Four-axis numerical control linkage grinding equipment

Abstract

The utility model discloses a four-axis numerical control linkage grinding device which comprises a first surface rough grinding device, a first mechanical arm, a second surface rough grinding device, a second mechanical arm, a first surface fine grinding device, a third mechanical arm, a second surface fine grinding device, a fourth mechanical arm, a feeding device, a conveying device and a discharging device. The four-axis numerical control linkage grinding equipment has two working procedure treatment operations of rough grinding and accurate grinding, in the operation process, an operator only needs to place a tool on the tool placing base, the grinding device can automatically finish rough grinding and accurate grinding treatment operations on the front face and the back face of the tool, operation is very convenient, and working efficiency is high.

Description

Technical Field

[0001] The utility model belongs to the technical field of tool surface grinding, and in particular relates to an automated four-axis numerically controlled linkage grinding device. Background Art

[0002] In the tool surface grinding operation, the front and back sides of the tool need to undergo two processes of rough grinding and fine grinding respectively to complete the tool surface grinding operation.

[0003] However, existing tool surface grinding equipment only has one grinding process operation. For example, tool surface rough grinding equipment can only be used for rough grinding of the tool surface; or tool surface fine grinding equipment can only be used for fine grinding of the tool surface.

[0004] In this way, when the tool needs to be surface ground, the rough grinding operator needs to place the front of the tool on the tool surface rough grinding equipment for rough grinding. After completing the rough grinding of the front of the tool, the rough grinding operator flips the front of the tool to the back, and places the back of the tool on the tool surface rough grinding equipment for rough grinding, thereby completing the rough grinding of both the front and back sides of the tool. After that, the fine grinding operator places the front of the tool on the tool surface fine grinding equipment for fine grinding. After completing the fine grinding of the front of the tool, the fine grinding operator flips the front of the tool to the back, and places the back of the tool on the tool surface fine grinding equipment for fine grinding. Finally, after completing the fine grinding of both the front and back sides of the tool, all process operations for tool surface grinding are completed.

[0005] The above-mentioned tool surface grinding operation requires that the operators be divided into two process operators: rough grinding operators and fine grinding operators, and the operators of each process need to place the front and back sides of the tool on the surface grinding equipment for processing respectively. The operation is cumbersome and complicated, which reduces the work efficiency of tool surface grinding. Utility Model Content

[0006] In view of the above deficiencies in the prior art, the purpose of the present invention is to provide a four-axis CNC linkage grinding device capable of performing rough grinding and fine grinding on the surface of a tool.

[0007] In order to achieve the above-mentioned purpose, the technical solution adopted by the utility model is: a four-axis CNC linkage grinding equipment, including a first surface rough grinding equipment, a first manipulator, a second surface rough grinding equipment, a second manipulator, a first surface fine grinding equipment, a third manipulator, a second surface fine grinding equipment, a fourth manipulator, a feeding device, a conveying device, and a unloading device; the above-mentioned first manipulator can take the tool from the feeding device, and place the tool on the first surface rough grinding equipment for grinding and taking out; the above-mentioned second manipulator can take the tool from the first manipulator, and place the tool on the second surface rough grinding equipment for grinding and taking out, and the second manipulator can also hand over the tool to the starting end position of the conveying device; the above-mentioned third manipulator can take the tool from the terminal end of the conveying device, and place the tool on the first surface fine grinding equipment for grinding and taking out, the above-mentioned fourth manipulator can take the tool from the third manipulator, and place the tool on the second surface fine grinding equipment for grinding and taking out, and the fourth manipulator can also place the tool on the unloading device.

