Small-part-material double-face grinding equipment with automatic tool changing function

Abstract

The utility model discloses small-part-material double-face grinding equipment with an automatic tool changing function. The small-part-material double-face grinding equipment comprises a double-cutter-head power head unit, a tool changer unit, a workbench unit and a base frame. The double-cutterhead power head unit is slidably mounted on the base frame through the horizontal moving mechanism, and the tool magazine unit is mounted on one side of the double-cutterhead power head unit on the base frame and can ascend and descend on the base frame; the double-cutterhead power head unit comprises an upper cutterhead mechanism and a lower cutterhead mechanism which are oppositely arranged up and down, the upper cutterhead mechanism and the lower cutterhead mechanism are arranged on a base plate mounted on the horizontal moving mechanism, and cutterhead groups of chamfering assemblies of the upper cutterhead mechanism and the lower cutterhead mechanism are oppositely arranged and are respectively used for simultaneously chamfering the upper end face and the lower end face of a workpiece; the working table unit is arranged on the base frame, the working table unit is provided with an oppositely-opened table plate which can be driven by the platform driving mechanism to be opened and closed on the base frame, and the tool magazine unit is provided with a plurality of cutter head sets with blades opposite in cutter face direction and used for replacing the cutter head sets of the upper cutter head mechanism and the lower cutter head mechanism. The upper cutterhead mechanism and the lower cutterhead mechanism can conduct chamfering machining on the upper end face and the lower end face of the free edge of a workpiece steel plate at the same time, meanwhile, the upper cutterhead mechanism and the lower cutterhead mechanism are matched with the tool magazine unit, automatic tool changing of the cutterhead mechanisms can be achieved, tool changing is automatically completed in the running process, and the machining efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical processing equipment, in particular to small component double-sided grinding equipment with automatic tool change. Background Art

[0002] Steel plates are widely used in industry, agriculture, and other fields. In the shipbuilding industry, to meet the needs of use, steel plates need to be chamfered. Moreover, the specifications and shapes of the steel plates that need to be chamfered vary, and the edge shapes that need to be chamfered are also different.

[0003] At present, many steel plate chamfering operations are performed manually using handheld chamfering machines. Not only is the work efficiency low, but it is also not suitable for chamfering special-shaped steel plates and cannot meet production requirements, resulting in reduced economic benefits for the enterprise.

[0004] Therefore, it is necessary to propose a small component double-sided grinding equipment with automatic tool change to improve work efficiency and meet the production needs of chamfering of special-shaped steel plates. Utility Model Content

[0005] The utility model provides a small component double-sided grinding device with automatic knife change to overcome the above problems.

[0006] In order to achieve the above purpose, the technical solution of the utility model is:

[0007] A small component double-sided grinding device with automatic tool changer, comprising a double-disc power head unit, a tool magazine unit, a workbench unit, and a base frame;

[0008] The double-disc power head unit is slidably mounted on the base frame through a horizontal moving mechanism, and the tool magazine unit is mounted on one side of the double-disc power head unit on the base frame and can be raised and lowered on the base frame;

[0009] The double-cutting disc power head unit includes an upper cutter disc mechanism and a lower cutter disc mechanism that are arranged opposite to each other in the upper and lower directions. The upper cutter disc mechanism and the lower cutter disc mechanism are arranged on a base plate installed on the horizontal moving mechanism. The upper cutter disc mechanism and the lower cutter disc mechanism have the same structure and both include a chamfering assembly, a lifting assembly and a horizontal moving assembly. The horizontal moving assembly can provide a force that enables the chamfering assembly to always abut against the workpiece in the horizontal direction during processing. The lifting assembly can drive the chamfering assembly to rise and fall on the base plate to approach or move away from the workpiece and the tool magazine unit, and can provide a force that enables the chamfering assembly to always abut against the workpiece in the vertical direction during processing.

[0010] The cutter disc groups of the upper cutter disc mechanism and the lower cutter disc mechanism chamfering assembly are arranged opposite to each other and are used for simultaneously chamfering the upper end face and the lower end face of the workpiece respectively;

[0011] The workbench unit is installed on the base frame. The workbench unit has a split table that can be opened and closed on the base frame under the drive of the platform drive mechanism. The workpiece is placed on the closed split table by a robot. The tool magazine unit has multiple tool disc groups with blades in opposite directions, which are used to replace the tool disc groups of the upper tool disc mechanism and the lower tool disc mechanism when the split table is opened.

[0012] Furthermore, the chamfering assembly includes a spindle group provided on a spindle frame, the cutter head group installed on the spindle group, and a cutter head locking device capable of locking the cutter head group to the spindle group, and the spindle frame is installed on the horizontal drive assembly provided on the base plate;

[0013] The spindle assembly includes a spindle base, a spindle and a driving gear disc;

[0014] The cutterhead assembly includes a cutterhead housing, a passive gear disc, a milling cutter disc, a supporting wheel and a plurality of blades;

[0015] The spindle base is mounted on the spindle frame, and one end of the cutter disc housing is mounted in the spindle base; a cutter disc locking device is provided on the spindle frame, capable of locking the cutter disc housing on the spindle base;

[0016] A passive gear disc and a milling cutter disc connected to the passive gear disc are provided in the cutter disc housing, the active gear disc is provided in the spindle base, one end of the spindle is connected to the spindle rotation drive assembly provided on the spindle frame, the other end of the spindle is connected to the active gear disc, the active gear disc is meshed with the passive gear disc, one end of the milling cutter disc is connected to the passive gear disc, the other end of the milling cutter disc extends out of the cutter disc housing and a supporting wheel is installed at this end, a plurality of blades are circumferentially provided on the end surface between the milling cutter disc and the supporting wheel, and the spindle rotation drive assembly drives the blade to rotate around the axial direction of the spindle by driving the spindle, the active gear disc, the passive gear disc and the milling cutter disc.

