Bearing ring single-arm manipulator feeding and discharging device

Abstract

A bearing ring single-arm manipulator feeding and discharging device is characterized in that an upper striker plate and a lower striker plate are arranged, a channel for a mechanical arm to move is reserved between the upper striker plate and the lower striker plate, and a space for a workpiece to pass through is formed among the upper striker plate, the lower striker plate and a panel; according to the mechanical arm, the moving tracks of the mechanical arm are the same whether the mechanical arm transfers the workpiece from the feeding channel to the machining station or transfers the workpiece from the machining station to the discharging channel, the mechanical arm does not need to convey the workpiece to the discharging channel and then leave, then the next workpiece can be continuously transferred, and the working efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of bearing loading and unloading, in particular to a single-arm manipulator loading and unloading device for a bearing ring. Background Art

[0002] With the development of technology, in order to improve the processing efficiency of bearings, automatic loading and unloading devices are generally used. Existing automatic loading and unloading devices usually include a loading channel, a unloading channel, a robotic arm and a driving mechanism. The driving mechanism drives the robotic arm to grab the bearing from the loading channel to the processing position for processing, and then transfers the bearing from the processing position to the unloading channel. However, the robotic arm grabs the bearing and leaves the processing position to the unloading channel before it can go to the loading channel again to grab the next bearing, resulting in reduced processing efficiency. Utility Model Content

[0003] In order to solve the above technical problems, the utility model provides a bearing ring single-arm robot loading and unloading device. The device is provided with an upper material baffle plate and a lower material baffle plate, and a channel for the movement of the robot arm is left between the upper material baffle plate and the lower material baffle plate. A space for the workpiece to pass through is formed between the upper material baffle plate, the lower material baffle plate and the panel, so that the robot arm can continue to move to the upper material channel while releasing the workpiece when transferring the workpiece to the lower material channel, thereby improving work efficiency.

[0004] The technical solution adopted by the utility model to solve the above technical problems is: a bearing ring single-arm manipulator loading and unloading device, comprising:

[0005] panel;

[0006] The feeding channel is arranged on the front of the panel and is used to convey the workpiece to be processed;

[0007] The unloading channel is arranged on the front of the panel and is used to convey the processed workpieces;

[0008] A mechanical arm is arranged on the front of the panel and is used to transfer the workpiece from the loading channel to the processing position, and to transfer the workpiece from the processing position to the unloading channel;

[0009] A rotary drive mechanism is used to drive the mechanical arm to move between the feeding channel and the processing position. The rotary drive mechanism includes a rotary cylinder connected to the back of the panel and a connecting shaft rotatably penetrated on the panel. The plunger of the rotary cylinder is connected to a rack. The part of the connecting shaft located on the back of the panel is fixedly sleeved with a gear matched with the rack. The mechanical arm is fixed to one end of the connecting shaft located in front of the panel.

[0010] A translation drive mechanism is used to drive the mechanical arm away from or close to the panel. The translation drive mechanism includes a movable plate, a guide rod for guiding the direction of the movable plate, and a telescopic cylinder for driving the movable plate to move. One end of the guide rod is connected to the back of the panel, and the other end passes through the movable plate and is connected to the cylinder body of the telescopic cylinder. The end of the connecting shaft close to the telescopic cylinder is rotatably connected to the movable plate through a bearing, and the plunger of the telescopic cylinder is connected to the surface of the movable plate.

[0011] The upper material baffle plate and the lower material baffle plate are arranged on the front side of the panel in an upper and lower distribution, wherein the upper material baffle plate is connected to the panel, and the lower material baffle plate is connected to the side of the lower material channel away from the panel, a channel for the movement of the robot arm is reserved between the upper material baffle plate and the lower material baffle plate, and a space for the workpiece to pass through is formed between the upper material baffle plate, the lower material baffle plate and the panel.

[0012] As a further optimization of the bearing ring single-arm manipulator loading and unloading device of the utility model: the end of the guide rod away from the panel is connected to a fixed plate, the telescopic cylinder is connected to the fixed plate, and the plunger of the telescopic cylinder passes through the fixed plate and is connected to the movable plate.