[0008] In the above scheme, when in use, the operator places a batch (or multiple) of tools that need to be ground on the feeding device, and then the first manipulator takes a tool from the feeding device and places the tool on the first surface rough grinding device for rough grinding of the front side of the tool. After the rough grinding of the front side of the tool is completed, the first manipulator takes the tool out of the first surface rough grinding device and hands it over to the second manipulator. The second manipulator places the tool on the second surface rough grinding device for rough grinding of the back side of the tool. After the rough grinding of the back side of the tool is completed, the second manipulator takes the tool out of the second surface rough grinding device and places it at the starting end position of the conveyor device. The tool is transported to the terminal end of the transport device by the conveyor, and then the third manipulator removes the tool from the terminal end of the transport device and places the tool on the first surface fine grinding device for fine grinding of the front of the tool. After the fine grinding of the front of the tool is completed, the third manipulator removes the tool from the first surface fine grinding device and hands it over to the fourth manipulator. The fourth manipulator then places the tool on the second surface fine grinding device for fine grinding of the back of the tool. After the fine grinding of the back of the tool is completed, the fourth manipulator removes the tool from the second surface fine grinding device and places it on the unloading device, thus completing all the processes of tool surface grinding. During the above operation, it is equivalent to the operator only needing to place the tool on the feeding device, and the grinding device can automatically complete the rough grinding and fine grinding operations on both the front and back of the tool. The operation is very convenient and the work efficiency is high. In addition, the four grinding devices perform rough and fine grinding work simultaneously, further improving the grinding efficiency.

[0009] Furthermore, the above-mentioned feeding device includes a base and a knife feeding mechanism arranged on the base, the knife feeding mechanism includes a tool placement seat slidably arranged on the base for placing the tool, a suction block for sucking the tool, and a pushing component arranged on the base for pushing the suction block up and down. The suction block is close to the position of the first manipulator, the tool placement seat can drive the tool to move to the suction block position, the suction block can absorb the tool from the tool placement seat, and the pushing component drives the tool on the suction block to be staggered with the tool position on the tool placement seat. and when all the tools on the tool placement seat are taken out, the tool placement seat will slide backward and reset relative to the base, and the operator will place the tool to be ground on the tool placement seat again.

[0010] Furthermore, the tool placement seat includes a bottom plate slidably arranged on the base, a left support bar, a middle support bar, and a right support bar arranged parallel to each other on the bottom plate, a baffle being provided on the left support bar, a plurality of tool handle slots being arranged in sequence on the middle support bar, and a plurality of blade slots being arranged in sequence on the right support bar, wherein the tool handle slots and the blade slots are aligned and have the same number. When in use, the right end of the tool handle is supported on the tool handle slot, the right end of the tool blade is supported in the blade slot, and the left end of the tool handle is supported on the left support bar, while the left end face of the tool handle abuts against the right side of the baffle, so that the baffle blocks the tool from moving to the left, while the right support bar blocks the tool from moving to the right, and the blade slot of the right support bar prevents the tool from tipping over to the side, thereby positioning the tool, so that multiple knives can be stably placed on the tool placement seat.

[0011] Furthermore, the left support bar is connected to the bottom plate via a slide bar, and the left support bar can slide left and right along the slide bar. When in use, the left support bar can be pushed to the left first to increase the distance between the left support bar and the middle support bar, which makes it easier to support the right end of the tool handle on the tool handle slot of the middle support bar. When all the tool handle slots are filled with tools, the left support bar is pushed to the right to push all the tools to the right, so that the right ends of the blades of all the tools are against the right support bar, so that all the tools can be quickly aligned and placed on the tool placement seat. In addition, the distance between the left support bar and the middle support bar can be changed by sliding the left support bar left and right, so that tools of different lengths can be placed on the tool placement seat.

[0012] Furthermore, the above-mentioned knife feeding mechanism also includes a translation device provided on the base, and the bottom plate is provided on the translation device. The translation device can drive the bottom plate to slide in the forward and backward directions, thereby realizing the structural function that the tool placement seat can slide forward and drive the tool to move to the suction block position and the tool placement seat slides backward to reset.

[0013] Furthermore, the above-mentioned tool feeding mechanism has two, and the two tool feeding mechanisms are parallel to each other and are respectively arranged on the left and right sides of the base. When there is no tool to be adsorbed on the suction block of one of the tool feeding mechanisms, the first robot can then take the tool on the suction block of the other tool feeding mechanism. At this time, the tool for processing can be placed in the tool feeding mechanism without a tool, so that the device can continue to work.