[0017] Furthermore, the outer peripheral wall of the cutter disc housing at the end away from the supporting wheel abuts against the inner wall of the spindle base, and the inner wall of the spindle base and the outer peripheral wall of the cutter disc housing are both conical surfaces. The inner wall of the spindle base is a conical surface with an inner diameter gradually decreasing from the end where the cutter disc housing is installed to the end away from the cutter disc housing, and the outer peripheral wall of the cutter disc housing is a conical surface with an outer diameter gradually decreasing from the end close to the blade to the end away from the blade.

[0018] Furthermore, the horizontal moving assembly is installed on the base plate, and the horizontal moving assembly includes a bottom plate, a sub-plate and a top plate arranged in sequence from bottom to top, and the upper and lower surfaces of the sub-plate are respectively provided with a first guide rail and a second guide rail both arranged in the horizontal direction, and the first guide rail and the second guide rail are cross-arranged, the bottom plate is installed on the second guide rail through the second slider, and the top plate is installed on the first guide rail through the first slider, the second cylinder plunger end is fixed on the sub-plate, and the first cylinder plunger end is fixed on the top plate; the main shaft frame is installed on the top plate.

[0019] Furthermore, the cutter disc locking device includes a locking pressure plate, a locking cylinder and a connecting rod structure;

[0020] An abutment portion is provided on the outer wall of the cutter disc housing, one end of the locking pressure plate is the pressing portion, the middle part of the locking pressure plate is hinged to the spindle frame through a connecting rod structure, and the end of the locking pressure plate away from the pressing portion is connected to the locking cylinder plunger through the connecting rod structure. The locking cylinder plunger is retracted to drive the pressing portion of the locking pressure plate to abut against the abutment portion of the cutter disc housing, thereby locking the cutter disc housing on the spindle base or driving the pressing portion of the locking pressure plate to separate from the abutment portion of the cutter disc housing.

[0021] Furthermore, the cutter head housing is provided with a contour positioning frame, and a plurality of universal balls are provided on the end surface of the contour positioning frame close to the supporting wheel, and the universal balls are arranged on the outer side of the blade.

[0022] Furthermore, the lifting assembly includes a lifting frame and a lifting cylinder arranged on the top plate, the lifting frame is provided with a vertically arranged lifting guide rail, the main spindle frame is installed on the lifting guide rail through a lifting slider, and the plunger end of the lifting cylinder is connected to the main spindle frame.

[0023] Furthermore, the spindle rotation drive assembly of the lower cutter disc mechanism includes a lower spindle drive motor, and the motor shaft of the lower spindle drive motor is connected to the active gear disc through the spindle of the lower cutter disc mechanism;

[0024] The spindle rotation drive assembly of the upper cutter disc mechanism includes an upper spindle drive motor, a driving gear, a driven gear and a drive belt. The driving gear connected to the motor shaft of the upper spindle drive motor is connected to the driven gear of the upper cutter disc mechanism through a drive belt. One end of the spindle of the upper cutter disc mechanism is fixed with the driven gear, and the other end is fixedly connected to the passive gear disc of the upper cutter disc mechanism.

[0025] Furthermore, the tool magazine unit further comprises a rotary disc and a plurality of spring tool clamps, wherein a plurality of tool disc assembly mounting positions are provided on the rotary disc in a circumferential direction, the spring tool clamps are provided on the rotary disc, and the supporting parts on both sides of a spring tool clamp are respectively provided on both sides of the tool disc assembly mounting position;

[0026] The rotary disc is slidably mounted on the tool magazine mounting frame through a tool magazine lifting assembly, and the tool magazine mounting frame is mounted on one side of the double-disc power unit on the base frame; the rotary disc is connected to the rotary disc rotation drive assembly.

[0027] Furthermore, it also includes a control unit and a visual unit, wherein the control unit is connected to the double-disc power head unit, the tool magazine unit and the workbench unit;

[0028] The visual unit is used to automatically find the edge of the position to be chamfered on the workpiece.

[0029] The beneficial effects of the utility model are:

[0030] The double-sided grinding equipment for small parts with automatic tool change disclosed by the utility model can simultaneously chamfer the upper and lower end faces of the free edge of the workpiece steel plate through the upper and lower tool disc mechanisms, with high working efficiency. At the same time, in conjunction with the tool magazine unit, automatic tool change of the tool disc mechanism can be realized, and tool replacement is automatically completed during operation, further improving processing efficiency. The double-disc power head unit, tool magazine unit and workbench unit are coordinated together, so that the double-sided grinding equipment for small parts with automatic tool change is applicable to a wide range of workpieces, has strong practicality and a high degree of automation, and can meet the needs of double-sided chamfering of special-shaped steel plates. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following is a brief introduction to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0032] Figure 1 This is a schematic diagram of the structure of the small component double-sided grinding equipment with automatic tool change disclosed in the embodiment of the utility model Figure 1 (including manipulator);

[0033] Figure 2 This is a schematic diagram of the structure of the small component double-sided grinding equipment with automatic tool change disclosed in the embodiment of the utility model Figure 2 ;

[0034] Figure 3 This is a front perspective view of a small component double-sided grinding device with automatic tool changer disclosed in an embodiment of the present utility model;

[0035] Figure 4 This is a schematic structural diagram of a double-disc power head unit of a small component double-sided grinding device with automatic tool changer disclosed in an embodiment of the present utility model;

[0036] Figure 5 This is a front sectional view of a double-disc power head unit of a small component double-sided grinding device with automatic tool changer disclosed in an embodiment of the present utility model;

[0037] Figure 6 for Figure 5 Enlarged view of part A;

[0038] Figure 7 This is a three-dimensional schematic diagram of a cutter head assembly for a double-sided grinding device for small components with automatic tool changer disclosed in an embodiment of the present utility model;

[0039] Figure 8 This is a cross-sectional view of a cutter head assembly of a small component double-sided grinding device with automatic tool changer disclosed in an embodiment of the present utility model;

[0040] Figure 9 This is a schematic diagram of the structure of the tool magazine unit of the small component double-sided grinding equipment with automatic tool changer disclosed in an embodiment of the present utility model;

[0041] Figure 10 This is a front view of a tool magazine unit of a small component double-sided grinding device with automatic tool changer disclosed in an embodiment of the present utility model;

[0042] Figure 11 This is a top view of the tool magazine unit of the small component double-sided grinding equipment with automatic tool changer disclosed in an embodiment of the present utility model.

