Feeding and discharging manipulator for cylindrical grinding machine

Abstract

The utility model relates to the technical field of manipulators, in particular to a feeding and discharging manipulator for a cylindrical grinding machine, which is characterized in that a mounting seat is movably mounted at the bottom of a mechanical arm, and a transverse driving box is fixedly mounted at the bottom of the mounting seat; the first motor can drive the first threaded lead screw to rotate, the first threaded lead screw can drive the first nut seat to horizontally move, the first nut seat can synchronously drive the transverse driving box and the mechanical arm to horizontally move front and back, and therefore the front-back position of the mechanical arm can be conveniently adjusted; meanwhile, a second threaded lead screw can be driven to rotate through a second motor, the second threaded lead screw can drive a second nut base to horizontally move, the second nut base can synchronously drive the mechanical arm to horizontally move left and right, and therefore the left-right position of the mechanical arm can be conveniently adjusted; therefore, the function of adjusting the front, back, left and right positions of the mechanical arm is achieved, and the working range of the mechanical arm is also expanded by adjusting the position of the mechanical arm.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, in particular to a loading and unloading manipulator for a cylindrical grinder. Background Art

[0002] A grinder is a machine tool that uses abrasive tools to grind workpieces to obtain the required shape, size and precision machined surface. The processing action of a grinder is grinding. Grinding is the primary work in mechanical processing. The sharpening of cutting tools and the precise manufacturing of mechanical parts all depend on grinding. Grinding is also a part of precision processing. The function of a grinder is to perform high-precision and relatively small rough surface grinding. It can perform high-efficiency grinding. A grinder can process hardened steel, cemented carbide and other materials with relatively high hardness, and can also process glass, granite and other materials with relatively high brittleness.

[0003] When a traditional grinder is grinding or cutting a workpiece, the product needs to be placed inside the grinder bed. A robotic arm is generally provided on the grinder. The existing robotic arm is generally fixedly installed next to the grinder, which limits the working range of the robotic arm and affects the practicality of the robotic arm. At the same time, when the position of the robotic arm is adjusted, the robotic arm needs to be disassembled and assembled, which wastes the time and energy of the staff and reduces the work efficiency of the staff. In addition, the robotic arm is not easy to disassemble and assemble as a whole, which makes it inconvenient to repair and transport the robotic arm. Therefore, we propose a loading and unloading robot for cylindrical grinders to solve the above problems. Utility Model Content

[0004] The utility model aims to solve the shortcomings in the background technology and proposes a loading and unloading manipulator for a cylindrical grinder.

[0005] In order to achieve the above purpose, the technical solution adopted by the utility model is: a loading and unloading manipulator for an external cylindrical grinder, comprising: a vertical drive box, a transverse drive box, a mounting seat, and a mechanical arm, wherein a mounting seat is movably mounted at the bottom of the mechanical arm, a transverse drive box is fixedly mounted at the bottom of the mounting seat, and vertical drive boxes are fixedly mounted on both sides of the bottom of the transverse drive box;

[0006] The vertical drive box includes a mounting ear, a fixing bolt, a first motor, a first threaded screw, and a first nut seat. The vertical drive box is fixedly installed with mounting ears on both sides, and a fixing bolt is movably installed inside the mounting ear. The first motor is fixedly installed on the right side of the vertical drive box, and a first threaded screw is movably installed inside the vertical drive box. The left side of the first threaded screw is rotatably connected to the inner wall of the vertical drive box, and the right side of the first threaded screw extends to the outside of the vertical drive box and is fixedly connected to the output end of the first motor. The outer wall of the first threaded screw is threadedly connected to the first nut seat;

[0007] The transverse drive box includes a second motor, a second threaded screw, and a second nut seat. Both sides of the bottom of the transverse drive box are fixedly connected to the top of the first nut seat. The right side of the transverse drive box is fixedly connected to the second motor. A second threaded screw is movably installed inside the transverse drive box, and the left side of the second threaded screw is rotatably connected to the inner wall of the transverse drive box, and the right side of the second threaded screw is fixedly connected to the output end of the second motor, and the outer wall of the second threaded screw is threadedly connected to the second nut seat;