[0014] Furthermore, the above-mentioned pushing assembly includes a cylinder provided on the base, and a push rod that can be extended and retracted relative to the cylinder. The suction block is connected to the pushing end of the push rod. When the cylinder drives the push rod to extend, the push rod will push the suction block to move downward; and when the cylinder drives the push rod to retract, the push rod will drive the suction block to move upward, thereby realizing the structural function of the pushing assembly to push the suction block to move up and down.

[0015] Furthermore, the conveying device includes a conveying rod, support rods provided at both ends of the conveying rod, and a tool holder provided on the conveying rod for fixing a tool. The lower ends of the support rods are fixed to the ground to ensure the support stability of the support rods on the conveying rod, and the conveying rod can slide the tool holder back and forth between the starting end and the ending end of the conveying rod. The starting end of the conveying rod is close to the position of the second manipulator to ensure that the second manipulator can place the tool on the tool holder located at the starting end of the conveying rod. When a tool is fixed to the tool holder located at the starting end of the conveying rod, the conveying rod will transfer the tool holder to the ending end of the conveying rod, so that the tool holder drives the tool to move to the ending end of the conveying rod. The ending end of the conveying rod is close to the position of the third manipulator to ensure that the third manipulator can remove the tool from the tool holder located at the ending end of the conveying rod. When the tool on the tool holder located at the ending end of the conveying rod is removed, the conveying rod will transfer the tool holder located at the ending end back to the starting end of the conveying rod.

[0016] Furthermore, the above-mentioned tool fixing seat includes a slide seat arranged on the transmission rod, and a magnetic block arranged on the slide seat for adsorbing the tool. The slide seat is slidably connected to the transmission rod. This solution uses the suction force of the magnetic block itself to adsorb the tool and fix the tool. This makes it more convenient for the second robot to place the tool on the tool fixing seat for fixation, and it is also more convenient for the third robot to take the tool off the tool fixing seat.

[0017] Furthermore, the above-mentioned unloading device includes a base frame and a conveying workbench arranged on the base frame. The starting end of the conveying workbench is close to the position of the fourth robot to ensure that the fourth robot can place the tool at the starting end position of the conveying workbench, so that the conveying workbench can convey the tool to the collection box for recycling, or directly convey the tool to the next process for operation.

[0018] The four-axis CNC linkage grinding equipment of the present invention has two processing operations of rough grinding and fine grinding. During the operation, the operator only needs to place the tool on the tool placement seat, and the grinding device can automatically complete the rough grinding and fine grinding operations on the front and back sides of the tool. The operation is very convenient and the work efficiency is high. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a structural schematic diagram of a four-axis CNC linkage grinding device according to an embodiment of the present utility model.

[0020] Figure 2 This is a schematic structural diagram of a feeding device according to an embodiment of the present utility model.

[0021] Figure 3 This is a schematic structural diagram of a conveying device according to an embodiment of the present utility model.

[0022] Figure 4 for Figure 3 Enlarged view of part A in the middle.

[0023] Figure 5 This is a schematic structural diagram of the unloading device according to an embodiment of the present utility model. DETAILED DESCRIPTION

[0024] The accompanying drawings are for illustrative purposes only and should not be construed as limiting this patent. To better illustrate the embodiments, some components in the accompanying drawings may be omitted, enlarged, or reduced in size, and do not represent actual product dimensions. Those skilled in the art will understand that some well-known structures and their descriptions may be omitted from the accompanying drawings. The positional relationships depicted in the accompanying drawings are for illustrative purposes only and should not be construed as limiting this patent.