[0043] In the picture:

[0044] 1. Base frame; 2. Horizontal moving mechanism; 3. Base plate; 4. Spindle frame; 5. Upper cutter disc mechanism; 6. Lower cutter disc mechanism; 7. Spindle assembly; 71. Active gear disc; 72. Spindle base; 73. Spindle; 8. Cutter disc assembly; 81. Blade; 82. Cutter disc housing; 821. Abutment portion; 83. Passive gear disc; 84. Milling cutter disc; 85. Support wheel; 9. Profiling positioning frame; 91. Universal ball bearing; 10. Locking plate; 101. Pressing portion; 11. Locking cylinder; 12. Connecting rod structure; 13. Manipulator; 14. Tool magazine mounting frame; 15. Locking device mounting frame; 16. Lifting cylinder; 17. Lifting Lowering frame; 18. Lifting guide rail; 19. Lifting slider; 20. Lower spindle drive motor; 21. Upper spindle drive motor; 22. Driving gear; 23. Driven gear; 24. Drive belt; 25. Spring tool clamp; 26. Turntable; 27. Tool magazine lifting assembly; 28. Bracket; 29. ​​Mounting plate; 30. Horizontal drive motor; 31. Slide rail; 32. Slide block; 33. Support; 34. Bottom plate; 35. Sub-plate; 36. Top plate; 37. First cylinder; 38. Second cylinder; 39. Split table; 40. First guide rail; 41. Second guide rail; 42. Gear set; 43. Rotary drive motor. DETAILED DESCRIPTION

[0045] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0046] like Figure 1-2The device for double-sided grinding of small parts with automatic tool change provided in this embodiment is shown, comprising a double-disc power head unit, a tool magazine unit, a workbench unit, and a base frame 1;

[0047] The double-disc power head unit is slidably mounted on the base frame 1 through a horizontal moving mechanism, and the tool magazine unit is mounted on one side of the double-disc power head unit on the base frame and can be raised and lowered on the base frame;

[0048] The double-cutting disc power head unit includes an upper cutter disc mechanism 5 and a lower cutter disc mechanism 6 which are arranged opposite to each other in the upper and lower directions. The upper cutter disc mechanism and the lower cutter disc mechanism are arranged on a base plate 3 which is installed on the horizontal moving mechanism 2. The upper cutter disc mechanism and the lower cutter disc mechanism have the same structure and both include a chamfering assembly, a lifting assembly and a horizontal moving assembly. The horizontal moving assembly can provide a force that causes the chamfering assembly to always abut against the workpiece in the horizontal direction during machining. The lifting assembly can drive the chamfering assembly to move up and down on the base plate to approach or move away from the workpiece and the tool magazine unit, and can provide a force that causes the chamfering assembly to always abut against the workpiece in the vertical direction during machining.

[0049] The cutter disc groups 8 of the upper cutter disc mechanism and the lower cutter disc mechanism chamfering assembly are arranged opposite to each other and are used for simultaneously chamfering the upper end surface and the lower end surface of the workpiece respectively;

[0050] The workbench unit is installed on the base frame 1. The workbench unit has a split table 39 that can be opened and closed on the base frame under the drive of the platform driving mechanism. The workpiece is placed on the closed split table by the manipulator 13. The tool magazine unit has multiple tool disc groups 8 with blades 81 with opposite cutting directions, which are used to replace the tool disc groups 8 of the upper tool disc mechanism and the lower tool disc mechanism when the split table is opened.

[0051] Specifically, the horizontal movement mechanism includes a bracket 28, a mounting plate 29, a horizontal drive motor 30, a slide rail 31 and a slider 32. The bracket is installed on the base frame, the mounting plate is provided on the bracket, the mounting plate is provided with a slide rail, the slider is fixed to the lower side of the base plate and installed on the slide rail, the output shaft of the horizontal drive motor is connected to the slider, and the horizontal drive motor drives the base plate and the upper and lower tool disc mechanisms on the base plate to move horizontally along the slide rail by driving the slider, moving toward or away from the tool magazine unit, so as to cooperate with the tool magazine unit to realize the subsequent automatic tool changing operation;