[0008] The mounting seat includes a first threaded hole, a first bolt, and a first positioning cavity. The bottom of the mounting seat is fixedly connected to the top of the second nut seat. A plurality of the first threaded holes are arranged around the edge of the upper surface of the second nut seat. The first bolts are threadedly installed inside the first threaded holes. The first positioning cavity is fixedly installed on the upper surface of the mounting seat.

[0009] The mechanical arm includes a base, a first positioning block, a second threaded hole, a third motor, a rotating rod, a first arm body, a connecting seat, a second positioning cavity, a third threaded hole, a second arm body, a connecting plate, a fourth threaded hole, a second bolt, a third arm body, a fourth arm body, a bottom plate, a fifth threaded hole, a third bolt, a material clamping box, a mounting plate, a sixth threaded hole, a sliding rod, a cylinder, a telescopic rod, a sliding block, a clamping plate, and a second positioning block. A base is provided at the bottom of the mechanical arm, a first positioning block is fixedly installed at the middle of the bottom of the base, and the first positioning block is movably installed inside the first positioning cavity, a plurality of second threaded holes are arranged around the bottom edge of the base, and the first bolt is threadedly installed inside the second threaded hole, a third motor is fixedly installed inside the base, a rotating rod is fixedly installed at the top output end of the third motor, and the top of the rotating rod rotates and extends to the outside of the top of the base, the first arm body is fixedly installed on the top of the rotating rod, a connecting seat is rotatably installed at the tail end of the first arm body, a second positioning cavity is fixedly installed in the middle of the tail end surface of the connecting seat, a plurality of the third threaded holes are arranged on the edge of the tail end surface of the connecting seat, and the connecting The cam is provided with a plurality of fourth threaded holes, and the third threaded holes and the fourth threaded holes are both threadedly installed with second bolts. The third arm body is rotatably installed at the top tail end of the second arm body, and the fourth arm body is rotatably installed at the tail end of the third arm body. The bottom of the fourth arm body is fixedly installed with a bottom plate, and the edge of the bottom plate is provided with a plurality of fifth threaded holes. A material clamping box is movably installed at the bottom of the bottom plate, and a mounting plate is fixedly installed at the top of the material clamping box, and a plurality of sixth threaded holes are provided at the edge of the mounting plate, and the third bolts are both threadedly installed in the fifth threaded holes and the sixth threaded holes. A sliding rod is fixedly installed in the middle of the interior of the material clamping box, and a cylinder is fixedly installed at the top of the interior of the material clamping box. Telescopic rods are provided on both sides of the cylinder, and sliders are fixedly installed at the tail ends of the two telescopic rods, and the sliders are slidably connected to the sliding rods, and clamps are fixedly installed at the bottoms of the two sliders.

[0010] Preferably, the two vertical drive boxes are arranged in a symmetrical structure.

[0011] Preferably, the length between the two vertical drive boxes is equal to the length of the transverse drive box.

[0012] Preferably, the first positioning block and the interior of the first positioning cavity are inlaid structures, and the first bolts and the second threaded holes correspond one to one.

[0013] Preferably, the second positioning block and the interior of the second positioning cavity are inlaid structures, and the third threaded holes correspond to the fourth threaded holes one by one.

[0014] Preferably, the base plate corresponds to the mounting plate in upper and lower parts, and the fifth threaded hole corresponds to the sixth threaded hole in one-to-one correspondence.

[0015] Preferably, the two clamping plates are arranged in a symmetrical structure.

