0038] The grinding mechanism 4 also includes a drain pipe 45 and a water spray pipe 46. The drain pipe 45 is fixed to the lowest point of the bottom of the grinding cylinder 42 and aligned with the discharge end of the separation hopper assembly 62. The water spray pipe 46 is fixed to the support frame 3 and is located on the side of the fixed hopper 621 away from the grid plate 623. The water outlet of the water spray pipe 46 is inclined downward toward the grid plate 623. The water inlet of the water spray pipe 46 is connected to a water pump (not shown in the figure). By continuously spraying water onto the workpiece in the fixed hopper 621 through the water spray pipe 46, the surface of the workpiece can be removed, achieving pre-cleaning of the workpiece. The water flow also washes the grinding stones in the movable hopper 611, and finally the wastewater is discharged from the drain pipe 45.

[0039] In this embodiment, the configuration and distribution of the window 533 and the through hole 613, as well as the configuration of the grid plate 623, vary according to the material of the grinding stone to accommodate different types of grinding stones.

[0040] In some embodiments, such as Figures 1-10 As shown, in a preferred embodiment of the present invention, a method of using an anti-collision continuous vibration grinding device includes the following steps: Step 1: The ground rail linear module 12 and the robotic arm 13 work together to drive the pneumatic gripper 22 to sequentially grab multiple workpieces to be processed from the feeding conveyor 10 and place the workpieces in the grinding cylinder 42, so that each grinding chamber 55 has a workpiece in its movable hopper 611. Step 2: The grinding host 41 drives the grinding cylinder 42 to vibrate, so that the grinding stones in the grinding chamber 55 can continuously roll and rotate to rub and grind the surface of the workpiece. The grinding stones can also flow and exchange in different grinding chambers 55 through the through window 533 of the isolation plate 532, ensuring that the grinding stones can be evenly distributed in the entire grinding ring groove 44. Step 3: The rotary drive assembly 52 controls the support ring 51 to drive the isolation plate 532 to slowly rotate around the central column 43. The grinding operation is completed after the workpiece has rotated once inside the grinding cylinder 42. Step 4: The guide push block 54 and the side wall of the separation bucket assembly 62 will push the inner movable plate 534 away from the central column 43, so that the passage window 533 is closed; Step 5: The telescopic push cylinder 23 drives the hook block 24 to extend, so that the hook block 24 is connected to the first bayonet 614 of the movable hopper 611; Step 6: Raise the movable hopper 611 until the outlet 612 of the movable hopper 611 is higher than the lifting baffle 622. Under the vibration of the grinding host 41, the grinding stones and workpieces in the movable hopper 611 flow into the fixed hopper 621, and the movable hopper 611 returns to the grinding chamber 55. Step 7: Connect the hook block 24 to the second latch 625 of the lifting baffle 622, lift the lifting baffle 622 to open the grid plate 623. Under the vibration of the grinding host 41, the grinding stones in the fixed hopper 621 pass through the grid plate 623 and flow directly back into the movable hopper 611. The workpiece stays in the fixed hopper 621. Then reset the lifting baffle 622 to close the grid plate 623 again. Step 8: The water spray pipe 46 continuously sprays water into the workpiece in the fixed hopper 621 to remove the adhering substances on the surface of the workpiece; Step 9: The robotic arm 13 can drive the pneumatic gripper 22 to replenish new workpieces to be processed in the movable hopper 611, and take out the finished parts in the fixed hopper 621 and place them on the discharge conveyor 11 for discharge.

[0041] In this invention, the self-opening and closing partition assembly 53 divides the grinding ring groove 44 into multiple relatively independent grinding chambers 55. Each grinding chamber 55 has a workpiece placed in its movable hopper 611, preventing damage caused by contact between workpieces. The multi-station material handling and control mechanism 2 controls the lifting of the movable hopper 611 and the opening and closing of the fixed hopper 621 to achieve automatic separation of the workpiece from the grinding stone and complete the extraction of the workpiece. At the same time, the feeding conveyor 10, the discharging conveyor 11, the ground rail linear module 12, the robotic arm 13, and the multi-station material handling and control mechanism 2 work together to operate multiple grinding units, realizing automated loading and unloading of workpieces, so that this application can meet the continuous grinding processing requirements of batch workpieces.