[0052] The platform driving mechanism includes two sets of platform cylinders, platform sliders, and platform slide rails. The split table is arranged in the horizontal direction, and a platform universal ball is provided on it. The platform cylinder plunger is fixedly connected to the table, and the platform slide rail is arranged on the base frame. The split table is installed on the platform slide rail through the platform slider. The plunger of the platform cylinder drives the split table to slide along the platform slide rail, thereby realizing the opposite and reverse movement of the two split table plates, realizing the opening and closing of the split table plates. When the two split table plates 39 are closed, the manipulator 13 grabs the workpiece and places it The workpiece is placed on the split plate and the edge to be processed is moved between the upper and lower cutter disc mechanisms, close to the chamfering components of the upper and lower cutter disc mechanisms. The manipulator 13 pushes the workpiece to first make the upper and lower surfaces of its edge fit with the universal ball 91 on the square positioning frame 9 of the upper and lower cutter disc groups respectively. As the workpiece continues to move, the side surfaces of the edge of the workpiece will fit with the support wheels 85 of the upper and lower cutter disc groups respectively. At this time, the edge of the workpiece to be cut and milled abuts against the blade surfaces of the upper and lower cutter disc groups respectively, and the workpiece is milled by the blades around the rotating milling cutter disc. To cut a chamfer, the manipulator drives the workpiece on the split table and makes the edge of the workpiece always close to the blade surface of the chamfering assembly and the universal ball moves along the edge of the workpiece, moving while processing; the chamfering assembly of the upper and lower cutter disc mechanisms can always make the universal ball abut against the upper and lower surfaces of the workpiece respectively under the action of the lifting assembly, and the support wheel can always be close to the side surface of the edge of the workpiece under the action of the horizontal moving assembly. Under the horizontal elastic action of the first cylinder 37 and the second cylinder 38, the blade can always be close to the edge of the workpiece, and the spindle rotation drive assembly drives the chamfering assembly blade to rotate. At the same time, the manipulator continuously drives the steel plate to move horizontally on the split table. The universal ball provided on the split platform facilitates the translation of the steel plate. The blades of the upper and lower cutter disc mechanisms respectively cut and chamfer the upper and lower end surfaces of the workpiece steel plate. The manipulator cooperates with the blades of the upper and lower cutter disc mechanisms to realize double-sided chamfering of the steel plate, realizes highly automated chamfering, and cooperates with the visual system to further ensure high-precision processing and improve the processing efficiency of the workpiece.

[0053] In this embodiment, a support 33 is fixed on the base plate, and the upper cutter disc mechanism (the bottom plate of the horizontal moving component) is installed on the support to ensure that the upper cutter disc mechanism is located on the upper side of the lower cutter disc mechanism, thereby realizing simultaneous chamfering of the upper and lower end surfaces of the workpiece steel plate.

[0054] The double-sided grinding equipment for small parts with automatic tool change disclosed by the utility model can simultaneously chamfer the upper and lower end faces of the free edge of the workpiece steel plate through the upper and lower cutter disc mechanisms, with high working efficiency. At the same time, in conjunction with the provided tool magazine unit, it can realize automatic tool change of the cutter disc mechanism, and automatically complete the replacement of tools during operation, further improving the processing efficiency. The provided double-disc power head unit cooperates with the tool magazine unit and the workbench unit, so that the double-sided grinding equipment for small parts with automatic tool change is applicable to a wide range of workpieces, has strong practicality, and a high degree of automation, and can meet the needs of double-sided chamfering of special-shaped steel plates; combined with vision to realize automatic edge finding operation, it not only improves the degree of automation, but also ensures the accuracy and stability of the chamfering of special-shaped steel plates. This utility model can perform double-sided chamfering on small steel plate workpieces. It has a clever structure, reasonable layout, high working efficiency and strong practicality. It can meet the needs of chamfering special-shaped steel plates with different specifications and shapes. It has an automatic tool changing function and can also cooperate with a mechanical arm to realize automatic operation. It has a high degree of automation and intelligence, which liberates a large amount of labor while improving work efficiency and saving costs, greatly meeting customer needs. It is a chamfering processing equipment suitable for various industries such as shipbuilding, aerospace, petrochemical, metallurgy, nuclear power, steel structure, etc., and has a very broad market prospect.

[0055] In a specific embodiment, Figure 3 As shown, the chamfering assembly includes a spindle group 7 provided on a spindle frame 4, the cutter head assembly 8 installed on the spindle group, and a cutter head locking device capable of locking the cutter head assembly to the spindle group. The spindle frame 4 is installed on the horizontal moving assembly provided on the base plate.

[0056] The spindle assembly 7 includes a spindle base 72, a spindle 73 and a driving gear disc 71;

[0057] The cutterhead assembly includes a cutterhead housing 82, a passive gear disc 83, a milling cutter disc 84, a supporting wheel 85 and a plurality of blades 81;

[0058] The spindle base 72 is mounted on the spindle frame 4, and one end of the cutter head housing 82 is mounted in the spindle base 72; a locking device mounting bracket 15 is provided on the spindle frame 4, and a cutter head locking device is provided on the locking device mounting bracket. The cutter head locking device can lock the cutter head housing 82 on the spindle base 72;

[0059] like Figure 7 、 Figure 8As shown, a passive gear disc 83 and a milling cutter disc 84 connected to the passive gear disc 83 are provided in the cutter disc housing 82, the active gear disc 71 is provided in the spindle base 72, one end of the spindle 73 is connected to the spindle rotation drive assembly provided on the spindle frame 4, the other end of the spindle 73 is connected to the active gear disc 71, the active gear disc 71 is meshed with the passive gear disc 83, one end of the milling cutter disc 84 is connected to the passive gear disc 83, the other end of the milling cutter disc 84 extends out of the cutter disc housing 82 and a supporting wheel 85 is installed at this end, and a plurality of blades are circumferentially provided on the end surface between the milling cutter disc 84 and the supporting wheel 85, and the spindle rotation drive assembly drives the blade to rotate around the axial direction of the spindle 73 by driving the spindle 73, the active gear disc, the passive gear disc 83 and the milling cutter disc 84.

[0060] The cutterhead housing 82 is also provided with a contour positioning frame 9. A plurality of universal ball transfers 91 are provided on the end surface of the contour positioning frame 9 near the support wheel 85. The universal ball transfers 91 are located outside the blade 81. The universal ball transfers 91 guide the workpiece being processed. During processing, the robot pushes the workpiece (steel plate) toward the chamfering mechanism. The universal ball transfers 91 on the contour positioning frame 9 come into contact with the upper and lower surfaces of the steel plate. Then, as the robot drives the steel plate, the universal ball transfers 91 continuously roll, guiding the movement of the steel plate, thereby improving processing speed and efficiency.

