Automatic abrasive disc replacing device for polishing equipment

Abstract

The utility model discloses an automatic abrasive disc replacing device for polishing equipment, which is used for replacing an abrasive disc on a polishing shaft in the polishing equipment, and comprises a rack, a workbench, a pressing mechanism, a feeding mechanism, a waste storage mechanism, a transferring mechanism and a dismounting mechanism, wherein the working table is connected to the machine frame, the working table is used for placing a grinding disc, the pressing mechanism is connected to the machine frame, and the pressing mechanism is used for pressing and fixing the grinding shaft and the grinding disc on the working table when the grinding shaft is inserted into the grinding disc on the working table in a matched mode. The feeding mechanism is used for storing abrasive discs, and the transferring mechanism is used for picking up the abrasive discs on the workbench and carrying the abrasive discs into the waste storage mechanism when the grinding shafts and the abrasive discs on the workbench are loosened by the pressing mechanism and the grinding shafts and the abrasive discs on the workbench are separated. The grinding disc in the grinding equipment can be automatically replaced, and the grinding equipment is more convenient to use.

Description

Technical Field

[0001] This utility model relates to an automatic grinding disc changing device for grinding equipment. Background Technology

[0002] Currently, burrs and flash are unavoidable during steel pipe processing. These burrs and flash affect the appearance of the steel pipe and have an adverse impact on subsequent processing. Therefore, grinding equipment is needed to remove these burrs and flash. For example, a grinding robot disclosed in Chinese Patent No. CN118636172A is a type of grinding equipment. Existing grinding equipment typically includes a grinding shaft and grinding discs connected to the shaft. The equipment drives the grinding discs on the shaft to rotate at high speed, thus removing burrs and flash. However, after a period of use, the grinding discs wear out and become unusable. Existing grinding equipment requires manual replacement of the grinding discs, lacking automatic replacement capabilities, making it inconvenient to use. Utility Model Content

[0003] The technical problem to be solved by this utility model is to overcome the defects of the prior art and provide an automatic grinding disc changing device for grinding equipment, which can automatically change the grinding discs in the grinding equipment and is more convenient to use.

[0004] To solve the above-mentioned technical problems, the technical solution of this utility model is: an automatic grinding disc changing device for grinding equipment, which is used to change the grinding discs on the grinding shaft in the grinding equipment, and includes a frame, a worktable, a clamping mechanism, a feeding mechanism, a waste storage mechanism, a transfer mechanism and a disassembly and assembly mechanism.

[0005] The worktable is connected to the frame and is used to place grinding discs.

[0006] The clamping mechanism is connected to the frame and is used to clamp and fix the grinding shaft and the grinding disc on the worktable when the grinding shaft is inserted into the grinding disc on the worktable.

[0007] The feeding mechanism is used to store grinding discs;

[0008] The transfer mechanism is used to pick up and transport the grinding discs on the worktable to the waste storage mechanism and to pick up and transport the grinding discs in the feeding mechanism to the worktable when the clamping mechanism releases the grinding shaft and the grinding discs on the worktable and the grinding shaft separates from the grinding discs on the worktable.

[0009] The disassembly and assembly mechanism is connected to the frame. The disassembly and assembly mechanism is used to remove the locking nut on the grinding shaft for locking the grinding disc when the clamping mechanism clamps and fixes the grinding shaft and the grinding disc on the worktable, and to tighten and install the removed locking nut on the grinding shaft.

[0010] Furthermore, the clamping mechanism includes a clamping cylinder, a connecting rod, and a pressure plate;

[0011] The lower end of the connecting rod is hinged to the frame, and the upper end of the connecting rod is hinged to the middle part of the pressure plate.

[0012] One end of the pressure plate is hinged to the clamping cylinder, and the other end of the pressure plate has a pressure-applying part;

[0013] The clamping cylinder is connected to the frame and is used to drive the pressure plate to move so that the pressure part presses or releases the grinding shaft and the grinding disc on the worktable.

[0014] Furthermore, the grinding shaft has an abutment protrusion that protrudes radially outward and abuts against one end of the grinding disc. The locking nut is threaded onto the grinding shaft and abuts against the other end of the grinding disc, thereby pressing and fixing the grinding disc onto the abutment protrusion.

[0015] The cylinder body of the clamping cylinder is fixedly connected to the frame, and the piston rod of the clamping cylinder is hinged to one end of the pressure plate;

[0016] The pressure-applying part has a first pressing part for pressing the abutting boss part, a second pressing part for pressing the grinding disc on the worktable, and a first opening groove for the grinding shaft to be inserted.

[0017] Furthermore, the disassembly and assembly mechanism includes a disassembly and assembly motor, a disassembly and assembly head, a mounting base, and a drive cylinder;

[0018] The worktable is provided with an assembly hole, which is located below the grinding disc placed on the worktable. When the grinding disc connected to the grinding shaft is placed on the worktable, the locking nut on the grinding shaft extends into the assembly hole.

[0019] The mounting base is slidably connected to the frame in the vertical direction;

[0020] The detachable motor is connected to the mounting base;

[0021] The disassembly head is connected to the disassembly motor and is located below the locking nut that extends into the assembly hole;

[0022] The drive cylinder is connected to the mounting base and is used to drive the mounting base to rise, thereby driving the disassembly motor to rise so that the disassembly head can be raised to engage with the locking nut that extends into the assembly hole.