[0025] The same or similar numbers in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if there are terms such as "upper", "lower", "left", "right", "long", "short", etc. indicating directions or positional relationships, they are based on the directions or positional relationships shown in the drawings. This is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and cannot be understood as limiting this patent. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0026] The technical solution of the present invention is further described in detail below through specific embodiments and in conjunction with the accompanying drawings:

[0027] Example 1

[0028] like Figure 1 As shown, this embodiment provides a four-axis CNC linkage grinding equipment, including a first surface rough grinding equipment 11, a first manipulator 12, a second surface rough grinding equipment 21, a second manipulator 22, a first surface fine grinding equipment 31, a third manipulator 32, a second surface fine grinding equipment 41, a fourth manipulator 42, a feeding device 5, a conveying device, and a unloading device 7.

[0029] The above-mentioned first manipulator 12 can take the tool from the feeding device 5 and place the tool on the first surface rough grinding equipment 11 for grinding and removal; the above-mentioned second manipulator 22 can take the tool from the first manipulator 12 and place the tool on the second surface rough grinding equipment 21 for grinding and removal, and the second manipulator 22 can also hand over the tool to the starting end position of the conveying device; the above-mentioned third manipulator 32 can take the tool from the terminal end of the conveying device and place the tool on the first surface fine grinding equipment 31 for grinding and removal, the above-mentioned fourth manipulator 42 can take the tool from the third manipulator 32 and place the tool on the second surface fine grinding equipment 41 for grinding and removal, and the fourth manipulator 42 can also place the tool on the unloading device 7.

[0030] When the four-axis CNC linkage grinding equipment of this embodiment is used, the operator places a batch (multiple) of tools that need to be ground on the feeding device 5, and then the first manipulator 12 takes a tool from the feeding device 5 and places the tool on the first surface rough grinding device 11 for rough grinding of the front side of the tool. After the rough grinding of the front side of the tool is completed, the first manipulator 12 takes the tool out of the first surface rough grinding device 11 and hands it over to the second manipulator 22 (after the first manipulator 12 hands the tool over to the second manipulator 22, the first manipulator 12 will take the next tool from the feeding device 5 for operation), and then the second manipulator 22 places the tool on the second surface rough grinding device 21 for rough grinding of the back side of the tool. After the rough grinding of the back side of the tool is completed, the second manipulator 22 takes the tool out of the first surface rough grinding device 11 and hands it over to the second manipulator 22 The tool is taken out from the second surface rough grinding device 21 and placed on the starting end position of the conveying device, and the conveying device conveys the tool to the terminal end position of the conveying device. The third manipulator 32 then takes the tool out from the terminal end of the conveying device and places the tool on the first surface fine grinding device 31 for fine grinding of the front side of the tool. After the fine grinding of the front side of the tool is completed, the third manipulator 32 takes the tool out from the first surface fine grinding device 31 and hands it over to the fourth manipulator 42. The fourth manipulator 42 then places the tool on the second surface fine grinding device 41 for fine grinding of the back side of the tool. After the fine grinding of the back side of the tool is completed, the fourth manipulator 42 takes the tool out from the second surface fine grinding device 41 and places it on the unloading device 7, thereby completing all the processes of tool surface grinding.

[0031] During the above operation, the operator only needs to place the tool on the feeding device 5, and the grinding device can automatically complete the rough grinding and fine grinding operations on the front and back sides of the tool. The operation is very convenient and the work efficiency is high. In addition, the four grinding devices perform rough and fine grinding at the same time, further improving the grinding efficiency.

[0032] Example 2

[0033] This embodiment is a further improvement based on the structure of the four-axis CNC linkage grinding equipment of embodiment 1. The improvement is that Figure 2 As shown, the above-mentioned feeding device 5 includes a base 51 and a knife feeding mechanism arranged on the base 51, and the knife feeding mechanism includes a tool placement seat 52 slidably arranged on the base 51 for placing the tool, a suction block 53 for sucking the tool, and a pushing component 54 arranged on the base 51 for pushing the suction block 53 up and down. The suction block 53 is close to the position of the first manipulator 12 to ensure that the first manipulator 12 can take the tool from the suction block 53, the tool placement seat 52 can drive the tool to move to the position of the suction block 53, the suction block 53 can absorb the tool from the tool placement seat 52, and the pushing component 54 drives the tool on the suction block 53 to be staggered with the tool position on the tool placement seat 52.