[0013] As a further optimization of the bearing ring single-arm manipulator loading and unloading device of the utility model: the manipulator includes a main body and a flexible manipulator, the main body is fixedly connected to the part of the connecting shaft located on the front side of the panel, the end of the main body away from the connecting shaft is connected to the flexible manipulator through an L-shaped bottom plate, and a receiving groove is provided on the main body along the length direction, one side of the L-shaped bottom plate extends into the receiving groove and is fixedly connected to the inner wall of the receiving groove, the other side of the L-shaped bottom plate is slidably connected to the flexible manipulator, and the opening enclosed by the two sides of the L-shaped bottom plate faces away from the panel.

[0014] As a further optimization of the bearing ring single-arm manipulator loading and unloading device of the utility model: a material guard plate is connected along the length direction of the material feed channel on the side of the discharge port of the material feed channel away from the panel, and a material taking port for the manipulator to transfer the bearing is provided on the material guard plate.

[0015] As a further optimization of the loading and unloading device of a single-arm manipulator for a bearing ring of the utility model: a plurality of dividing cylinders are arranged on the loading channel along the length direction, the piston rod of the dividing cylinder is connected with a first block, the first block blocks or releases the workpiece under the telescopic control of the piston rod of the dividing cylinder, the discharge port of the loading channel is provided with a blocking cylinder, the piston rod of the blocking cylinder is connected with a second block, the second block blocks or releases the workpiece close to the discharge port of the loading channel under the telescopic control of the piston rod of the blocking cylinder, the discharge port of the loading channel is also provided with a loading induction switch for sensing the workpiece, the feed port of the lower material channel is provided with a unloading induction switch for sensing the workpiece, and a top plate is also provided on the discharge port of the lower material channel.

[0016] As a further optimization of the bearing ring single-arm robot loading and unloading device of the utility model: a limit block is also arranged on the panel, a limit rod is arranged on the part of the connecting shaft located on the front side of the panel, the limit rod is located between the robot arm and the panel, and the limit block can limit the limit rod during the movement of the robot arm.

[0017] As a further optimization of the loading and unloading device of a single-arm manipulator for a bearing ring of the utility model: a connecting seat is connected to the feed port of the feed channel along the length direction, and the connecting seat includes a first part and a second part, the first part is connected to the feed port of the feed channel, and the second part is connected to the lower baffle plate, and a conveying groove for the workpiece to pass through is jointly opened on the first part and the second part, and the conveying groove is connected to the feed channel.

[0018] As a further optimization of the bearing ring single-arm manipulator loading and unloading device of the utility model: the second part of the connecting seat is connected to a protective plate, the protective plate is connected to the side of the second part away from the panel, and the inclination angle of the protective plate is greater than the inclination angle of the unloading channel.

[0019] As a further optimization of the bearing ring single-arm manipulator loading and unloading device of the utility model: the device is also provided with a cooling water flushing mechanism for spraying cooling liquid to the processing position.

[0020] Beneficial effect: The utility model sets an upper baffle plate and a lower baffle plate, with a channel for the movement of the robot arm between the upper baffle plate and the lower baffle plate, and a space for the workpiece to pass through is formed between the upper baffle plate, the lower baffle plate and the panel, so that the movement trajectory of the robot arm is the same whether the robot arm transfers the workpiece from the upper material channel to the processing position or from the processing position to the lower material channel. The robot arm does not need to send the workpiece to the lower material channel and then leave before continuing to transfer the next workpiece, thereby improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the structure of the utility model;

[0022] Figure 2 is a schematic diagram of a rotary drive mechanism and a translation drive mechanism;

[0023] Figure 3 It is a schematic diagram of the structure on the back of the panel;

[0024] Figure 4 It is a schematic diagram of the front structure of the panel;

[0025] Figure 5 It is a side view of the utility model;

[0026] Figure numerals: 1. feeding channel, 2. unloading channel, 3. top plate, 4. material dividing cylinder, 5. cooling and flushing mechanism, 6. material blocking cylinder, 7. feeding induction switch, 8. material protection plate, 9. material taking port, 10. upper material blocking plate, 11. connecting rod, 12. lower material blocking plate, 13. unloading induction switch, 14. first part, 15. second part, 16. main body, 17. L-shaped bottom plate, 18. flexible manipulator, 19. connecting plate, 20. channel, 21. limit block, 22. limit rod, 23. connecting shaft, 24. rotating cylinder, 25. rack, 26. gear, 27. movable plate, 28. guide rod, 29. fixed plate, 30. telescopic cylinder, 31. protective plate. DETAILED DESCRIPTION