[0042] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions will not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A continuous vibration grinding device for preventing collision damage, comprising a feeding conveyor (10), a discharging conveyor (11), a ground rail linear module (12), a robotic arm (13), and a plurality of grinding units located on one side of the discharging conveyor (11) and distributed along the length of the discharging conveyor (11), characterized in that: The robotic arm (13) is fixed to the moving end of the ground rail linear module (12), and the output end of the robotic arm (13) is equipped with a multi-station material handling and control mechanism (2). The grinding unit includes a support frame (3), a grinding mechanism (4), an anti-collision rotary isolation mechanism (5), and a separation and extraction mechanism (6). The grinding mechanism (4) includes a grinding host (41), a grinding cylinder (42), and a central column (43). The support frame (3) is located on one side of the grinding host (41). The grinding cylinder (42) is fixed to the top of the grinding host (41). The bottom of the grinding cylinder (42) is conical. The central column (43) is fixed to the inner bottom of the grinding cylinder (42) and is coaxial with the grinding cylinder (42). The side wall of the grinding cylinder (42) and the central column (43) form a grinding ring groove (44). The anti-collision rotary isolation mechanism (5) includes a support ring (51), a rotary drive assembly (52), and multiple self-opening and closing partition assemblies (53). The support ring (51) is rotatably mounted on the top of the grinding cylinder (42) via bearings. The rotary drive assembly (52) is mounted on the support frame (3), and the output end of the rotary drive assembly (52) is drivenly connected to the support ring (51). Multiple self-opening and closing partition assemblies (53) are equidistantly distributed in a circumferential array within the grinding ring groove (44) and connected to the support ring (51). The self-opening and closing partition assemblies (53) divide the grinding ring groove (44) into multiple relatively independent grinding chambers (55). The separation and extraction mechanism (6) includes a separation bucket assembly (62) and multiple extraction bucket assemblies (61). The multiple extraction bucket assemblies (61) are arranged one-to-one inside each grinding chamber (55). Each extraction bucket assembly (61) can slide freely up and down vertically within its matching grinding chamber (55). The separation bucket assembly (62) is installed at the top of the central column (43).

2. The anti-collision continuous vibration grinding equipment according to claim 1, characterized in that, The rotary drive assembly (52) includes a gear ring (521), a gear (522), an ear plate (523), a coupling (524), and a motor (525). The gear ring (521) is fixedly connected to the support ring (51), the ear plate (523) is fixedly connected to the outer wall of the grinding cylinder (42), the gear (522) is rotatably connected to the ear plate (523) through a bearing, and the gear (522) is meshed with the gear ring (521). The motor (525) is fixedly connected to the support frame (3), and the output end of the motor (525) is connected to the gear (522) through the coupling (524).

3. The anti-collision continuous vibration grinding equipment according to claim 2, characterized in that, The self-opening and closing partition assembly (53) includes a support arm (531), a partition plate (532), a passage window (533), an inner movable plate (534), and a stop block (535). The support arm (531) is fixed to the support ring (51), and the partition plate (532) is fixed to the lower end of the support arm (531). The partition plate (532) is in contact with the inner wall of the grinding ring groove (44). The lower end of the partition plate (532) is provided with multiple passage windows (533) at equal intervals. The inner movable plate (534) is horizontally slidably installed inside the partition plate (532). The lower end of the inner movable plate (534) is fixed with multiple stop blocks (535) that correspond one-to-one with the passage windows (533) and cooperate to block them.

4. The anti-collision continuous vibration grinding equipment according to claim 3, characterized in that, The inner movable plate (534) is rotatably connected to a roller (536) at one end near the central column (43). Two guide push blocks (54) are fixed on the central column (43) and located on both sides of the fixed hopper (621). The roller (536) is rotatably connected to the guide push blocks (54) and the side wall of the separation hopper assembly (62).

5. The anti-collision continuous vibration grinding equipment according to claim 4, characterized in that, The extraction bucket assembly (61) includes a movable bucket (611), a discharge port (612), and a through hole (613). The outer contour of the movable bucket (611) is matched with the grinding cylinder (42), the partition plate (532), and the central column (43), so that the bottom of the movable bucket (611) near the central column (43) is inclined downward, and the discharge port (612) is opened at the end of the movable bucket (611) near the central column (43). Multiple through holes (613) are evenly opened on the side wall of the movable bucket (611), and the grinding stones can freely pass through the through holes (613).