[0061] Specifically, during processing, the chamfering components of the upper cutter disc mechanism 5 and the lower cutter disc mechanism 6 of the double-cutter disc power head unit are moved to a suitable height position through the lifting component. The blades of the chamfering components of the upper cutter disc mechanism 5 and the lower cutter disc mechanism 6 are located at the upper and lower ends of one side of the workpiece placed horizontally on the split table 39. The spindle rotation drive component drives the blade to rotate by driving the spindle 73, the active gear disc 71, the passive gear disc 83, and the milling cutter disc 84. The manipulator moves the workpiece toward the chamfering component. Then, the universal ball 91 on the profiling positioning frame 9 of the upper cutter disc mechanism 5 abuts the upper surface of the workpiece, and the universal ball 91 on the profiling positioning frame 9 of the lower cutter disc mechanism 6 abuts the lower surface of the workpiece. When the workpiece moves to the upper cutter disc mechanism After one side of the support wheel 85 of the upper cutter disc mechanism 5 and the lower cutter disc mechanism 6 abuts against the vertical side wall of the workpiece, with the cooperation of the manipulator, the horizontal moving component, the lifting component and the main shaft rotation drive component, the blades of the upper cutter disc mechanism 5 and the lower cutter disc mechanism 6 chamfer the upper and lower end faces of the workpiece at the same time, which greatly improves the processing efficiency. At the same time, the power head can also meet the chamfering processing of special-shaped steel plates of different specifications and shapes, and has strong applicability; the set support wheel 85 and the horizontal moving component cooperate to realize the lateral force control of the workpiece, and the set lifting component cooperates with the universal ball 91 on the contour positioning frame 9 to realize the longitudinal force control of the workpiece, and cooperates with the visual unit to compensate for the deviation, so as to realize high-precision processing of double-sided chamfering of special-shaped edges of steel plates.

[0062] In a specific embodiment, Figure 5 、 Figure 6 As shown, the outer peripheral wall of the cutter disc housing 82 away from the wheel 85 abuts against the inner wall of the spindle base 72, and the inner wall of the spindle base 72 and the outer peripheral wall of the cutter disc housing 82 are both conical surfaces. The inner wall of the spindle base 72 is a conical surface with an inner diameter gradually decreasing from the end where the cutter disc housing 82 is installed to the end away from the cutter disc housing 82, and the outer peripheral wall of the cutter disc housing 82 is a conical surface with an outer diameter gradually decreasing from the end close to the blade to the end away from the blade; the inner wall of the spindle base 72 and the outer peripheral wall of the cutter disc housing 82 are both set as conical surfaces, and the conical surface with a gradually decreasing inner diameter can 2 plays a guiding role in the process of being installed on the spindle base 72, making it easier for the cutter head assembly to be installed on the spindle assembly 7. At the same time, it can also increase the pressing force of the outer wall of the cutter head housing 82 on the inner wall of the spindle base 72 (relative to the non-tapered surface) when the cutter head locking device presses the cutter head assembly, so that the outer wall of the cutter head housing 82 is closely abutted against the inner wall of the spindle base 72, thereby improving the stability of the cutter head housing 82 installed in the spindle base 72 when the cutter head locking device is pressed, thereby improving the stability of the cutter head assembly installed on the spindle assembly 7, that is, ensuring the stability of the blade installation, thereby ensuring the processing accuracy of the workpiece.

[0063] In a specific embodiment, Figure 5 As shown, the horizontal moving assembly is installed on the base plate 3, including a bottom plate 34, a sub-plate 35 and a top plate 36 arranged in sequence from bottom to top, the upper and lower surfaces of the sub-plate are respectively provided with a first guide rail 40 and a second guide rail 41 arranged in the horizontal direction, and the first guide rail and the second guide rail are arranged crosswise, the bottom plate is mounted on the second guide rail through the second slider, the top plate is mounted on the first guide rail through the first slider, the plunger end of the second cylinder 38 is fixed on the sub-plate, and the plunger end of the first cylinder 37 is fixed on the top plate; the spindle frame 4 is mounted on the top plate, the first guide rail It is arranged crosswise with the second guide rail to form an "X" shape, and at the same time cooperates with the slider and the cylinder to drive the sub-plate along the second guide rail, and the top plate on the sub-plate slides along the first guide rail. It can provide lateral elastic pressure control for the chamfering component during the processing process, and realize high-precision force-controlled movement of the chamfering mechanism in multiple directions to ensure the processing effect. Due to the "X"-shaped installation method, when the machine tool is subjected to external interference or vibration, it can maintain good stability through the mutual support between the two sets of slide blocks, and also enables this grinding equipment to adapt to various complex processing environments and processing requirements.

[0064] In a specific embodiment, Figure 4 As shown, the cutter disc locking device includes a locking pressure plate 10, a locking cylinder 11 and a connecting rod structure 12;

[0065] The outer wall of the cutter disc housing 82 is provided with an abutment portion 821, one end of the locking pressure plate is a pressing portion 101, the middle part of the locking pressure plate 10 is hinged to the locking device mounting frame 15 on the spindle frame 4 through a connecting rod structure 12, and the end of the locking pressure plate 10 away from the pressing portion 101 is connected to the plunger of the locking cylinder 11 through the connecting rod structure 12. The extension and contraction of the plunger of the locking cylinder 11 can drive the pressing portion 101 of the locking pressure plate 10 to abut against the abutment portion 821 of the cutter disc housing 82, thereby locking the cutter disc housing 82 on the spindle base 72 or driving the pressing portion 101 of the locking pressure plate 10 to separate from the abutment portion 821 of the cutter disc housing 82;

[0066] In this embodiment, a spring is further provided between the spindle frame 4 and the locking pressure plate 10 and one end of the locking cylinder 11 plunger, which can enhance the driving force on the connecting rod structure 12, and thereby enhance the clamping force of the clamping portion 101 of the locking pressure plate 10 on the abutment portion 821; when the locking cylinder 11 plunger moves toward the direction close to the blade, that is, the plunger extends, the clamping portion 101 of the locking pressure plate 10 abuts against the abutment 821 of the cutter disc housing 82 and locks the cutter disc housing 82 on the spindle base 72; when the locking cylinder 11 plunger moves toward the direction away from the blade, that is, the plunger retracts, the clamping portion 101 of the pressure plate is separated from the abutment 821 of the cutter disc housing 82, and the cutter disc group can be separated from the spindle group 7, so that the empty turntable mounting position on the turntable of the tool magazine unit where the cutter disc group is not installed can replace the cutter disc group separated from the spindle group 7 and replace it with other cutter disc groups, that is, perform the tool changing operation.