[0016] Compared with the prior art, the utility model has the following beneficial effects:

[0017] (1) The first motor can drive the first threaded screw to rotate, and the first threaded screw can drive the first nut seat to move horizontally, so that the first nut seat can synchronously drive the lateral drive box and the robot arm to move horizontally front and back, thereby facilitating the adjustment of the front and back positions of the robot arm; at the same time, the second motor can drive the second threaded screw to rotate, and the second threaded screw can drive the second nut seat to move horizontally, so that the second nut seat can synchronously drive the robot arm to move horizontally left and right, thereby facilitating the adjustment of the left and right positions of the robot arm; thereby realizing the function of adjusting the front and back, left and right positions of the robot arm, and by adjusting the position of the robot arm, the working range of the robot arm is also expanded.

[0018] (2) The first positioning block is embedded in the first positioning cavity, so that the base can be installed on the mounting seat, and then the first bolt is tightened to the first bolt and the second threaded hole, so that the base can be locked and fixed, so that the robot arm can be stably installed. When the robot arm needs to be disassembled, the first bolt can be unscrewed to remove the robot arm, so that the robot arm is easy to disassemble and assemble, and convenient for maintenance and transportation.

[0019] (3) The second positioning block is embedded in the second positioning cavity, so that the connecting plate can be installed on the connecting seat, so that the second arm body can be installed on the first arm body, and the second bolt is tightened into the third threaded hole and the fourth threaded hole, so that the second arm body can be locked and fixed, and when the second arm body needs to be disassembled, the second bolt can be unscrewed to remove the second arm body, so that the whole mechanical arm is easy to disassemble and install, and convenient for maintenance and transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is the front view of the utility model as a whole;

[0021] Figure 2 It is a schematic diagram of the main cross-sectional structure of the utility model as a whole;

[0022] Figure 3 It is a right side cross-sectional structural schematic diagram of the utility model as a whole;

[0023] Figure 4 The utility model is the whole Figure 2 The enlarged structural diagram at A in the middle;

[0024] Figure 5The utility model is the whole Figure 3 The enlarged structural diagram at B in the middle;

[0025] Figure 6 The utility model is the whole Figure 3 Enlarged structural diagram at point C in the middle.

[0026] In the figure: 1, vertical drive box; 101, mounting ear; 102, fixing bolt; 103, first motor; 104, first threaded screw; 105, first nut seat; 2, horizontal drive box; 201, second motor; 202, second threaded screw; 203, second nut seat; 3, mounting seat; 301, first threaded hole; 302, first bolt; 303, first positioning cavity; 4, mechanical arm; 401, base; 402, first positioning block; 403, second threaded hole; 404, third motor; 405, rotating rod; 406, first arm body; 407, connecting seat; 408, second positioning cavity;

[0027] 409, third threaded hole; 410, second arm body; 411, connecting plate; 412, fourth threaded hole; 413, second bolt; 414, third arm body; 415, fourth arm body; 416, bottom plate; 417, fifth threaded hole; 418, third bolt; 419, clamping box; 420, mounting plate; 421, sixth threaded hole; 422, sliding rod; 423, cylinder; 424, telescopic rod; 425, slider; 426, clamping plate; 427, second positioning block. DETAILED DESCRIPTION

[0028] The following description is used to disclose the present invention so that those skilled in the art can implement the present invention. The preferred embodiments described below are only examples, and those skilled in the art may think of other obvious variations.

[0029] like Figure 1-6 The loading and unloading manipulator for a cylindrical grinder shown in the figure comprises: a vertical drive box 1, a transverse drive box 2, a mounting seat 3, and a mechanical arm 4, wherein the mounting seat 3 is movably mounted at the bottom of the mechanical arm 4, the transverse drive box 2 is fixedly mounted at the bottom of the mounting seat 3, and the vertical drive boxes 1 are fixedly mounted on both sides of the bottom of the transverse drive box 2;