[0027] The technical solution of the present invention is further elaborated in detail below in conjunction with specific embodiments. The parts not described and disclosed in detail in the following embodiments of the present invention should be understood as the prior art known or should be known to those skilled in the art, such as the model of the material dividing cylinder 4 and the material blocking cylinder 6, the model of the cooling and flushing mechanism 5, the model of the loading sensor switch 7 and the unloading sensor switch 13, the model and structure of the flexible manipulator 18, the model of the rotating cylinder 24 and the telescopic cylinder 30, etc.

[0028] A single-arm manipulator loading and unloading device for bearing rings, such as Figure 1-5 As shown, including:

[0029] panel;

[0030] A feeding channel 1 is provided on the front of the panel and is used to convey the workpiece to be processed;

[0031] A material discharge channel 2, arranged on the front of the panel, is used to transport the processed workpiece;

[0032] A mechanical arm, arranged on the front of the panel, is used to transfer the workpiece from the loading channel 1 to the processing position, and to transfer the workpiece from the processing position to the unloading channel 2;

[0033] The rotary drive mechanism is used to drive the robot arm to move between the feeding channel 1 and the processing position. The rotary drive mechanism includes a rotary cylinder 24 connected to the back of the panel and a connecting shaft 23 rotatably penetrated on the panel. The plunger of the rotary cylinder 24 is connected to a rack 25. The part of the connecting shaft 23 located on the back of the panel is fixedly sleeved with a gear 26 matched with the rack 25. The robot arm is fixed to one end of the connecting shaft 23 located in front of the panel.

[0034] A translation drive mechanism is used to drive the mechanical arm away from or close to the panel. The translation drive mechanism includes a movable plate 27, a guide rod 28 for guiding the direction of the movable plate 27, and a telescopic cylinder 30 for driving the movable plate 27 to move. One end of the guide rod 28 is connected to the back of the panel, and the other end passes through the movable plate 27 and is connected to the cylinder body of the telescopic cylinder 30. The end of the connecting shaft 23 close to the telescopic cylinder 30 is rotatably connected to the movable plate 27 through a bearing, and the plunger of the telescopic cylinder 30 is connected to the surface of the movable plate 27.

[0035] The upper baffle plate 10 and the lower baffle plate 12 are arranged on the front of the panel in an upper and lower distribution, wherein the upper baffle plate 10 is connected to the panel, and the lower baffle plate 12 is connected to the side of the lower material channel 2 away from the panel, and a channel 20 for the robot arm to move is reserved between the upper baffle plate 10 and the lower baffle plate 12, and a space for the workpiece to pass through is formed between the upper baffle plate 10, the lower baffle plate 12 and the panel. The upper baffle plate 10 is connected to the panel through a connecting rod 11.

[0036] The discharge port of the upper material channel 1 is also provided with a loading induction switch 7 for inducing the workpiece, the feed port of the lower material channel 2 is provided with a unloading induction switch 13 for inducing the workpiece, and the discharge port of the lower material channel 2 is also provided with a top plate 3.

[0037] The controller controls the operation of the rotating oil cylinder 24, the telescopic oil cylinder 30, the loading induction switch 7 and the unloading induction switch 13. The connection between the controller and the rotating oil cylinder, the telescopic oil cylinder 30, the loading induction switch 7 and the unloading induction switch 13 is a conventional technology, which belongs to the common knowledge that those skilled in the art should know, and will not be described in detail here. For the sake of simplicity and unification, the workpieces mentioned in the present invention are all bearing rings.