[0023] Furthermore, the feeding mechanism includes a feeding guide rod and a lifting mechanism;

[0024] The feeding guide rod is connected to the frame, and the grinding discs are used to be stacked and sleeved on the feeding guide rod from top to bottom;

[0025] The lifting mechanism is connected to the frame and is used to lift the stacked grinding discs fitted on the feed guide rod so that the topmost grinding disc is raised to the picking position;

[0026] The transfer mechanism is used to pick up and transport the grinding discs on the worktable to the waste storage mechanism when the clamping mechanism releases the grinding shaft and the grinding discs on the worktable and the grinding shaft separates from the grinding discs on the worktable, and to pick up and transport the topmost grinding disc stacked on the feeding guide rod to the worktable.

[0027] Furthermore, the automatic grinding disc changing device for the grinding equipment also includes a controller and sensors;

[0028] The sensor is connected to the controller, and the sensor is used to detect the grinding disc in the material picking position and send the detection signal to the controller.

[0029] The controller is connected to the lifting mechanism and is used to control the lifting mechanism to move according to the detection signal sent by the sensor, so as to lift the grinding discs stacked on the feeding guide rod and lift the uppermost grinding disc on the feeding guide rod to the material picking position.

[0030] Furthermore, the lifting mechanism includes a slider, a lifting plate, a drive wheel, a driven wheel, a transmission belt, and a lifting motor;

[0031] The slider is slidably connected to the frame in the up-down direction;

[0032] The lifting plate is connected to the slider and is used to support the grinding discs stacked on the feed guide rod;

[0033] The driving wheel and the driven wheel are rotatably connected to the frame, the transmission belt is connected to the driving wheel and the driven wheel, and the slider is connected to the transmission belt;

[0034] The lifting motor is connected to the drive wheel and is used to drive the drive wheel to rotate, thereby driving the slider to move up and down through the transmission belt.

[0035] Furthermore, the transfer mechanism includes a lifting seat, a lifting cylinder, a rotating component, a rotating seat, a first gripper, and a second gripper;

[0036] The lifting seat is slidably connected to the frame in the vertical direction;

[0037] The rotating component is connected to the lifting base;

[0038] The rotating seat is connected to the rotating component;

[0039] The lifting cylinder is connected to the frame and to the lifting seat. The lifting cylinder is used to drive the lifting seat to rise and fall, thereby driving the rotating component and the rotating seat to rise and fall.

[0040] The rotating component is used to drive the rotating seat to rotate when the lifting seat is raised. During the rotation, the rotating seat has a material grabbing position, a material releasing position, and a clearance position for clearing space above the worktable.

[0041] The first gripper is connected to the rotary seat. The first gripper is used to grip the uppermost grinding disc stacked on the feeding guide rod when the rotary seat rotates to the gripping position and the lifting seat is lowered, and to release the gripped grinding disc so that the grinding disc falls on the worktable when the rotary seat rotates to the unloading position and the lifting seat is lowered.

[0042] The second gripper is connected to the rotating seat. The second gripper is used to grip the grinding disc on the worktable when the rotating seat rotates to the gripping position and the lifting seat lowers, and to release the gripped grinding disc so that the grinding disc falls into the waste storage mechanism when the rotating seat rotates to the unloading position and the lifting seat lowers.

[0043] Furthermore, both the first gripper and the second gripper are three-finger electric grippers or three-jaw cylinders.

[0044] Furthermore, the waste storage mechanism includes a storage guide rod, the lower end of which is connected to the frame, and the transfer mechanism is used to pick up and transport the grinding discs on the worktable to the stacking sleeve on the storage guide rod.

[0045] With the above technical solution adopted, the grinding equipment may include a robotic arm and a grinding motor. The grinding motor is connected to the robotic arm, and the grinding shaft can be the motor shaft of the grinding motor. The grinding disc is locked to the grinding shaft by the locking nut. In the grinding equipment, the grinding motor drives the grinding disc connected to the grinding shaft to rotate. The robotic arm can drive the grinding motor to move, thereby driving the grinding disc connected to the grinding shaft to move for grinding the steel pipe. When changing the grinding disc, the robotic arm drives the grinding motor to move, thereby driving the grinding disc on the grinding shaft to be placed on the worktable. At this time, the grinding shaft is inserted into the grinding disc on the worktable, and then the grinding shaft and the grinding disc on the worktable are pressed and fixed by the clamping mechanism. Then, the locking nut used to lock the grinding disc on the grinding shaft is removed by the disassembly and assembly mechanism. The clamping mechanism then loosens the grinding shaft and the grinding disc on the worktable. The robotic arm then lifts the grinding shaft to pull it away from the grinding disc on the worktable. The transfer mechanism picks up the used grinding disc from the worktable and transports it to the waste storage mechanism, while picking up new grinding discs from the feeding mechanism and transporting them to the worktable. The robotic arm then moves the grinding shaft to insert into the new grinding disc on the worktable. The clamping mechanism then presses and fixes the grinding shaft and the new grinding disc on the worktable. Finally, the disassembly and assembly mechanism re-tightens the previously removed locking nut and reinstalls it on the grinding shaft, thus locking the new grinding disc onto the grinding shaft. Then the clamping mechanism releases the grinding shaft and the grinding disc on the worktable again. The robot can then move the grinding disc on the grinding shaft to the working position to grind the steel pipe. The above solution can automatically replace the grinding disc on the grinding shaft in the grinding equipment without the need for manual replacement, making it more convenient to use. Attached Figure Description

[0046] Figure 1 This is a schematic diagram of the automatic grinding disc changing device for the grinding equipment of this utility model;

[0047] Figure 2 This is a schematic diagram of the clamping mechanism of this utility model, which clamps and fixes the grinding shaft and the grinding disc on the worktable.