[0030] The vertical drive box 1 includes a mounting ear 101, a fixing bolt 102, a first motor 103, a first threaded screw 104, and a first nut seat 105. The mounting ears 101 are fixedly installed on both sides of the vertical drive box 1, and the fixing bolts 102 are movably installed inside the mounting ears 101. The first motor 103 is fixedly installed on the right side of the vertical drive box 1. The first threaded screw 104 is movably installed inside the vertical drive box 1, and the left side of the first threaded screw 104 is rotatably connected to the inner wall of the vertical drive box 1, and the right side of the first threaded screw 104 extends to the outside of the vertical drive box 1 and is fixedly connected to the output end of the first motor 103, and the outer wall of the first threaded screw 104 is threadedly connected to the first nut seat 105;

[0031] The transverse drive box 2 includes a second motor 201, a second threaded screw 202, and a second nut seat 203. Both sides of the bottom of the transverse drive box 2 are fixedly connected to the top of the first nut seat 105. The right side of the transverse drive box 2 is fixedly connected to the second motor 201. The second threaded screw 202 is movably installed inside the transverse drive box 2, and the left side of the second threaded screw 202 is rotatably connected to the inner wall of the transverse drive box 2, and the right side of the second threaded screw 202 is fixedly connected to the output end of the second motor 201. The outer wall of the second threaded screw 202 is threadedly connected to the second nut seat 203.

[0032] The mounting seat 3 includes a first threaded hole 301, a first bolt 302, and a first positioning cavity 303. The bottom of the mounting seat 3 is fixedly connected to the top of the second nut seat 203. A plurality of first threaded holes 301 are arranged around the edge of the upper surface of the second nut seat 203. The first bolts 302 are threadedly installed inside the first threaded holes 301. The first positioning cavity 303 is fixedly installed on the upper surface of the mounting seat 3.

[0033] The mechanical arm 4 includes a base 401, a first positioning block 402, a second threaded hole 403, a third motor 404, a rotating rod 405, a first arm body 406, a connecting seat 407, a second positioning cavity 408, a third threaded hole 409, a second arm body 410, a connecting plate 411, a fourth threaded hole 412, a second bolt 413, a third arm body 414, a fourth arm body 415, a bottom plate 416, a fifth threaded hole 417, a third bolt 418, a clamping box 419, a mounting plate 420, a sixth threaded hole 421, a sliding rod 422, a cylinder 423, a telescopic rod 424, a sliding block 425, a clamping plate 426, and a second positioning block 427. The bottom of the mechanical arm 4 is provided with a base 401, and the bottom of the base 401 A first positioning block 402 is fixedly installed in the middle, and the first positioning block 402 is movably installed in the first positioning cavity 303. A plurality of second threaded holes 403 are arranged around the bottom edge of the base 401, and the first bolts 302 are threadedly installed in the second threaded holes 403. A third motor 404 is fixedly installed in the base 401. A rotating rod 405 is fixedly installed on the top output end of the third motor 404, and the top of the rotating rod 405 rotates and extends to the outside of the top of the base 401. A first arm 406 is fixedly installed on the top of the rotating rod 405, and a connecting seat 407 is rotatably installed at the tail end of the first arm 406. A second positioning cavity 408 is fixedly installed in the middle of the tail end surface of the connecting seat 407. The tail end of the connecting seat 407 A plurality of third threaded holes 409 are provided on the surface edge, a second arm body 410 is movably mounted on the tail end of the connecting seat 407, a connecting plate 411 is fixedly mounted on the bottom tail end of the second arm body 410, a second positioning block 427 is fixedly mounted on the middle of the bottom of the connecting plate 411, and the second positioning block 427 is movably mounted inside the second positioning cavity 408, a plurality of fourth threaded holes 412 are provided on the surface edge of the connecting plate 411, second bolts 413 are threadedly mounted inside the third threaded holes 409 and the fourth threaded holes 412, a third arm body 414 is rotatably mounted on the top tail end of the second arm body 410, a fourth arm body 415 is rotatably mounted on the tail end of the third arm body 414, a bottom plate 416 is fixedly mounted on the bottom of the fourth arm body 415, and a bottom plate 416 is fixedly mounted on the bottom of the fourth arm body 415. A plurality of fifth threaded holes 417 are provided at the edge of the plate 416, a material clamping box 419 is movably installed at the bottom of the bottom plate 416, a mounting plate 420 is fixedly installed at the top of the material clamping box 419, a plurality of sixth threaded holes 421 are provided at the edge of the mounting plate 420, and third bolts 418 are threadedly installed inside the fifth threaded holes 417 and the sixth threaded holes 421, a sliding rod 422 is fixedly installed in the middle of the material clamping box 419, a cylinder 423 is fixedly installed at the top of the material clamping box 419, telescopic rods 424 are provided on both sides of the cylinder 423, sliders 425 are fixedly installed at the tail ends of the two telescopic rods 424, and the sliders 425 are slidably connected to the sliding rods 422, and clamps 426 are fixedly installed at the bottoms of the two sliders 425.