[0038] When the workpiece reaches the discharge port of the loading channel 1, the sensing needle of the loading sensing switch 7 senses the workpiece. At this time, the rotating cylinder 24 works, the plunger of the rotating cylinder 24 extends, and the rack 25 connected to the plunger moves accordingly, thereby driving the gear 26 matched with the rack 25 to rotate. The connecting shaft 23 is fixedly connected to the gear 26, and the connecting shaft 23 rotates and penetrates the panel, so the connecting shaft 23 will also rotate together, thereby driving the robot arm to rotate. The robot arm includes a body 16 and a flexible manipulator 18. The body 16 is fixedly connected to the part of the connecting shaft 23 located on the front of the panel. The end of the body 16 away from the connecting shaft 23 is connected to the flexible manipulator 18 through the L-shaped bottom plate 17. A receiving groove is provided on the body 16 along the length direction. One side of the L-shaped bottom plate 17 extends into the receiving groove and is fixedly connected to the inner wall of the receiving groove. The other side of the L-shaped bottom plate 17 is slidably connected to the flexible manipulator 18. The opening enclosed by the two sides of the L-shaped bottom plate 17 faces away from the panel. When the robot arm rotates, the flexible manipulator 18 can reach the material taking port 9 through the channel 20, and the flexible manipulator 18 grabs the workpiece. At this time, the plunger of the rotating cylinder 24 is retracted, so that the robot arm moves in the opposite direction, and the flexible manipulator 18 moves again. Once through the channel 20, and the workpiece can pass through the space formed between the upper baffle plate 10, the lower baffle plate 12 and the panel, and finally reach the processing position, the flexible manipulator 18 sends the workpiece to the processing position for processing, after the processing is completed, the plunger of the rotary cylinder 24 continues to extend, and the robot arm repeats the previous walking trajectory, that is, the robot arm rotates, and the flexible manipulator 18 moves with the processed workpiece. When the flexible manipulator 18 reaches the channel 20, the workpiece enters the space formed between the upper baffle plate 10, the lower baffle plate 12 and the panel, at this time, the flexible manipulator 18 releases the workpiece. Due to the existence of the upper baffle plate 10, the lower baffle plate 12 and the panel, the workpiece will be limited so that the workpiece can finally fall into the lower material channel 2. At the same time of release, the robot arm continues to move to the upper material channel 1 to grab the next workpiece, and then send it to the processing position, and repeat the above steps after the processing is completed.

[0039] When the robot arm grabs the workpiece, the distance between the robot arm and the upper baffle plate 10 and the lower baffle plate 12, or the robot arm and the processing position, or the robot arm and the material taking port 9 needs to be adjusted, so the translation drive mechanism will start to adjust the robot arm. Specifically, the plunger of the telescopic cylinder 30 extends to push the movable plate 27 to move along the direction of the guide rod 28, thereby driving the connecting shaft 23 rotatably connected to the movable plate 27 to move, and finally moving the robot arm connected to the connecting shaft 23, so as to achieve the purpose of adjusting the robot arm to a suitable position, and a connecting plate 19 is provided on the L-shaped bottom plate 17, and the flexible robot arm 18 is slidably provided on the connecting plate 19, and the flexible robot arm can also move on the connecting plate 19 to adjust the relative position between the flexible robot arm 18 and the main body 16.

[0040] like Figure 3As shown, a plurality of dividing cylinders 4 are provided along the length direction of the feeding channel 1, and the piston rod of the dividing cylinder 4 is connected to a first stopper, which blocks or releases the workpiece under the telescopic control of the piston rod of the dividing cylinder 4; a stopping cylinder 6 is provided at the discharge port of the feeding channel 1, and the piston rod of the stopping cylinder 6 is connected to a second stopper, which blocks or releases the workpiece close to the discharge port of the feeding channel 1 under the telescopic control of the piston rod of the stopping cylinder 6.

[0041] The material distribution cylinder 4 and the material blocking cylinder 6 are also connected to the controller, and the controller controls their work. The specific connection method is the existing technology known to those skilled in the art and will not be described in detail here. When multiple workpieces are on the feeding channel 1, at least one material dividing cylinder 4 is required for material dividing. In the utility model, two material dividing cylinders 4 are provided. After the sensing needle of the feeding sensing switch 7 is pushed by the workpiece near the discharge port of the feeding channel 1, the mechanical arm rotates, and the flexible mechanical arm 18 grabs the workpiece near the discharge port of the feeding channel 1. At this time, the first material dividing cylinder 4, the second material dividing cylinder 4 and the blocking cylinder 6 are started, and the second block connected to the piston rod of the blocking cylinder 6 is against the workpiece near the discharge port of the feeding channel 1. All the first blocks are extended under the control of the piston rods of all the material dividing cylinders 4 to prevent the remaining workpieces from continuing to move. The mechanical arm rotates, and after the flexible mechanical arm 18 grabs the workpiece near the discharge port of the feeding channel 1 and leaves, the sensing needle of the feeding sensing switch 7 is reset. At this time, the piston rod of the blocking cylinder 6, the piston rod of the first material dividing cylinder 4 and the piston rod of the second material dividing cylinder 4 are all retracted, so that the remaining workpieces continue to move forward until the next workpiece reaches the discharge port of the feeding channel 1, and the above steps are repeated.