[0048] Figure 3 This is a schematic diagram of the structure of the transfer mechanism of this utility model when transporting grinding discs. Figure 1 ;

[0049] Figure 4 This is a schematic diagram of the structure of the transfer mechanism of this utility model when transporting grinding discs. Figure 2 ;

[0050] Figure 5 This is a schematic diagram of the pressing mechanism and disassembly mechanism of this utility model. Figure 1 ;

[0051] Figure 6 This is a schematic diagram of the pressing mechanism of this utility model;

[0052] Figure 7 This is a schematic diagram of the pressing mechanism and disassembly mechanism of this utility model. Figure 2 ;

[0053] Figure 8 This is a schematic diagram of the disassembly and assembly mechanism of this utility model;

[0054] Figure 9 This is a schematic diagram of the feeding mechanism and the transfer mechanism of this utility model;

[0055] Figure 10 This is a structural diagram of the workbench, clamping mechanism, transfer mechanism, and waste storage mechanism of this utility model;

[0056] In the diagram: 1. Grinding shaft; 2. Grinding disc; 3. Worktable; 4. Clamping mechanism; 5. Feeding mechanism; 6. Waste material storage mechanism; 7. Transfer mechanism; 8. Disassembly and assembly mechanism; 9. Locking nut; 10. Grinding motor; 11. Clamping cylinder; 12. Connecting rod; 13. Pressure plate; 14. Abutting boss; 15. First clamping part; 16. Second clamping part; 17. First opening slot; 18. Disassembly and assembly motor; 19. Disassembly and assembly head; 2 0. Mounting base; 21. Drive cylinder; 22. Assembly hole; 23. Protrusion; 24. Breast; 25. Groove; 26. Feeding guide rod; 27. Slider; 28. Lifting plate; 29. ​​Drive wheel; 30. Driven wheel; 31. Transmission belt; 32. Lifting motor; 33. Lifting seat; 34. Lifting cylinder; 35. Rotating component; 36. Rotating seat; 37. First gripper; 38. Second gripper; 39. Storage guide rod. Detailed Implementation

[0057] To make the contents of this utility model easier to understand, the present utility model will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0058] like Figures 1-10 As shown, an automatic grinding disc changing device for a grinding equipment is used to replace the grinding disc 2 on the grinding shaft 1 in the grinding equipment. It includes a frame, a worktable 3, a clamping mechanism 4, a feeding mechanism 5, a waste material storage mechanism 6, a transfer mechanism 7, and a disassembly and assembly mechanism 8.

[0059] The worktable 3 is connected to the frame, and the worktable 3 is used to place the grinding disc 2;

[0060] The clamping mechanism 4 is connected to the frame and is used to clamp and fix the grinding shaft 1 and the grinding disc 2 on the worktable 3 when the grinding shaft 1 is inserted into the grinding disc 2 on the worktable 3.

[0061] The feeding mechanism 5 is used to store the grinding discs 2;

[0062] The transfer mechanism 7 is used to pick up and transport the grinding disc 2 on the worktable 3 to the waste storage mechanism 6 when the clamping mechanism 4 releases the grinding shaft 1 and the grinding disc 2 on the worktable 3 and the grinding shaft 1 is separated from the grinding disc 2 on the worktable 3, and to pick up and transport the grinding disc 2 in the feeding mechanism 5 to the worktable 3.

[0063] The disassembly and assembly mechanism 8 is connected to the frame. The disassembly and assembly mechanism 8 is used to remove the locking nut 9 on the grinding shaft 1 for locking the grinding disc 2 when the clamping mechanism 4 clamps and fixes the grinding shaft 1 and the grinding disc 2 on the worktable 3, and to tighten and install the removed locking nut 9 on the grinding shaft 1.

[0064] Specifically, the grinding equipment may include a robotic arm (not shown in the figure) and a grinding motor 10. The grinding motor 10 is connected to the robotic arm, and the grinding shaft 1 can be the motor shaft of the grinding motor 10. The grinding disc 2 is locked to the grinding shaft 1 by the locking nut 9. In the grinding equipment, the grinding motor 10 is used to drive the grinding disc 2 connected to the grinding shaft 1 to rotate. The robotic arm can drive the grinding motor 10 to move, thereby driving the grinding disc 2 connected to the grinding shaft 1 to move in order to grind the steel pipe.

[0065] When changing the grinding disc 2, the robotic arm drives the grinding motor 10 to move, thereby moving the grinding disc 2 on the grinding shaft 1 to be placed on the worktable 3. At this time, the grinding shaft 1 is inserted into the grinding disc 2 on the worktable 3. Then, the clamping mechanism 4 clamps and fixes the grinding shaft 1 and the grinding disc 2 on the worktable 3. Figure 2 As shown. Then, the locking nut 9 used to lock the grinding disc 2 on the grinding shaft 1 is removed by the disassembly and assembly mechanism 8. Then, the clamping mechanism 4 loosens the grinding shaft 1 and the grinding disc 2 on the worktable 3. Then, the robot arm drives the grinding shaft 1 to rise so that the grinding shaft 1 is pulled out from the grinding disc 2 on the worktable 3. Then, the transfer mechanism 7 picks up the old grinding disc 2 on the worktable 3 and transports it to the waste storage mechanism 6, and picks up the new grinding disc 2 in the feeding mechanism 5 and transports it to the worktable 3. Figure 3 , 4As shown. Then, the robotic arm moves the grinding shaft 1 to insert into the new grinding disc 2 on the worktable 3. At this time, the grinding shaft 1 is inserted into the new grinding disc 2 on the worktable 3. Then, the clamping mechanism 4 clamps and fixes the grinding shaft 1 and the new grinding disc 2 on the worktable 3. Then, the disassembly and assembly mechanism 8 re-tightens the previously removed locking nut 9 and installs it on the grinding shaft 1, thereby locking the new grinding disc 2 onto the grinding shaft 1. Then, the clamping mechanism 4 releases the grinding shaft 1 and the grinding disc 2 on the worktable 3 again. The robotic arm can then move the grinding disc 2 on the grinding shaft 1 to the working position to grind the steel pipe. This scheme allows for automatic replacement of the grinding disc 2 on the grinding shaft 1 in the grinding equipment, eliminating the need for manual replacement and making it more convenient to use. Specifically, the clamping mechanism 4 clamps and fixes the grinding shaft 1 to prevent the grinding shaft 1 from rotating when the locking nut 9 is turned. The clamping mechanism 4 clamps and fixes the grinding disc 2 on the worktable 3 to prevent the grinding disc 2 from shifting. In this embodiment, the robot can be a gantry robot. Of course, in some embodiments, the robot can also be an articulated robot.