[0034] In this embodiment, the two vertical drive boxes 1 are arranged in a symmetrical structure.

[0035] During specific use, the first motor 103 can drive the first threaded screw 104 to rotate, and the first threaded screw 104 can drive the first nut seat 105 to move horizontally, so that the first nut seat 105 can synchronously drive the transverse drive box 2 and the robot arm 4 to move horizontally forward and backward, thereby facilitating the adjustment of the front and rear position of the robot arm 4, thereby realizing the function of adjusting the position of the robot arm 4, and by adjusting the position of the robot arm 4, the working range of the robot arm 4 is expanded.

[0036] In this embodiment, the length between the two vertical drive boxes 1 is equal to the length of the horizontal drive box 2. Second motor 201, second threaded screw 202, second nut seat 203

[0037] During specific use, the second motor 201 can drive the second threaded screw 202 to rotate, and the second threaded screw 202 can drive the second nut seat 203 to move horizontally, so that the second nut seat 203 can synchronously drive the robot arm 4 to move horizontally left and right, thereby facilitating the left and right position of the robot arm 4, thereby realizing the function of adjusting the position of the robot arm 4, and by adjusting the position of the robot arm 4, the working range of the robot arm 4 is expanded.

[0038] In this embodiment, the first positioning block 402 and the interior of the first positioning cavity 303 are inlaid structures, and the first bolts 302 and the second threaded holes 403 correspond to each other one by one.

[0039] During specific use, the first positioning block 402 is embedded in the first positioning cavity 303, so that the base 401 can be installed on the mounting seat 3, and then the first bolt 302 is tightened to the first bolt 302 and the second threaded hole 403, so that the base 401 can be locked and fixed, so that the robotic arm 4 can be stably installed. When the robotic arm 4 needs to be disassembled, the first bolt 302 can be unscrewed to remove the robotic arm 4, so that the robotic arm 4 is easy to disassemble and assemble, and easy to maintain and transport.

[0040] In this embodiment, the second positioning block 427 and the interior of the second positioning cavity 408 are inlaid structures, and the third threaded holes 409 and the fourth threaded holes 412 correspond to each other one by one.

[0041] During specific use, the second positioning block 427 is embedded in the second positioning cavity 408, so that the connecting plate 411 can be installed on the connecting seat 407, so that the second arm body 410 can be installed on the first arm body 406, and the second bolt 413 is tightened to the third threaded hole 409 and the fourth threaded hole 412, so that the second arm body 410 can be locked and fixed, and when the second arm body 410 needs to be disassembled, the second bolt 413 can be unscrewed to remove the second arm body 410, so that the overall mechanical arm 4 is easy to disassemble and install, and convenient for maintenance and transportation.

[0042] In this embodiment, the bottom plate 416 corresponds to the mounting plate 420 in vertical correspondence, and the fifth threaded hole 417 corresponds to the sixth threaded hole 421 in one-to-one correspondence.