6. The anti-collision continuous vibration grinding equipment according to claim 5, characterized in that, The separation bucket assembly (62) includes a fixed hopper (621), a lifting baffle (622), a grid plate (623), and a feed inlet (624). The fixed hopper (621) is fixed to the top of the central column (43). The feed inlet (624) is provided at one extended end of the fixed hopper (621). The bottom of the fixed hopper (621) near the feed inlet (624) is inclined downward. The grid plate (623) is fixed to the bottom of the feed inlet (624). The lifting baffle (622) is attached to the outer wall of the grid plate (623), and the lifting baffle (622) can slide up and down to connect with the inner wall of the feed inlet (624).

7. The anti-collision continuous vibration grinding equipment according to claim 6, characterized in that, The multi-station material handling and control mechanism (2) includes a horizontal arm (21), two pneumatic grippers (22), a telescopic push cylinder (23), and a hook block (24). The horizontal arm (21) is fixed to the output end of the robotic arm (13), and the two pneumatic grippers (22) are fixed to the two extension ends of the horizontal arm (21). The telescopic push cylinder (23) is fixed to the middle part of the horizontal arm (21), and the hook block (24) is fixed to the output end of the telescopic push cylinder (23).

8. The anti-collision continuous vibration grinding equipment according to claim 7, characterized in that, The movable hopper (611) has a first slot (614) at one end away from the central column (43), and a second slot (625) is provided at the top of the lifting baffle (622). The first slot (614) and the second slot (625) are both engaged with the hook block (24).

9. The anti-collision continuous vibration grinding equipment according to claim 8, characterized in that, The grinding mechanism (4) also includes a drain pipe (45) and a water spray pipe (46). The drain pipe (45) is fixed at the lowest point of the bottom of the grinding cylinder (42) and aligned with the discharge end of the separation bucket assembly (62). The water spray pipe (46) is fixed on the support frame (3). The water spray pipe (46) is located on the side of the fixed hopper (621) away from the grid plate (623). The water outlet end of the water spray pipe (46) is inclined downward toward the grid plate (623).

10. A method of use, utilizing the anti-collision continuous vibration grinding equipment as described in claim 9, characterized in that, Includes the following steps: Step 1: The ground rail linear module (12) and the robotic arm (13) work together to drive the pneumatic gripper (22) to pick up multiple workpieces to be processed from the feeding conveyor (10) in sequence, and place the workpieces in the grinding cylinder (42) so that each grinding chamber (55) has a workpiece in its movable hopper (611); Step 2: The grinding host (41) drives the grinding cylinder (42) to vibrate, so that the grinding stones in the grinding chamber (55) can continuously roll and rotate to rub and grind the surface of the workpiece. The grinding stones can also pass through the through window (533) of the isolation plate (532) to flow and exchange in different grinding chambers (55), ensuring that the grinding stones can be evenly distributed in the entire grinding ring groove (44). Step 3: The rotary drive assembly (52) controls the support ring (51) to drive the isolation plate (532) to slowly rotate around the central column (43). The grinding operation is completed after the workpiece rotates once inside the grinding cylinder (42). Step 4: The guide pusher (54) and the side wall of the separation bucket assembly (62) will push the inner movable plate (534) away from the central column (43), so that the window (533) is closed; Step 5: The telescopic push cylinder (23) drives the hook block (24) to extend, so that the hook block (24) connects with the first bayonet (614) of the movable hopper (611); Step 6: Raise the movable hopper (611) until the outlet (612) of the movable hopper (611) is higher than the lifting baffle (622). Under the vibration of the grinding host (41), the grinding stones and workpieces in the movable hopper (611) flow into the fixed hopper (621), and the movable hopper (611) resets back into the grinding chamber (55). Step 7: Connect the hook block (24) to the second bayonet (625) of the lifting baffle (622), lift the lifting baffle (622) to open the grid plate (623), and under the vibration of the grinding host (41), the grinding stones in the fixed hopper (621) pass through the grid plate (623) and flow directly back into the movable hopper (611), the workpiece stays in the fixed hopper (621), and then reset the lifting baffle (622) to close the grid plate (623) again; Step 8: The water spray pipe (46) continuously sprays water into the workpiece in the fixed hopper (621) to remove the adhering substances on the surface of the workpiece; Step 9: The robotic arm (13) can drive the pneumatic gripper (22) to replenish new workpieces to be processed in the movable hopper (611) and take out the finished parts in the fixed hopper (621) and place them on the discharge conveyor (11) for discharge.

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