[0066] like Figures 1-7 As shown in Figures 1 and 10, the clamping mechanism 4 may include a clamping cylinder 11, a connecting rod 12, and a pressure plate 13;

[0067] The lower end of the connecting rod 12 is hinged to the frame, and the upper end of the connecting rod 12 is hinged to the middle part of the pressure plate 13.

[0068] One end of the pressure plate 13 is hinged to the clamping cylinder 11, and the other end of the pressure plate 13 has a pressure-applying part;

[0069] The clamping cylinder 11 is connected to the frame and is used to drive the pressure plate 13 to move so that the pressure part presses or releases the grinding shaft 1 and the grinding disc 2 on the worktable 3.

[0070] like Figures 1-10 As shown, the grinding shaft 1 has an abutment boss 14 that protrudes radially outward and abuts against one end of the grinding disc 2. The locking nut 9 is used to be threaded onto the grinding shaft 1 and abuts against the other end of the grinding disc 2, thereby pressing and fixing the grinding disc 2 onto the abutment boss 14.

[0071] The cylinder body of the clamping cylinder 11 is fixedly connected to the frame, and the piston rod of the clamping cylinder 11 is hinged to one end of the pressure plate 13;

[0072] The pressure-applying part has a first pressing part 15 for pressing the abutment boss 14, a second pressing part 16 for pressing the grinding disc 2 on the worktable 3, and a first opening groove 17 for the grinding shaft 1 to be inserted into. Specifically, when the pressing cylinder 11 extends, it can drive the pressure plate 13 to move, thereby causing the first pressing part 15 to press the abutment boss 14, the second pressing part 16 to press the grinding disc 2 on the worktable 3, and the first opening groove 17 for the grinding shaft 1 to be inserted into. After the first pressing part 15 presses the abutment boss 14, it can press and fix the grinding shaft 1 to prevent the grinding shaft 1 from rotating when the locking nut 9 is turned. In this embodiment, the abutment boss 14 and the grinding shaft 1 are integral, and the abutment boss 14 has a hexagonal structure to facilitate manual removal of the grinding disc 2 on the grinding shaft 1 by means of a wrench in special circumstances.

[0073] like Figure 5 , 7 As shown in Figures 8 and 9, the disassembly and assembly mechanism 8 may include a disassembly and assembly motor 18, a disassembly and assembly head 19, a mounting base 20, and a drive cylinder 21.

[0074] The workbench 3 is provided with an assembly hole 22, which is located below the grinding disc 2 placed on the workbench 3. When the grinding disc 2 connected to the grinding shaft 1 is placed on the workbench 3, the locking nut 9 on the grinding shaft 1 extends into the assembly hole 22.

[0075] The mounting base 20 is slidably connected to the frame in the vertical direction;

[0076] The detachable motor 18 is connected to the mounting base 20;

[0077] The disassembly head 19 is connected to the disassembly motor 18 and is located below the locking nut 9 that extends into the assembly hole 22;

[0078] The drive cylinder 21 is connected to the mounting base 20 and is used to drive the mounting base 20 to rise upward, thereby driving the disassembly motor 18 to rise so that the disassembly head 19 rises to engage with the locking nut 9 that extends into the assembly hole 22; wherein, the drive cylinder 21 is fixedly connected to the frame.

[0079] Specifically, the process of the disassembly and assembly mechanism 8 removing the locking nut 9 from the grinding shaft 1 is as follows: when the grinding disc 2 on the grinding shaft 1 needs to be replaced, the robotic arm will move the grinding disc 2 on the grinding shaft 1 to be placed on the worktable 3. At this time, the locking nut 9 on the grinding shaft 1 will extend into the assembly hole 22. Then, the clamping mechanism 4 will clamp and fix the grinding shaft 1 and the grinding disc 2 on the worktable 3. Then, the drive cylinder 21 will drive the mounting base 20 to rise upwards, thereby driving... The disassembly and assembly motor 18 is raised so that the disassembly and assembly head 19 is raised to engage with the locking nut 9 that extends into the assembly hole 22. Then, the disassembly and assembly motor 18 drives the disassembly and assembly head 19 to rotate, thereby causing the locking nut 9 to rotate and remove the locking nut 9 from the grinding shaft 1. Then, the drive cylinder 21 drives the mounting base 20 to descend, thereby causing the disassembly and assembly motor 18 and the disassembly and assembly head 19 to descend. At this time, the removed locking nut 9 is supported on the disassembly and assembly head 19.