[0043] During specific use, the base plate 416 is aligned with the mounting plate 420, and then the third bolt 302 is tightened to the inside of the fifth threaded hole 417 and the sixth threaded hole 421, so that the material clamping box 419 can be locked and installed. When the material clamping box 419 needs to be disassembled, the third bolt 302 can be unscrewed to remove the material clamping box 419, so that the material clamping box 419 is easy to disassemble and install, thereby facilitating the replacement of the corresponding material clamping box 419 according to the shape and size of the workpiece, which can improve practicality.

[0044] In this embodiment, the two clamping plates 426 are arranged in a symmetrical structure.

[0045] During specific use, the cylinder 423 can drive the telescopic rod 424 to move, so that the telescopic rod 424 can synchronously drive the slider 425 to move on the slide rod 422, and the slider 425 can synchronously drive the clamping plate 426 to move, so that the workpiece can be clamped by the two clamping plates 426.

[0046] Note: The connections of the first arm body 406, the second arm body 410, the third arm body 414, and the fourth arm body 415 on the robot arm 4 of this patent are all provided with motors. Since the motion control of the robot arm is achieved by controlling the motor, which is a mature technology on the market, it is not emphasized in the patent, but the shape and structure of the motor have been drawn in the attached figure.

[0047] The working principle of a loading and unloading manipulator for a cylindrical grinder mentioned in the utility model is as follows:

[0048] When in use, the device body can be installed next to the cylindrical grinder through the mounting ears 101 and the fixing bolts 102;

[0049] Then, the first motor 103 can drive the first threaded screw 104 to rotate, and the first threaded screw 104 can drive the first nut seat 105 to move horizontally, so that the first nut seat 105 can synchronously drive the lateral drive box 2 and the mechanical arm 4 to move horizontally front and back, thereby facilitating the front and rear position of the mechanical arm 4 to be adjusted; at the same time, the second motor 201 can drive the second threaded screw 202 to rotate, and the second threaded screw 202 can drive the second nut seat 203 to move horizontally, so that the second nut seat 203 can synchronously drive the mechanical arm 4 to move horizontally left and right, thereby facilitating the left and right position of the mechanical arm 4 to be adjusted; thereby realizing the function of adjusting the front and rear, left and right positions of the mechanical arm 4, and by adjusting the position of the mechanical arm 4, the working range of the mechanical arm 4 is also expanded;

[0050] At the same time, the first positioning block 402 is embedded in the first positioning cavity 303, so that the base 401 can be installed on the mounting seat 3, and then the first bolt 302 is tightened to the first bolt 302 and the second threaded hole 403, so that the base 401 can be locked and fixed, so that the mechanical arm 4 can be stably installed. When the mechanical arm 4 needs to be disassembled, the first bolt 302 can be screwed out to disassemble the mechanical arm 4, so that the mechanical arm 4 is easy to disassemble and assemble, and convenient for maintenance and transportation;

[0051] At the same time, the second positioning block 427 is embedded in the second positioning cavity 408, so that the connecting plate 411 can be installed on the connecting seat 407, so that the second arm body 410 can be installed on the first arm body 406, and the second bolt 413 is tightened to the third threaded hole 409 and the fourth threaded hole 412, so that the second arm body 410 can be locked and fixed, and when the second arm body 410 needs to be disassembled, the second bolt 413 can be screwed out to disassemble the second arm body 410, so that the whole mechanical arm 4 is easy to disassemble and install, and convenient for maintenance and transportation;

[0052] At the same time, through the correspondence between the bottom plate 416 and the mounting plate 420, the third bolt 302 is tightened to the inside of the fifth threaded hole 417 and the sixth threaded hole 421, so that the clamping box 419 can be locked and installed. When the clamping box 419 needs to be disassembled, the third bolt 302 can be unscrewed to remove the clamping box 419, so that the clamping box 419 is easy to disassemble and install, thereby facilitating the replacement of the corresponding clamping box 419 according to the shape and size of the workpiece, which can improve practicality.