[0034] During use, the operator places a batch (or multiple) of tools that need to be ground on the tool placement seat 52. At this time, the pushing component 54 pushes the suction block 53 to move downward until it is aligned with the position of the tool on the tool placement seat 52. At the same time, the tool placement seat 52 slides forward relative to the base 51 to drive the tool located at the front position of the tool placement seat 52 to move to the position of the suction block 53, so that the suction block 53 absorbs the tool, and then the pushing component 54 drives the suction block 53 and the tool to move upward and away from the tool placement seat 52, so that the tool is staggered with the tool on the tool placement seat 52. In this way, the first manipulator 12 can pick up the tool from the suction block 53; and when the tool on the suction block 53 is taken out by the first manipulator 12, the pushing component 54 will push the suction block 53 downward again, and at the same time the tool placement seat 52 slides forward and drives the next tool to move to the position of the suction block 53, and then the suction block 53 absorbs the tool and moves it upward to wait for the first manipulator 12 to take it away; and when all the tools on the tool placement seat 52 are taken out, the tool placement seat 52 will slide backward relative to the base 51 to reset, and then the operator will place the tool to be ground on the tool placement seat 52 again.

[0035] Specifically, the above-mentioned tool placement seat 52 includes a bottom plate 521 slidably arranged on the base 51, a left support bar 522, a middle support bar 523 and a right support bar 524 parallel to each other on the bottom plate 521, a baffle 5221 is provided on the left support bar 522, a plurality of tool handle grooves 5231 are arranged in sequence on the middle support bar 523, and a plurality of blade grooves 5241 are arranged in sequence on the left side of the right support bar 524. The tool handle grooves 5231 and the blade grooves 5241 are aligned with each other and have the same number. When in use, the right end of the tool handle is supported on the tool handle groove 5231, the right end of the tool blade is supported in the blade groove 5241, and the left end of the tool handle is supported on the left support bar 522. At the same time, the left end face of the tool handle is against the right side of the baffle 5221, so that the baffle 5221 can prevent the tool from moving to the left, and the right support bar 524 can prevent the tool from moving to the right, and the blade groove 524 of the right support bar 524 can prevent the tool from tipping over to the side, thereby positioning the tool, so that multiple knives can be placed firmly on the tool placement seat 52.

[0036] In addition, the aforementioned knife feeding mechanism also includes a translation device 511 disposed on the base 51. The bottom plate 51 is disposed on the translation device 511. The translation device 511 can drive the bottom plate 51 to slide forward and backward, thereby achieving the structural function of the tool placement seat 52 sliding forward to move the tool to the position of the suction block 53 and the tool placement seat 52 sliding backward to return to its original position. The aforementioned pushing assembly 54 includes a cylinder 541 disposed on the base 51 and a push rod 542 that can be extended and retracted relative to the cylinder 541. The suction block 53 is connected to the pushing end of the push rod 542. During use, when the cylinder 541 drives the push rod 542 to extend, the push rod 542 pushes the suction block 53 downward; when the cylinder 541 drives the push rod 542 to retract, the push rod 542 drives the suction block 53 upward, thereby achieving the structural function of the pushing assembly 54 to push the suction block 53 up and down.

[0037] As an improvement to this embodiment, the left support bar 522 is connected to the bottom plate 521 via a slide bar 525, and the left support bar 522 can slide left and right along the slide bar 525. When in use, the left support bar 522 can be first pushed to slide leftward to increase the distance between the left support bar 522 and the middle support bar 523, which makes it easier to support the right end of the knife handle on the knife handle groove 5231 of the middle support bar 523. When all the knife handle grooves 5231 are filled with knives, the left support bar 522 can be pushed to slide rightward to push all the knives to the right, so that the right ends of the blades of all the knives are against the right support bar 524, so that all the knives can be quickly aligned and placed on the knife placement seat 52. In addition, the distance between the left support bar 522 and the middle support bar 523 can be changed by sliding the left support bar 522 left and right, so that knives of different lengths can be placed on the knife placement seat 52.