[0080] More specifically, the process by which the disassembly and assembly mechanism 8 re-tightens the removed locking nut 9 and reinstalls it on the grinding shaft 1 is as follows: when the new grinding disc 2 in the feeding mechanism 5 is transported to the worktable 3 and the robot arm drives the grinding shaft 1 to move into the new grinding disc 2 inserted on the worktable 3, the clamping mechanism 4 will clamp and fix the grinding shaft 1 and the new grinding disc 2 on the worktable 3. At this time, the lower end of the grinding shaft 1 extends into the assembly hole 22. Then, the drive cylinder 21 drives the mounting base 20 to rise, thereby driving the disassembly motor 18 and the disassembly head 19 to rise, thereby causing the locking nut 9 supported on the disassembly head 19 to rise and abut against the grinding shaft 1. Then, the disassembly motor 18 drives the disassembly head 19 to rotate, thereby driving the locking nut 9 to rotate, so that the locking nut 9 is re-tightened and installed on the grinding shaft 1, thereby locking the new grinding disc 2 onto the grinding shaft 1. Then, the drive cylinder 21 drives the mounting base 20 to descend, so that the disassembly head 19 and the locking nut 9 are separated.

[0081] More specifically, the locking nut 9 includes a nut body and a plurality of protrusions 23. The protrusions 23 are located on the lower end of the nut body and are arranged at intervals along the circumference of the nut body. The disassembly / assembly head 19 includes a disassembly / assembly body and a plurality of protrusions 24. The protrusions 24 are located on the upper end of the disassembly / assembly body and are arranged at intervals along the circumference. A groove 25 is provided between adjacent protrusions 24. When the disassembly / assembly head 19 is raised to engage with the locking nut 9, the protrusions 23 are engaged in the grooves 25. Then, the disassembly / assembly motor 18 drives the disassembly / assembly head 19 to rotate, thereby causing the locking nut 9 to rotate by the protrusions 24 pressing against the protrusions 23. In this embodiment, the grinding motor 10 is a servo motor, which can drive the grinding shaft 1 and the locking nut 9 to stop at a specific angle. The disassembly and assembly motor 18 is also a servo motor, which can drive the disassembly and assembly head 19 to stop at a specific angle so that the disassembly and assembly head 19 and the locking nut 9 can be smoothly connected and cooperated.

[0082] like Figure 9 As shown, the feeding mechanism 5 may include a feeding guide rod 26 and a lifting mechanism;

[0083] The feeding guide rod 26 is connected to the frame, and the grinding discs 2 are used to be stacked and sleeved on the feeding guide rod 26 from top to bottom;

[0084] The lifting mechanism is connected to the frame and is used to lift the grinding discs 2 stacked on the feeding guide rod 26 so that the grinding discs 2 stacked on top are lifted to the material picking position;

[0085] The transfer mechanism 7 is used to pick up and transport the grinding disc 2 on the worktable 3 to the waste storage mechanism 6 when the clamping mechanism 4 releases the grinding shaft 1 and the grinding disc 2 on the worktable 3 and the grinding shaft 1 is separated from the grinding disc 2 on the worktable 3, and to pick up and transport the uppermost grinding disc 2 stacked on the feeding guide rod 26 to the worktable 3.

[0086] Specifically, the automatic grinding disc changing device for the grinding equipment also includes a controller and sensors;

[0087] The sensor is connected to the controller, and the sensor is used to detect the grinding disc 2 in the material picking position and send the detection signal to the controller.

[0088] The controller is connected to the lifting mechanism and is used to control the lifting mechanism to lift the grinding discs 2 stacked on the feeding guide rod 26 according to the detection signal sent by the sensor, and to lift the uppermost grinding disc 2 on the feeding guide rod 26 to the material picking position.

[0089] like Figure 9 As shown, the lifting mechanism may include a slider 27, a lifting plate 28, a drive wheel 29, a driven wheel 30, a transmission belt 31, and a lifting motor 32;

[0090] The slider 27 is slidably connected to the frame in the vertical direction;

[0091] The lifting plate 28 is connected to the slider 27 and is used to support the grinding discs 2 stacked on the feeding guide rod 26;

[0092] The driving wheel 29 and the driven wheel 30 are rotatably connected to the frame, the transmission belt 31 is connected to the driving wheel 29 and the driven wheel 30, and the slider 27 is connected to the transmission belt 31;

[0093] The lifting motor 32 is connected to the drive wheel 29 and is used to drive the drive wheel 29 to rotate, thereby driving the slider 27 to move up and down through the transmission belt 31, and thus driving the lifting plate 28 to move up and down so as to lift the grinding discs 2 stacked on the feeding guide rod 26.

[0094] Specifically, the controller controls the lifting motor 32 in the lifting mechanism to operate based on the detection signal sent by the sensor. When the sensor detects that there is no grinding disc 2 in the material picking position, the controller controls the lifting motor 32 to move the slider 27 upward, thereby lifting the lifting plate 28 to lift the grinding discs 2 stacked on the feeding guide rod 26, thus raising the uppermost grinding disc 2 to the material picking position. When the sensor detects that there is a grinding disc 2 in the material picking position, the controller controls the lifting motor 32 to stop operating, thus ensuring that the uppermost grinding disc 2 on the feeding guide rod 26 is always in the material picking position. In this embodiment, the sensor can be mounted on the frame, and the sensor can be a photoelectric sensor. The lifting motor 32 can be connected to the frame, and the lifting plate 28 is provided with a second opening slot for the feeding guide rod 26 to be inserted.

[0095] like Figure 1 , 2 As shown in 3, 4, 9, and 10, the transfer mechanism 7 may include a lifting seat 33, a lifting cylinder 34, a rotating component 35, a rotating seat 36, a first gripper 37, and a second gripper 38.

[0096] The lifting seat 33 is slidably connected to the frame in the vertical direction;

[0097] The rotating component 35 is connected to the lifting seat 33;

[0098] The rotating seat 36 is connected to the rotating component 35;

[0099] The lifting cylinder 34 is connected to the frame and to the lifting seat 33. The lifting cylinder 34 is used to drive the lifting seat 33 to rise and fall, thereby driving the rotating component 35 and the rotating seat 36 to rise and fall.