[0042] like Figure 1 As shown, a material guard plate 8 is connected to the side of the material discharge port of the material feeding channel 1 away from the panel along the length direction of the material feeding channel 1. The material guard plate 8 is provided with a material taking port 9 for the robot arm to transfer the bearing. The material blocking cylinder 6 can be arranged near the material taking port 9. Figure 2 and Figure 5 As shown, one end of the guide rod 28 away from the panel is connected to a fixed plate 29 , the telescopic cylinder 30 is connected to the fixed plate 29 , and the plunger of the telescopic cylinder 30 passes through the fixed plate 29 and is connected to the movable plate 27 .

[0043] like Figure 1 and Figure 4As shown, in order to ensure that the processed workpiece can accurately fall into the feeding channel 2, a connecting seat is connected to the feeding port of the feeding channel 2 along the length direction, and the connecting seat includes a first part 14 and a second part 15. The first part 14 is connected to the feeding port of the feeding channel 2, and the second part 15 is connected to the lower baffle plate 12. The first part 14 and the second part 15 are jointly provided with a conveying groove for the workpiece to pass through, and the conveying groove is connected to the feeding channel 2. The second part 15 of the connecting seat is connected to a protective plate 31, and the protective plate 31 is connected to the side of the second part 15 away from the panel, and the inclination angle of the protective plate 31 is greater than the inclination angle of the feeding channel 2.

[0044] After the flexible manipulator 18 releases the processed workpiece, the workpiece first falls into the second part 15, then enters the first part 14, and finally enters the discharge channel 2. The inclination angle of the protective plate 31 is greater than the inclination angle of the discharge channel 2, ensuring that the processed workpiece can smoothly enter the second part 15.

[0045] like Figure 4 As shown, a limit block 21 is also provided on the panel, and a limit rod 22 is provided on the part of the connecting shaft 23 located on the front of the panel. The limit rod 22 is located between the mechanical arm and the panel. During the movement of the mechanical arm, the limit block 21 can limit the limit rod 22.

[0046] The device is also provided with a cooling and flushing mechanism 5 for spraying cooling liquid to the processing position. The cooling and flushing mechanism 5 is also connected to the controller.

[0047] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A single-arm manipulator loading and unloading device for bearing rings, characterized in that: include: panel; A feeding channel (1), arranged on the front side of the panel, for conveying workpieces to be processed; A material discharge channel (2), arranged on the front side of the panel, for conveying processed workpieces; A mechanical arm, arranged on the front of the panel, for transferring the workpiece from the loading channel (1) to the processing position, and for transferring the workpiece from the processing position to the unloading channel (2); A rotary drive mechanism is used to drive the mechanical arm to move between the feeding channel (1) and the processing position, the rotary drive mechanism comprising a rotary cylinder (24) connected to the back of the panel and a connecting shaft (23) rotatably penetrated on the panel, the plunger of the rotary cylinder (24) is connected to a rack (25), the part of the connecting shaft (23) located on the back of the panel is fixedly sleeved with a gear (26) matched with the rack (25), and the mechanical arm is fixed to one end of the connecting shaft (23) located in front of the panel; A translation drive mechanism is used to drive the mechanical arm away from or close to the panel, the translation drive mechanism comprises a movable plate (27), a guide rod (28) for guiding the direction of the movable plate (27) and a telescopic cylinder (30) for driving the movable plate (27) to move, one end of the guide rod (28) is connected to the back of the panel, and the other end passes through the movable plate (27) and is connected to the cylinder body of the telescopic cylinder (30), one end of the connecting shaft (23) close to the telescopic cylinder (30) is rotatably connected to the movable plate (27) through a bearing, and the plunger of the telescopic cylinder (30) is connected to the surface of the movable plate (27); An upper baffle plate (10) and a lower baffle plate (12) are arranged on the front side of the panel in an upper and lower distribution, wherein the upper baffle plate (10) is connected to the panel, and the lower baffle plate (12) is connected to the side of the lower material channel (2) away from the panel, and a channel (20) for the movement of the robot arm is reserved between the upper baffle plate (10) and the lower baffle plate (12), and a space for the workpiece to pass through is formed between the upper baffle plate (10), the lower baffle plate (12) and the panel.