[0038] There are two of the above-mentioned tool feeding mechanisms, which are parallel to each other and are respectively arranged on the left and right sides of the base 52. In this way, when the suction block 53 of one of the tool feeding mechanisms has no tool to adsorb, the first robot 12 can then take the tool on the suction block 53 of the other tool feeding mechanism. At this time, the tool for processing can be placed in the tool feeding mechanism without a tool, so that the device can continue to work.

[0039] Example 3

[0040] This embodiment is a further improvement based on the structure of the four-axis CNC linkage grinding equipment of the second embodiment. The improvement is that Figure 3 As shown, the above-mentioned conveying device includes a conveying rod 61, support rods 63 respectively arranged at both ends below the conveying rod 61, and a tool fixing seat 62 arranged on the conveying rod 61 for fixing the tool. The lower end of the support rod 63 is fixed to the ground to ensure the supporting stability of the support rod 63 on the conveying rod 61, and the conveying rod 61 can slide the tool fixing seat 62 back and forth between the starting end and the ending end of the conveying rod 61.

[0041] Among them, the starting end of the above-mentioned transmission rod 61 is close to the position of the second manipulator 22 to ensure that the second manipulator 22 can place the tool on the tool fixing seat 62 located at the starting end position of the transmission rod 61, and when a tool is fixed on the tool fixing seat 62 located at the starting end position of the transmission rod 61, the transmission rod 61 will transmit the tool fixing seat 62 to the terminal end position of the transmission rod 61, so that the tool fixing seat 62 drives the tool to move to the terminal end position of the transmission rod 61; the terminal end of the above-mentioned transmission rod 61 is close to the position of the third manipulator 32 to ensure that the third manipulator 32 can take out the tool from the tool fixing seat 62 located at the terminal end position of the transmission rod 61, and when the tool on the tool fixing seat 62 located at the terminal end position of the transmission rod 61 is taken away, the transmission rod 61 will transmit the tool fixing seat 62 located at the terminal end position back to the starting end position of the transmission rod 61.

[0042] like Figure 4 As shown, the tool holder 62 includes a slide 621 mounted on the transmission rod 61, and a magnetic block 622 mounted on the slide 621 for adsorbing the tool. The slide 621 is slidably connected to the transmission rod 61, and a synchronous belt or chain is provided inside the transmission rod 61 to pull the slide 621 back and forth. This solution uses the suction force of the magnetic block 622 itself to adsorb and secure the tool. This makes it easier for the second manipulator 22 to place the tool on the tool holder 62 for fixation, and also makes it easier for the third manipulator 32 to remove the tool from the tool holder 62. Specifically, the magnetic block 622 comprises two pieces, and the two magnetic blocks 622 are respectively positioned on the left and right sides of the slide 621, so that one magnetic block 622 adsorbs the blade of the tool, and the other magnetic block 622 adsorbs the handle of the tool, making the adsorption more stable.

[0043] like Figure 5 As shown, the above-mentioned unloading device 7 includes a base frame 71 and a conveying workbench 72 arranged on the base frame 71. The starting end of the conveying workbench 72 is close to the position of the fourth manipulator 42 to ensure that the fourth manipulator 42 can place the tool at the starting end position of the conveying workbench 72, so that the conveying workbench 72 can convey the tool to the collection box for recycling, or directly convey the tool to the next process for operation.

[0044] Obviously, the above embodiments of the present invention are merely examples for the purpose of clearly illustrating the present invention, and are not intended to limit the implementation methods of the present invention. A person skilled in the art will be able to make other variations or modifications based on the above description. It is not necessary and impossible to enumerate all implementation methods here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the claims of the present invention.