[0100] The rotating component 35 is used to drive the rotating seat 36 to rotate when the lifting seat 33 is raised. The rotating seat 36 has a material grabbing position, a material releasing position and a clearance position for making room above the worktable 3 during rotation.

[0101] The first gripper 37 is connected to the rotating seat 36. The first gripper 37 is used to grip the uppermost grinding disc 2 stacked on the feeding guide rod 26 when the rotating seat 36 rotates to the gripping position and the lifting seat 33 descends, and to release the gripped grinding disc 2 so that the grinding disc 2 falls on the worktable 3 when the rotating seat 36 rotates to the unloading position and the lifting seat 33 descends.

[0102] The second gripper 38 is connected to the rotating seat 36. The second gripper 38 is used to grip the grinding disc 2 on the worktable 3 when the rotating seat 36 rotates to the gripping position and the lifting seat 33 descends, and to release the gripped grinding disc 2 so that the grinding disc 2 falls into the waste storage mechanism 6 when the rotating seat 36 rotates to the unloading position and the lifting seat 33 descends.

[0103] Specifically, firstly, the lifting cylinder 34 drives the lifting seat 33, the rotating component 35, and the rotating seat 36 to rise. The rotating component 35 drives the rotating seat 36 to rotate to the clearance position to free up space above the worktable 3. Then, the robot arm moves the grinding disc 2 on the grinding shaft 1 to be placed on the worktable 3. At this time, the grinding shaft 1 is inserted into the grinding disc 2 on the worktable 3. Then, the clamping mechanism 4 clamps and fixes the grinding shaft 1 and the grinding disc 2 on the worktable 3. The locking nut 9 on the grinding shaft 1 used to lock the grinding disc 2 is removed by the disassembly and assembly mechanism 8. Then, the clamping mechanism 4 releases the grinding shaft 1 and the grinding disc 2 on the worktable 3. Then, the robot arm drives the grinding shaft 1 to rise so that the grinding shaft 1 is pulled out and separated from the grinding disc 2 on the worktable 3. Then the transfer mechanism 7 starts to work. In the transfer mechanism 7, the rotating component 35 first drives the rotating seat 36 to rotate from the avoidance position to the gripping position. At this time, the first gripper 37 is located above the feeding guide rod 26 in the feeding mechanism 5 and the second gripper 38 is located above the worktable 3. Then the lifting cylinder 34 drives the lifting seat 33, the rotating component 35 and the rotating seat 36 to descend, thereby driving the first gripper 37 and the second gripper 38 to descend as well. After descending, the first gripper 37 can grip the uppermost grinding disc 2 stacked on the feeding guide rod 26, and the second gripper 38 can grip the grinding disc 2 on the worktable 3. Then, the lifting cylinder 34 drives the lifting seat 33, the rotating component 35, and the rotating seat 36 to rise, thereby causing the first gripper 37 and the second gripper 38 to also rise. Then, the rotating component 35 drives the rotating seat 36 to rotate from the material gripping position to the material unloading position. At this time, the first gripper 37 is located above the worktable 3, and the second gripper 38 is located above the waste storage mechanism 6. Then, the lifting cylinder 34 drives the lifting seat 33, the rotating component 35, the rotating seat 36, the first gripper 37, and the second gripper 38 to descend. At this time, the first gripper 37 can release the gripped grinding disc 2 so that the grinding disc 2 falls onto the worktable 3, and the second gripper 38 can release the gripped grinding disc 2 so that the grinding disc 2 falls into the waste storage mechanism 6. Thus, the waste grinding disc 2 on the worktable 3 is transported to the waste storage mechanism 6, and a new grinding disc 2 is transported to the worktable 3.Then, the lifting cylinder 34 drives the lifting seat 33, the rotating component 35, the rotating seat 36, the first gripper 37, and the second gripper 38 to rise. The rotating component 35 then drives the rotating seat 36 to rotate to the clearance position to free up space above the worktable 3. The robotic arm moves the grinding shaft 1 to insert into the new grinding disc 2 on the worktable 3. At this time, the grinding shaft 1 is inserted into the new grinding disc 2 on the worktable 3. Then, the clamping mechanism 4 clamps and fixes the grinding shaft 1 and the new grinding disc 2 on the worktable 3. Then, the disassembly and assembly mechanism 8 re-tightens the previously removed locking nut 9 and reinstalls it on the grinding shaft 1, thereby locking the new grinding disc 2 onto the grinding shaft 1. Then, the clamping mechanism 4 releases the grinding shaft 1 and the grinding disc 2 on the worktable 3 again, allowing the robotic arm to move the grinding disc 2 on the grinding shaft 1 to the working position to grind the steel pipe.

[0104] like Figure 1 , 2 As shown in Figures 3, 4, 9, and 10, both the first gripper 37 and the second gripper 38 are three-finger electric grippers or three-jaw cylinders. In this embodiment, both the first gripper 37 and the second gripper 38 are three-finger electric grippers, each with three gripping fingers. The grinding disc 2 has a central hole, and the three gripping fingers of the three-finger electric gripper are used to extend into the central hole and abut against the inner wall of the central hole radially outward to grip the grinding disc 2. The specific structures of the three-finger electric gripper and the grinding disc 2 are existing technologies well known to those skilled in the art, and will not be described in detail in this embodiment. Of course, in some embodiments, the first gripper 37 and the second gripper 38 can also be three-jaw cylinders, which also have three gripping fingers.

[0105] Specifically, the rotating component 35 can be a rotary motor, and the rotating seat 36 is connected to the rotary motor. The rotary motor drives the rotating seat 36 to rotate between the material gripping position, the material releasing position, and the clearance position. The rotary motor can be a servo motor. The rotating seat 36 has a first mounting arm and a second mounting arm. The first gripper 37 is connected to the first mounting arm, and the second gripper 38 is connected to the second mounting arm.