[0067] In a specific embodiment, Figure 4 As shown, the lifting assembly includes a lifting frame 17 and a lifting cylinder 16 arranged on the top plate. The lifting frame 17 is provided with a vertically arranged lifting guide rail 18. The spindle frame 4 is installed on the lifting guide rail 18 through a lifting slider 19. The plunger end of the lifting cylinder 16 is connected to the spindle frame 4. The raising or lowering of the plunger end of the lifting cylinder 16 can drive the spindle frame 4 to rise or fall, and then drive the spindle group 7 and the cutter disc group 8 to rise and fall, so as to realize the precise movement of the blade to the processing position, and provide longitudinal elastic pressure control for the chamfering assembly during the processing to ensure the processing effect. Subsequently, the steel plate is chamfered in conjunction with the rotation of the blade and the horizontal movement of the manipulator to drive the workpiece steel plate.

[0068] In a specific embodiment, Figure 4-5 As shown, the spindle rotation drive assembly of the lower cutter disc mechanism 6 includes a lower spindle drive motor 20, the motor shaft of the lower spindle drive motor is connected to the active gear disc 71 through the spindle 73 of the lower cutter disc mechanism 6, and the lower spindle drive motor drives the active gear disc to rotate around the spindle through the driving spindle, thereby driving the passive gear disc 83 and the milling cutter disc 84 to rotate, thereby driving the blade 81 of the lower cutter disc mechanism 6 to rotate, thereby achieving cutting and chamfering of the lower surface of the workpiece;

[0069] The spindle rotation drive assembly of the upper cutter disc mechanism 5 includes an upper spindle drive motor 21, a driving gear 22, a driven gear 23 and a drive belt 24. The driving gear 22 connected to the motor shaft of the upper spindle drive motor is connected to the driven gear of the upper cutter disc mechanism 5 through a drive belt. One end of the spindle 73 of the upper cutter disc mechanism 5 is fixed with the driven gear, and the other end is fixedly connected to the passive gear disc 83 of the upper cutter disc mechanism 5. The upper spindle drive motor drives the spindle 73 of the upper cutter disc mechanism 5 to rotate by driving the driving gear 22, the drive belt 24 and the driven gear 23, thereby driving the driving gear disc, the passive gear disc 83 and the milling cutter disc 84 to rotate, thereby driving the blade 81 of the upper cutter disc mechanism 5 to rotate, thereby realizing cutting and chamfering the upper surface of the workpiece.

[0070] In a specific embodiment, Figure 9-11 As shown, the tool magazine unit further includes a rotary disk and a plurality of spring tool holders 25. A plurality of tool disc assembly mounting positions are provided on the rotary disk 26 in the circumferential direction. The spring tool holders 25 are provided on the rotary disk, and the supporting parts on both sides of a spring tool holder 25 are respectively provided on both sides of the tool disc assembly mounting position.

[0071] The rotary disc 26 is slidably mounted on the tool magazine mounting frame 14 via a tool magazine lifting assembly 27 , and the tool magazine mounting frame is mounted on one side of the double-disc power unit on the base frame; the rotary disc is connected to the rotary disc rotation drive assembly.

[0072] Specifically, the tool magazine lifting assembly 27 includes a tool magazine slide rail, a tool magazine slider, a tool magazine cylinder and a tool magazine mounting frame. The tool magazine slide rail is horizontally mounted on the base frame, the tool magazine mounting frame is mounted on the tool magazine slide rail through the tool magazine slider, and the piston end of the tool magazine cylinder is connected to the tool magazine mounting frame.

[0073] The turntable rotary drive assembly is installed on the tool magazine mounting frame. The turntable rotary drive assembly includes a rotary drive motor 43 and a gear set 42. The output end of the rotary drive motor is connected to the driving wheel of the gear set, and the driven wheel of the gear set is connected to the turntable. The rotary drive motor drives the turntable to rotate by driving the gear set.