[0053] At the same time, the third motor 404 can drive the rotating rod 405 to rotate, and the rotating rod 405 can drive the robot arm 4 to rotate as a whole, so that the robot arm 4 can rotate back and forth to load and unload the workpiece;

[0054] At the same time, the telescopic rod 424 can be driven to move by the cylinder 423, so that the telescopic rod 424 can synchronously drive the slider 425 to move on the slide rod 422, and the slider 425 can synchronously drive the clamping plate 426 to move, so that the workpiece can be clamped by the two clamping plates 426.

[0055] The above shows and describes the basic principle, main features and advantages of the utility model. Those skilled in the art should understand that the utility model is not limited by the above embodiments. The above embodiments and the specification only describe the principles of the utility model. The utility model may be subject to various changes and improvements without departing from the spirit and scope of the utility model. These changes and improvements fall within the scope of the utility model to be protected. The scope of protection claimed by the utility model is defined by the attached claims and their equivalents.

Claims

1. A loading and unloading manipulator for a cylindrical grinder, comprising: A vertical drive box (1), a transverse drive box (2), a mounting seat (3), and a mechanical arm (4), wherein the mechanical arm (4) is characterized in that the mounting seat (3) is movably mounted at the bottom of the mechanical arm (4), the transverse drive box (2) is fixedly mounted at the bottom of the mounting seat (3), and the vertical drive boxes (1) are fixedly mounted on both sides of the bottom of the transverse drive box (2); The vertical drive box (1) comprises a mounting ear (101), a fixing bolt (102), a first motor (103), a first threaded lead screw (104), and a first nut seat (105); the mounting ears (101) are fixedly mounted on both sides of the vertical drive box (1); the fixing bolts (102) are movably mounted inside the mounting ears (101); the first motor (103) is fixedly mounted on the right side of the vertical drive box (1); the first threaded lead screw (104) is movably mounted inside the vertical drive box (1); the left side of the first threaded lead screw (104) is rotatably connected to the inner wall of the vertical drive box (1); the right side of the first threaded lead screw (104) extends to the outside of the vertical drive box (1) and is fixedly connected to the output end of the first motor (103); the outer wall of the first threaded lead screw (104) is threadedly connected to the first nut seat (105); The transverse drive box (2) comprises a second motor (201), a second threaded screw (202), and a second nut seat (203); both sides of the bottom of the transverse drive box (2) are fixedly connected to the top of the first nut seat (105); the right side of the transverse drive box (2) is fixedly connected to the second motor (201); a second threaded screw (202) is movably installed inside the transverse drive box (2); the left side of the second threaded screw (202) is rotatably connected to the inner wall of the transverse drive box (2); the right side of the second threaded screw (202) is fixedly connected to the output end of the second motor (201); and the outer wall of the second threaded screw (202) is threadedly connected to the second nut seat (203); The mounting seat (3) comprises a first threaded hole (301), a first bolt (302), and a first positioning cavity (303); the bottom of the mounting seat (3) is fixedly connected to the top of the second nut seat (203); a plurality of the first threaded holes (301) are arranged around the edge of the upper surface of the second nut seat (203); the first bolts (302) are threadedly installed inside the first threaded holes (301); and the first positioning cavity (303) is fixedly installed on the upper surface of the mounting seat (3); The mechanical arm (4) comprises a base (401), a first positioning block (402), a second threaded hole (403), a third motor (404), a rotating rod (405), a first arm body (406), a connecting seat (407), a second positioning cavity (408), a third threaded hole (409), a second arm body (410), a connecting plate (411), a fourth threaded hole (412), a second bolt (413), a third arm body (414), a fourth arm body (415), a bottom plate (416), a fifth threaded hole (417), a third bolt (418), a material clamping box (419), a mounting plate (420), a sixth threaded hole (421), a sliding rod (422), a cylinder (423), a telescopic rod (424), A slider (425), a clamping plate (426), and a