[0106] like Figure 1 , 2 As shown in Figures 3, 4, and 10, the waste storage mechanism 6 may include a storage guide rod 39, the lower end of which is connected to the frame. The transfer mechanism 7 is used to pick up and transport the grinding discs 2 on the workbench 3 to the stacking sleeve on the storage guide rod 39.

[0107] In summary, the grinding equipment may include a robotic arm and a grinding motor 10. The grinding motor 10 is connected to the robotic arm, and the grinding shaft 1 can be the motor shaft of the grinding motor 10. The grinding disc 2 is locked to the grinding shaft 1 by the locking nut 9. In the grinding equipment, the grinding motor 10 drives the grinding disc 2 connected to the grinding shaft 1 to rotate. The robotic arm can move the grinding motor 10, thereby moving the grinding disc 2 connected to the grinding shaft 1 to grind the steel pipe. When changing the grinding disc 2, the robotic arm moves the grinding motor 10, thereby moving the grinding disc 2 on the grinding shaft 1 to be placed on the worktable 3. At this time, the grinding shaft 1 is inserted into the grinding disc 2 on the worktable 3. Then, the pressing mechanism 4 presses and fixes the grinding shaft 1 and the grinding disc 2 on the worktable 3. Then, the locking nut 9 used to lock the grinding disc 2 on the grinding shaft 1 is removed by the disassembly and assembly mechanism 8. Then, the clamping mechanism 4 loosens the grinding shaft 1 and the grinding disc 2 on the worktable 3. Then, the robot arm drives the grinding shaft 1 to rise so that the grinding shaft 1 is pulled out from the grinding disc 2 on the worktable 3. Then, the transfer mechanism 7 picks up the old grinding disc 2 on the worktable 3 and transports it to the waste storage mechanism 6, and picks up the new grinding disc 2 in the feeding mechanism 5 and transports it to the worktable 3. Then, the robot arm drives the grinding shaft 1 to move to insert into the new grinding disc 2 on the worktable 3. At this time, the grinding shaft 1 is inserted into the new grinding disc 2 on the worktable 3. Then, the clamping mechanism 4 clamps and fixes the grinding shaft 1 and the new grinding disc 2 on the worktable 3. Then, the disassembly and assembly mechanism 8 re-tightens the previously removed locking nut 9 and installs it on the grinding shaft 1, thereby locking the new grinding disc 2 to the grinding shaft 1. Then the clamping mechanism 4 releases the grinding disc 2 on the grinding shaft 1 and the worktable 3 again. The robot can drive the grinding disc 2 on the grinding shaft 1 to the working position to grind the steel pipe. Through the above scheme, the grinding disc 2 on the grinding shaft 1 in the grinding equipment can be automatically replaced without manual replacement of the grinding disc 2, making it more convenient to use.

[0108] The specific embodiments described above further illustrate the technical problems, technical solutions, and beneficial effects of this utility model. It should be understood that the above descriptions are merely specific embodiments of this utility model and are not intended to limit this utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. An automatic grinding disc changing device for a grinding machine, characterized in that, It is used to replace the grinding discs (2) on the grinding shaft (1) in the grinding equipment. It includes a frame, a worktable (3), a clamping mechanism (4), a feeding mechanism (5), a waste storage mechanism (6), a transfer mechanism (7), and a disassembly and assembly mechanism (8). The worktable (3) is connected to the frame, and the worktable (3) is used to place the grinding disc (2); The clamping mechanism (4) is connected to the frame and is used to clamp and fix the grinding shaft (1) and the grinding disc (2) on the worktable (3) when the grinding shaft (1) is inserted into the grinding disc (2) on the worktable (3). The feeding mechanism (5) is used to store the grinding discs (2); The transfer mechanism (7) is used to pick up and transport the grinding disc (2) on the worktable (3) to the waste storage mechanism (6) when the clamping mechanism (4) releases the grinding shaft (1) and the grinding disc (2) on the worktable (3) and the grinding shaft (1) is separated from the grinding disc (2) on the worktable (3), and to pick up and transport the grinding disc (2) in the feeding mechanism (5) to the worktable (3); The disassembly and assembly mechanism (8) is connected to the frame. The disassembly and assembly mechanism (8) is used to remove the locking nut (9) on the grinding shaft (1) for locking the grinding disc (2) when the clamping mechanism (4) clamps and fixes the grinding shaft (1) and the grinding disc (2) on the worktable (3), and to tighten the removed locking nut (9) on the grinding shaft (1).

2. The automatic grinding disc changing device for the grinding equipment according to claim 1, characterized in that, The clamping mechanism (4) includes a clamping cylinder (11), a connecting rod (12), and a pressure plate (13); The lower end of the connecting rod (12) is hinged to the frame, and the upper end of the connecting rod (12) is hinged to the middle part of the pressure plate (13). One end of the pressure plate (13) is hinged to the clamping cylinder (11), and the other end of the pressure plate (13) has a pressure-applying part; The clamping cylinder (11) is connected to the frame and is used to drive the pressure plate (13) to move so that the pressure part presses or releases the grinding shaft (1) and the grinding disc (2) on the worktable (3).

3. The automatic grinding disc changing device for the grinding equipment according to claim 2, characterized in that, The grinding shaft (1) has an abutment boss (14) that protrudes radially outward and abuts against one end of the grinding disc (2). The locking nut (9) is threaded onto the grinding shaft (1) and abuts against the other end of the grinding disc (2) to press and fix the grinding disc (2) onto the abutment boss (14). The cylinder body of the pressing cylinder (11) is fixedly connected to the frame, and the piston rod of the pressing cylinder (11) is hinged to one end of the pressure plate (13); The pressure part has a first pressing part (15) for pressing the abutting boss part (14), a second pressing part (16) for pressing the grinding disc (2) on the worktable (3), and a first opening groove (17) for the grinding shaft (1) to be inserted.