[0074] The cutter head assembly of the rotary disc is provided with an empty space, and the blades of the cutter head assembly installed at the cutter head assembly installation position are set in opposite directions, that is, one part of the cutter head assembly is a cutter head assembly with the blade facing upward, and the other part is a cutter head assembly with the blade facing downward, so as to facilitate the replacement of the cutter head assembly of the upper cutter head mechanism 5 and the lower cutter head mechanism 6 respectively. When replacing, the two platform driving mechanisms drive the two split table plates to separate and open, and the double-cutter head power head unit is driven by the horizontal moving mechanism and moves horizontally on the base frame in the direction away from the tool magazine unit to make way for the tool magazine unit. The tool magazine mounting frame of the tool magazine unit and the rotary disc are moved to the upper cutter head mechanism 5 and the lower cutter head mechanism close to the double-cutter head power head unit through the tool magazine lifting assembly. The lower cutter disc mechanism 6 is in the position, and then the double cutter disc power head unit moves horizontally on the base frame toward the tool magazine unit. The chamfering components of the upper cutter disc mechanism 5 and the lower cutter disc mechanism 6 move toward the tool magazine unit through the lifting component and the horizontal moving mechanism, and move to a position where the cutter disc group thereon is convenient for replacing the cutter disc group on the rotary disc of the tool magazine unit. After the locking cylinder 11 plunger retracts, the cutting disc group and the spindle group 7 of the double cutter disc power head unit are unlocked. Subsequently, the supporting parts on both sides of the spring tool clamp 25 at the empty cutter disc group mounting position on the rotary disc mounting position on the rotary disc clamp the upper cutter disc mechanism 5 or the lower cutter disc mechanism 6, the cutter head assembly is removed from the spindle assembly 7, and then the rotary disc rotates around the central axis of the rotary disc under the drive of the rotary drive motor and the gear set, and at the same time cooperates with the horizontal movement mechanism and the lifting components of the upper cutter head mechanism 5 and the lower cutter head mechanism 6 to realize the operation of installing the corresponding cutter head assembly on the spindle assembly 7 of the upper cutter head mechanism 5 or the lower cutter head mechanism 6. Finally, the locking cylinder 11 plunger of the cutter head locking device extends to drive the locking pressure plate 10 to abut the abutment 821 of the outer wall of the cutter head housing 82, locking the cutter head housing 82 in the spindle base 72, that is, locking the cutter head assembly on the spindle assembly 7. After the upper and lower cutter disc mechanisms complete the tool change, the tool magazine mounting frame and the turntable of the tool magazine unit are driven by the tool magazine lifting assembly to move away from the double cutter disc power head unit (downward), and the two platform drive mechanisms drive the two split table plates to close together. The horizontal movement mechanism drives the double cutter disc power head unit toward the split table plates and moves to a suitable processing position. The upper and lower cutter disc mechanisms are then driven to fine-tune their positions to ensure processing accuracy. The active rotation drive assembly then drives the blade of the cutter disc group to rotate, and cooperates with the visual system to perform chamfering on the upper and lower surfaces of the workpiece at the same time, which greatly improves processing efficiency, saves processing costs, and improves processing accuracy.

[0075] In a specific embodiment, a control unit and a visual unit are further included. The control unit is connected to the double-disc power head unit, the tool magazine unit, and the workbench unit. The control unit is a main control unit, which is used to control the movement of the horizontal movement mechanism, the lifting assembly, the horizontal movement assembly, the tool magazine lifting assembly, the spindle rotation drive assembly, the tool magazine unit, and the rotary disk, the locking and unlocking actions of the tool disc locking device, and the pick-up, placement, and movement actions of the manipulator, ultimately achieving chamfering of the upper and lower surfaces of the steel plate special-shaped plate;

[0076] The visual unit is used to automatically find the edge of the workpiece at the position to be chamfered. The visual unit is the visual cruise technology (existing technology), which can automatically identify and locate the position and angle of the special-shaped steel plate through image processing and analysis, thereby improving the degree of automation of the processing process. The visual cruise technology can also accurately control the processing process to ensure the chamfering accuracy of the upper and lower end faces of the special-shaped steel plate. By real-time monitoring and adjustment of processing parameters, errors caused by improper human operation can be avoided. The visual unit equipment is installed at the end of the manipulator located on one side of the grinding equipment. The end of the manipulator is also provided with a suction device for picking up and placing steel plates.

[0077] In a specific embodiment, the device further includes a power source for supplying power to the device and a gas source for supplying gas to the device.

[0078] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A small component double-sided grinding device with automatic tool change, characterized in that: It comprises a double-cutting disc power head unit, a tool magazine unit, a workbench unit and a base frame (1); The double-disc power head unit is slidably mounted on the base frame (1) via a horizontal moving mechanism (2); the tool magazine unit is mounted on one side of the double-disc power head unit on the base frame and can be raised and lowered on the base frame; The double-disc power head unit comprises an upper disc mechanism (5) and a lower disc mechanism (6) arranged opposite to each other in the upper and lower directions. The upper disc mechanism and the lower disc mechanism are arranged on a base plate (3) mounted on the horizontal moving mechanism (2). The upper disc mechanism and the lower disc mechanism have the same structure and both comprise a chamfering assembly, a lifting assembly and a horizontal moving assembly. The horizontal moving assembly can provide a force to keep the chamfering assembly in contact with the workpiece in the horizontal direction during machining. The lifting assembly can drive the chamfering assembly to move up and down on the base plate to move closer to or away from the workpiece and the tool magazine unit, and can provide a force to keep the chamfering assembly in contact with the workpiece in the vertical direction during machining. The cutter disc groups (8) of the upper cutter disc mechanism and the lower cutter disc mechanism chamfering assembly are arranged relative to each other and are used for simultaneously chamfering the upper end face and the lower end face of the workpiece respectively; The workbench unit is mounted on a base frame (1). The workbench unit has a split table (39) that can be opened and closed on the base frame under the drive of a platform driving mechanism. A workpiece is placed on the closed split table by a manipulator (13). The tool magazine unit has a plurality of cutter disc groups (8) with blades (81) having opposite cutting faces, and is used to replace the cutter disc groups (8) of the upper cutter disc mechanism and the lower cutter disc mechanism when the split table is opened.

2. The double-sided grinding equipment for small parts with automatic tool change according to claim 1 is characterized in that: The chamfering assembly comprises a spindle assembly (7) arranged on a spindle frame (4), a cutter head assembly (8) mounted on the spindle assembly, and a cutter head locking device capable of locking the cutter head assembly to the spindle assembly, and the spindle frame (4) is mounted on the horizontal drive assembly arranged on a base plate; The spindle assembly (7) includes a spindle base (72), a spindle (73) and a driving gear disc (71); The cutter disc assembly comprises a cutter disc housing (82), a passive gear disc (83), a milling cutter disc (84), a supporting wheel (85) and a plurality of blades (81); The spindle base (72) is mounted on the spindle frame (4), and one end of the cutter disc housing (82) is mounted in the spindle base (72); a cutter disc locking device is provided on the spindle frame (4) and is capable of locking the cutter disc housing (82) on the spindle base (72); A passive toothed disc (83) and a milling disc (84) connected to the passive toothed disc (83) are provided in the cutter disc housing (82); the active toothed disc (71) is provided in the spindle base (72); one end of the spindle (73) is connected to a spindle rotation drive assembly provided on the spindle frame (4); the other end of the spindle (73) is connected to the active toothed disc (71); the active toothed disc (71) is meshed with the passive toothed disc (83); one end of the milling disc (84) is connected to the passive toothed disc (83); the other end of the milling disc (84) extends out of the cutter disc housing (82) and is provided with a supporting wheel (85); a plurality of blades are provided on the end surface between the milling disc (84) and the supporting wheel (85) in the circumferential direction; the spindle rotation drive assembly drives the blades to rotate around the axial direction of the spindle (73) by driving the spindle (73), the active toothed disc, the passive toothed disc (83) and the milling disc (84).