second positioning block (427); a base (401) is provided at the bottom of the mechanical arm (4); a first positioning block (402) is fixedly installed in the middle of the bottom of the base (401), and the first positioning block (402) is movably installed in the first positioning cavity (303); a plurality of second threaded holes (403) are arranged around the bottom edge of the base (401), and the first bolts (302) are threadedly installed in the inner part of the second threaded holes (403); a third motor (404) is fixedly installed in the inner part of the base (401), and a rotating rod (405) is fixedly installed at the top output end of the third motor (404), and the top of the rotating rod (405) is rotated to extend The rotating rod (405) extends to the outside of the top of the base (401), the top of the rotating rod (405) is fixedly installed with a first arm (406), the tail end of the first arm (406) is rotatably installed with a connecting seat (407), the middle part of the tail end surface of the connecting seat (407) is fixedly installed with a second positioning cavity (408), the edge of the tail end surface of the connecting seat (407) is provided with a plurality of third threaded holes (409), the tail end of the connecting seat (407) is movably installed with a second arm (410), the bottom tail end of the second arm (410) is fixedly installed with a connecting plate (411), the middle part of the bottom of the connecting plate (411) is fixedly installed with a second positioning block (427), and the second positioning block (427) is movably installed to the second positioning cavity ( 408), a plurality of fourth threaded holes (412) are arranged on the surface edge of the connecting plate (411), a second bolt (413) is threadedly installed inside the third threaded hole (409) and the fourth threaded hole (412), a third arm (414) is rotatably installed on the top tail end of the second arm (410), a fourth arm (415) is rotatably installed on the tail end of the third arm (414), a bottom plate (416) is fixedly installed on the bottom of the fourth arm (415), a plurality of fifth threaded holes (417) are arranged on the edge of the bottom plate (416), a material clamping box (419) is movably installed on the bottom of the bottom plate (416), and a mounting plate (420) is fixedly installed on the top of the material clamping box (419),The edge of the mounting plate (420) is provided with a plurality of the sixth threaded holes (421), and the third bolts (418) are threadedly installed inside the fifth threaded hole (417) and the sixth threaded hole (421), a slide bar (422) is fixedly installed in the middle of the clamping box (419), a cylinder (423) is fixedly installed at the top of the clamping box (419), telescopic rods (424) are provided on both sides of the cylinder (423), and sliders (425) are fixedly installed at the tail ends of the two telescopic rods (424), and the sliders (425) are slidably connected to the slide bar (422), and clamps (426) are fixedly installed at the bottoms of the two sliders (425).

2. The loading and unloading manipulator for a cylindrical grinder according to claim 1, characterized in that: The two vertical drive boxes (1) are arranged in a symmetrical structure.

3. The loading and unloading manipulator for a cylindrical grinder according to claim 1, characterized in that: The length between the two vertical drive boxes (1) is equal to the length of the horizontal drive box (2).

4. The loading and unloading manipulator for a cylindrical grinder according to claim 1, characterized in that: The first positioning block (402) and the interior of the first positioning cavity (303) are inlaid structures, and the first bolts (302) and the second threaded holes (403) correspond one to one.

5. The loading and unloading manipulator for a cylindrical grinder according to claim 1, characterized in that: The second positioning block (427) and the interior of the second positioning cavity (408) are inlaid structures, and the third threaded hole (409) and the fourth threaded hole (412) are in one-to-one correspondence.

6. The loading and unloading manipulator for a cylindrical grinder according to claim 1, characterized in that: The bottom plate (416) corresponds to the mounting plate (420) in upper and lower parts, and the fifth threaded hole (417) corresponds to the sixth threaded hole (421) in one-to-one parts.

7. The loading and unloading manipulator for a cylindrical grinder according to claim 1, characterized in that: The two clamping plates (426) are arranged in a symmetrical structure.

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