4. The automatic grinding disc changing device for the grinding equipment according to claim 1, characterized in that, The disassembly and assembly mechanism (8) includes a disassembly and assembly motor (18), a disassembly and assembly head (19), a mounting base (20), and a drive cylinder (21); The worktable (3) is provided with an assembly hole (22), which is located below the grinding disc (2) placed on the worktable (3). When the grinding disc (2) connected to the grinding shaft (1) is placed on the worktable (3), the locking nut (9) on the grinding shaft (1) extends into the assembly hole (22). The mounting base (20) is slidably connected to the frame in the vertical direction; The detachable motor (18) is connected to the mounting base (20); The disassembly head (19) is connected to the disassembly motor (18) and located below the locking nut (9) that extends into the assembly hole (22); The drive cylinder (21) is connected to the mounting base (20) and is used to drive the mounting base (20) to rise, thereby driving the disassembly motor (18) to rise so that the disassembly head (19) rises to engage with the locking nut (9) that extends into the assembly hole (22).

5. The automatic grinding disc changing device for the grinding equipment according to claim 1, characterized in that, The feeding mechanism (5) includes a feeding guide rod (26) and a lifting mechanism; The feeding guide rod (26) is connected to the frame, and the grinding discs (2) are used to be stacked and sleeved on the feeding guide rod (26) from top to bottom; The lifting mechanism is connected to the frame and is used to lift the grinding discs (2) stacked on the feed guide rod (26) upward so that the grinding discs (2) stacked on top are raised to the material taking position; The transfer mechanism (7) is used to pick up and transport the grinding disc (2) on the worktable (3) to the waste storage mechanism (6) when the clamping mechanism (4) releases the grinding shaft (1) and the grinding disc (2) on the worktable (3) and the grinding shaft (1) is separated from the grinding disc (2) on the worktable (3), and to pick up and transport the uppermost grinding disc (2) stacked on the feeding guide rod (26) to the worktable (3).

6. The automatic grinding disc changing device for the grinding equipment according to claim 5, characterized in that, It also includes controllers and sensors; The sensor is connected to the controller and is used to detect the grinding disc (2) at the material picking position and send the detection signal to the controller; The controller is connected to the lifting mechanism and is used to control the lifting mechanism to lift the grinding discs (2) stacked on the feeding guide rod (26) according to the detection signal sent by the sensor, and to lift the uppermost grinding disc (2) on the feeding guide rod (26) to the material picking position.

7. The automatic grinding disc changing device for the grinding equipment according to claim 5, characterized in that, The lifting mechanism includes a slider (27), a lifting plate (28), a drive wheel (29), a driven wheel (30), a transmission belt (31), and a lifting motor (32); The slider (27) is slidably connected to the frame in the up-down direction; The lifting plate (28) is connected to the slider (27) and is used to support the grinding discs (2) stacked on the feed guide rod (26); The driving wheel (29) and the driven wheel (30) are rotatably connected to the frame, the transmission belt (31) is connected to the driving wheel (29) and the driven wheel (30), and the slider (27) is connected to the transmission belt (31); The lifting motor (32) is connected to the drive wheel (29) and is used to drive the drive wheel (29) to rotate, thereby driving the slider (27) to move up and down through the transmission belt (31).

8. The automatic grinding disc changing device for the grinding equipment according to claim 5, characterized in that, The transfer mechanism (7) includes a lifting seat (33), a lifting cylinder (34), a rotating component (35), a rotating seat (36), a first gripper (37), and a second gripper (38); The lifting seat (33) is slidably connected to the frame in the vertical direction; The rotating component (35) is connected to the lifting seat (33); The rotating seat (36) is connected to the rotating component (35); The lifting cylinder (34) is connected to the frame and connected to the lifting seat (33). The lifting cylinder (34) is used to drive the lifting seat (33) to rise and fall, thereby driving the rotating component (35) and the rotating seat (36) to rise and fall. The rotating component (35) is used to drive the rotating seat (36) to rotate when the lifting seat (33) is raised. The rotating seat (36) has a material grabbing position, a material releasing position and a clearance position for making room above the worktable (3) during rotation. The first gripper (37) is connected to the rotating seat (36). The first gripper (37) is used to grip the uppermost grinding disc (2) stacked on the feeding guide rod (26) when the rotating seat (36) rotates to the gripping position and the lifting seat (33) descends, and to release the gripped grinding disc (2) when the rotating seat (36) rotates to the unloading position and the lifting seat (33) descends so that the grinding disc (2) falls on the worktable (3). The second gripper (38) is connected to the rotating seat (36). The second gripper (38) is used to grip the grinding disc (2) on the worktable (3) when the rotating seat (36) rotates to the gripping position and the lifting seat (33) descends, and to release the gripped grinding disc (2) when the rotating seat (36) rotates to the unloading position and the lifting seat (33) descends, so that the grinding disc (2) falls into the waste storage mechanism (6).

9. The automatic grinding disc changing device for the grinding equipment according to claim 8, characterized in that, Both the first gripper (37) and the second gripper (38) are three-finger electric grippers or three-jaw cylinders.

10. The automatic grinding disc changing device for the grinding equipment according to claim 1, characterized in that, The waste storage mechanism (6) includes a storage guide rod (39), the lower end of which is connected to the frame. The transfer mechanism (7) is used to pick up and transport the grinding discs (2) on the workbench (3) to the stacking sleeve on the storage guide rod (39).

Images