3. The double-sided grinding equipment for small parts with automatic tool change according to claim 2, characterized in that: The outer peripheral wall of the cutter disc housing (82) at one end away from the supporting wheel (85) abuts against the inner wall of the spindle base (72), and the inner wall of the spindle base (72) and the outer peripheral wall of the cutter disc housing (82) are both conical surfaces. The inner wall of the spindle base (72) is a conical surface with an inner diameter gradually decreasing from the end where the cutter disc housing (82) is installed to the end away from the cutter disc housing (82), and the outer peripheral wall of the cutter disc housing (82) is a conical surface with an outer diameter gradually decreasing from the end close to the blade to the end away from the blade.

4. The double-sided grinding equipment for small parts with automatic tool change according to claim 2, characterized in that: The horizontal moving assembly is mounted on a base plate (3), and comprises a bottom plate (34), a sub-plate (35), and a top plate (36) arranged in sequence from bottom to top. The upper and lower surfaces of the sub-plate are respectively provided with a first guide rail (40) and a second guide rail (41) both arranged in a horizontal direction, and the first guide rail and the second guide rail are arranged in a cross-arrangement. The bottom plate is mounted on the second guide rail via a second slider, and the top plate is mounted on the first guide rail via a first slider. The plunger end of the second cylinder (38) is fixed on the sub-plate, and the plunger end of the first cylinder (37) is fixed on the top plate. The main shaft frame (4) is mounted on the top plate.

5. The double-sided grinding equipment for small parts with automatic tool change according to claim 2, characterized in that: The cutter disc locking device comprises a locking pressure plate (10), a locking cylinder (11) and a connecting rod structure (12); An abutment portion (821) is provided on the outer wall of the cutter disc housing (82), one end of the locking pressure plate is a pressing portion (101), the middle part of the locking pressure plate (10) is hinged to the main shaft frame (4) through a connecting rod structure (12), and the end of the locking pressure plate (10) away from the pressing portion (101) is connected to the plunger of the locking cylinder (11) through the connecting rod structure (12), and the plunger of the locking cylinder (11) can be extended and retracted to drive the pressing portion (101) of the locking pressure plate (10) to abut against the abutment portion (821) of the cutter disc housing (82), thereby locking the cutter disc housing (82) on the main shaft base (72) or driving the pressing portion (101) of the locking pressure plate (10) to separate from the abutment portion (821) of the cutter disc housing (82).

6. The double-sided grinding equipment for small parts with automatic tool change according to claim 2, characterized in that: The cutter head housing (82) is also provided with a profiling positioning frame (9), and the profiling positioning frame (9) is provided with a plurality of universal balls (91) on the end surface close to the supporting wheel (85), and the universal balls (91) are arranged on the outer side of the blade (81).

7. The double-sided grinding equipment for small parts with automatic tool change according to claim 4, characterized in that: The lifting assembly comprises a lifting frame (17) and a lifting cylinder (16) arranged on the top plate; a vertically arranged lifting guide rail (18) is provided on the lifting frame (17); a main spindle frame (4) is mounted on the lifting guide rail (18) via a lifting slider (19); and a plunger end of the lifting cylinder (16) is connected to the main spindle frame (4).

8. The double-sided grinding equipment for small parts with automatic tool change according to claim 2, characterized in that: The spindle rotation drive assembly of the lower cutter disc mechanism (6) includes a lower spindle drive motor (20), the motor shaft of the lower spindle drive motor being connected to the active gear disc (71) via the spindle (73) of the lower cutter disc mechanism (6); The spindle rotation drive assembly of the upper cutter disc mechanism (5) comprises an upper spindle drive motor (21), a driving gear (22), a driven gear (23) and a drive belt (24); the driving gear (22) connected to the motor shaft of the upper spindle drive motor is connected to the driven gear of the upper cutter disc mechanism (5) via the drive belt; one end of the spindle (73) of the upper cutter disc mechanism (5) is fixed with the driven gear, and the other end is fixedly connected to the driven gear disc (83) of the upper cutter disc mechanism (5).

9. The double-sided grinding equipment for small parts with automatic tool change according to claim 1, characterized in that: The tool magazine unit further comprises a rotary disk (26) and a plurality of spring tool holders (25), wherein a plurality of tool disc assembly mounting positions are provided on the rotary disk (26) in a circumferential direction, the spring tool holders (25) are provided on the rotary disk, and the supporting parts on both sides of a spring tool holder (25) are respectively provided on both sides of the tool disc assembly mounting position; The rotary disc (26) is slidably mounted on a tool magazine mounting frame (14) via a tool magazine lifting assembly (27), and the tool magazine mounting frame is mounted on one side of the double-disc power unit on the base frame; the rotary disc is connected to the rotary disc rotary drive assembly.

10. The double-sided grinding equipment for small parts with automatic tool change according to claim 9, characterized in that: It also includes a control unit and a visual unit, wherein the control unit is connected to the double-disc power head unit, the tool magazine unit and the workbench unit; The visual unit is used to automatically find the edge of the position to be chamfered on the workpiece.

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