Claims

1. A four-axis CNC linkage grinding equipment, characterized in that : comprising a first surface rough grinding device (11), a first manipulator (12), a second surface rough grinding device (21), a second manipulator (22), a first surface fine grinding device (31), a third manipulator (32), a second surface fine grinding device (41), a fourth manipulator (42), a feeding device (5), a conveying device, and a discharge device (7); The first manipulator (12) can take the tool from the feeding device (5) and place the tool on the first surface rough grinding device (11) for grinding and removal; the second manipulator (22) can take the tool from the first manipulator (12) and place the tool on the second surface rough grinding device (21) for grinding and removal, and the second manipulator (22) can also hand over the tool to the starting end position of the conveying device; The third manipulator (32) can take the tool from the terminal end of the conveying device and place the tool on the first surface fine grinding device (31) for grinding and removal. The fourth manipulator (42) can take the tool from the third manipulator (32) and place the tool on the second surface fine grinding device (41) for grinding and removal. The fourth manipulator (42) can also place the tool on the unloading device (7).

2. The four-axis CNC linkage grinding equipment according to claim 1, characterized in that: The feeding device (5) includes a base (51) and a knife feeding mechanism arranged on the base (51), the knife feeding mechanism includes a tool placement seat (52) slidably arranged on the base (51) for placing a tool, a suction block (53) for sucking the tool, and a pushing component (54) arranged on the base (51) for pushing the suction block (53) to move up and down, the suction block (53) is close to the position of the first manipulator (12), the tool placement seat (52) can drive the tool to move to the position of the suction block (53), the suction block (53) can absorb the tool and detach it from the tool placement seat (52), and the pushing component (54) drives the tool on the suction block (53) to be staggered with the tool on the tool placement seat (52).

3. The four-axis CNC linkage grinding equipment according to claim 2, characterized in that: The tool placement seat (52) includes a bottom plate (521) slidably arranged on the base (51), a left support bar (522), a middle support bar (523) and a right support bar (524) arranged parallel to each other on the bottom plate (521), a baffle (5221) is provided on the left support bar (522), a plurality of tool handle grooves (5231) are arranged in sequence on the middle support bar (523), and a plurality of blade grooves (5241) are arranged in sequence on the right support bar (524), and the tool handle grooves (5231) and the blade grooves (5241) are aligned in position and have the same number.

4. The four-axis CNC linkage grinding equipment according to claim 3, characterized in that: The left support bar (522) is connected to the bottom plate (521) via a slide bar (525), and the left support bar (522) can slide along the slide bar (525).

5. The four-axis CNC linkage grinding equipment according to claim 3, characterized in that: The knife feeding mechanism further comprises a translation device (511) arranged on the base (51), and the bottom plate (521) is arranged on the translation device (511).

6. The four-axis CNC linkage grinding equipment according to claim 5, characterized in that: There are two knife feeding mechanisms, which are parallel to each other and respectively arranged on the left and right sides of the base.

7. The four-axis CNC linkage grinding equipment according to claim 2, characterized in that: The pushing assembly (54) comprises a cylinder (541) arranged on the base (51) and a push rod (542) that can be telescopic relative to the cylinder (541), and the suction block (53) is connected to the pushing end position of the push rod (542).

8. The four-axis CNC linkage grinding equipment according to any one of claims 1 to 7, characterized in that: The conveying device comprises a conveying rod (61), support rods (63) respectively arranged at both ends below the conveying rod (61), and a tool fixing seat (62) arranged on the conveying rod (61) for fixing a tool, wherein the starting end of the conveying rod (61) is close to the position of the second manipulator (22), and the ending end of the conveying rod (61) is close to the position of the third manipulator (32), and the conveying rod (61) can drive the tool fixing seat (62) to slide back and forth between the starting end and the ending end of the conveying rod (61).

9. The four-axis CNC linkage grinding equipment according to claim 8, characterized in that: The tool fixing seat (62) includes a slide seat (621) arranged on the transmission rod (61), and a magnetic block (622) arranged on the slide seat (621) for adsorbing the tool, and the slide seat (621) is slidably connected to the transmission rod (61).

10. The four-axis CNC linkage grinding equipment according to claim 8, characterized in that: The unloading device (7) comprises a base frame (71) and a conveying workbench (72) arranged on the base frame (71), and the starting end of the conveying workbench (72) is close to the position of the fourth manipulator (42).

Images