2. The bearing ring single-arm manipulator loading and unloading device according to claim 1 is characterized in that: The end of the guide rod (28) away from the panel is connected to a fixed plate (29), the telescopic oil cylinder (30) is connected to the fixed plate (29), and the plunger of the telescopic oil cylinder (30) passes through the fixed plate (29) and is connected to the movable plate (27).

3. The bearing ring single-arm manipulator loading and unloading device according to claim 1 is characterized in that: The mechanical arm comprises a body (16) and a flexible mechanical arm (18); the body (16) is fixedly connected to the part of the connecting shaft (23) located on the front of the panel; one end of the body (16) away from the connecting shaft (23) is connected to the flexible mechanical arm (18) through an L-shaped bottom plate (17); a receiving groove is provided on the body (16) along the length direction; one side of the L-shaped bottom plate (17) extends into the receiving groove and is fixedly connected to the inner wall of the receiving groove; the other side of the L-shaped bottom plate (17) is slidably connected to the flexible mechanical arm (18); and an opening enclosed by two side portions of the L-shaped bottom plate (17) faces away from the panel.

4. The bearing ring single-arm manipulator loading and unloading device according to claim 1 is characterized in that: A material guard plate (8) is connected to the side of the material discharge port of the material feeding channel (1) away from the panel along the length direction of the material feeding channel (1), and a material taking port (9) for the mechanical arm to transfer the bearing is provided on the material guard plate (8).

5. The bearing ring single-arm manipulator loading and unloading device according to claim 1 is characterized in that: The feeding channel (1) is provided with a plurality of material distribution cylinders (4) along the length direction, the piston rod of the material distribution cylinder (4) is connected to a first block, and the first block blocks or releases the workpiece under the telescopic control of the piston rod of the material distribution cylinder (4), the discharge port of the feeding channel (1) is provided with a material blocking cylinder (6), the piston rod of the material blocking cylinder (6) is connected to a second block, and the second block blocks or releases the workpiece close to the discharge port of the feeding channel (1) under the telescopic control of the piston rod of the material blocking cylinder (6), the discharge port of the feeding channel (1) is also provided with a loading induction switch (7) for sensing the workpiece, the feeding port of the discharge channel (2) is provided with a unloading induction switch (13) for sensing the workpiece, and the discharge port of the discharge channel (2) is also provided with a top plate (3).

6. The bearing ring single-arm manipulator loading and unloading device according to claim 1, characterized in that: A limit block (21) is also provided on the panel, and a limit rod (22) is provided on the portion of the connecting shaft (23) located on the front face of the panel. The limit rod (22) is located between the mechanical arm and the panel. During the movement of the mechanical arm, the limit block (21) can limit the limit rod (22).

7. The bearing ring single-arm manipulator loading and unloading device according to claim 1 is characterized in that: A connecting seat is connected to the feed port of the feed channel (2) along the length direction, and the connecting seat includes a first part (14) and a second part (15). The first part (14) is connected to the feed port of the feed channel (2), and the second part (15) is connected to the lower baffle plate (12). The first part (14) and the second part (15) are jointly provided with a conveying groove for the workpiece to pass through, and the conveying groove is connected to the feed channel (2).

8. The bearing ring single-arm manipulator loading and unloading device according to claim 7 is characterized in that: The second part (15) of the connecting seat is connected with a protective plate (31), and the protective plate (31) is connected to the side of the second part (15) away from the panel, and the inclination angle of the protective plate (31) is greater than the inclination angle of the discharge channel (2).

9. The bearing ring single-arm manipulator loading and unloading device according to claim 1, characterized in that: The device is also provided with a cooling water flushing mechanism (5) for spraying cooling liquid onto the processing position.

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