Fully automatic tool grinding equipment

Abstract

This utility model discloses a fully automatic tool grinding and processing equipment, comprising: a material conveying mechanism with a material tray for carrying and transferring workpieces; a three-axis oscillating fixture located beside the material conveying mechanism for clamping and positioning the workpiece to be processed on the material tray; a multi-axis displacement robot disposed at one end of the material conveying mechanism and reciprocatingly transporting the workpiece on the material tray and the three-axis oscillating fixture; a grinding processing center with a swaying spindle, one end of which is provided with a working end, which can change the working swing angle and process the workpiece to be processed on the three-axis oscillating fixture based on the swaying of the swaying spindle; and an integrated control system connecting the material conveying mechanism, the three-axis oscillating fixture, the multi-axis displacement robot, and the grinding processing center to control their coordinated operation. This utility model has a simple structure, is integrated and automated, has high processing efficiency, and meets the processing needs of different types of workpieces.

Description

Technical Field

[0001] This utility model relates to the field of machining technology, specifically to a fully automatic tool grinding and processing equipment. Background Technology

[0002] Traditional cutting tool grooving equipment often uses a three-axis structure, which has problems such as limited groove types, time-consuming production changeover adjustments, lack of multi-angle synchronous processing capabilities, low efficiency, and poor precision. When grooving different types of cutting tools, the workpiece processing position and angle need to be manually adjusted, resulting in a single working mode that cannot meet the diverse grooving needs of different types of cutting tools today.

[0003] Therefore, how to provide a tool grinding and processing equipment that is highly efficient, precise, automated, and versatile is a problem that urgently needs to be solved by those skilled in the art. Utility Model Content

[0004] In view of this, the present invention provides a fully automatic tool grinding and processing equipment that can meet the various processing requirements of various workpieces, with high integration and high production efficiency.

[0005] To achieve the above objectives, this utility model adopts the following technical solution: a fully automatic tool grinding and processing equipment, comprising:

[0006] A material conveying mechanism, wherein the material conveying mechanism is provided with a material tray for carrying and transferring workpieces;

[0007] A three-axis oscillating fixture is located beside the material conveying mechanism and is used to clamp and position the workpiece to be processed on the material tray.

[0008] A multi-axis displacement robot, wherein the multi-axis displacement robot is disposed at one end of the material conveying mechanism and reciprocates to move the workpiece on the material tray and the three-axis swing fixture;

[0009] A grinding machining center is provided with a wobbling spindle. One end of the wobbling spindle is provided with a working end. Based on the wobbling of the wobbling spindle, the working end can change the working angle and process the workpiece on the three-axis wobbling fixture.

[0010] An integrated control system is provided, which connects the material handling mechanism, the three-axis oscillating fixture, the multi-axis displacement robot, and the grinding machining center to control their coordinated operation.

[0011] The beneficial technical effects of this utility model are as follows: the material conveying mechanism transports the workpiece to the multi-axis displacement robot via a material tray, and then the multi-axis displacement robot loads and unloads the workpiece for the next process. The three-axis swing fixture can adjust the clamping position and angle of the workpiece to meet the subsequent slot processing requirements of different workpiece positions or angles. The grinding machining center is equipped with a wobbling spindle, which can swing up and down. Based on the wobbling of the wobbling spindle, its working end can realize the swing angle adjustment, thereby realizing different processing requirements of the workpiece. The overall processing operation is more flexible. This device has multiple mechanisms working together, with a high degree of integration and automation, and high production efficiency.

[0012] Preferably, the material conveying mechanism is a lead screw sliding mechanism, and the sliding table of the lead screw sliding mechanism is provided with at least one set of material trays, on which the workpiece to be processed or the finished workpiece after processing is placed.

[0013] The resulting technical effect is that the lead screw sliding mechanism carries the material tray to slide stably, and at least one set of material trays improves the efficiency of loading and unloading. After the workpieces to be processed on the material trays are processed, they can be returned to their original positions.

[0014] Preferably, the actuator of the multi-axis displacement manipulator is equipped with a mechanical gripper mechanism. The mechanical gripper mechanism includes a base, a vertical rotary motor, a transition rotary seat, a gripper shifting rotary cylinder, a gripper mounting base, and pneumatic grippers. The base is fixed on the multi-axis displacement slide. The transition rotary seat is rotatably located on the bottom side of the base. The vertical rotary motor is fixed on the base and electrically connected to the integrated control system. The rotation shaft of the vertical rotary motor is fixed to the transition rotary seat and causes the transition rotary seat to rotate in a horizontal plane. A gripper shifting rotary cylinder is obliquely fixed on one side of the transition rotary seat. The rotation shaft of the gripper shifting rotary cylinder drives the gripper mounting base to rotate. There are two sets of pneumatic grippers, which are fixed perpendicularly to each other on the gripper mounting base. The integrated control system pneumatically controls the working state of the gripper shifting rotary cylinder and the pneumatic grippers.

[0015] The resulting technical effect is that the two pneumatic grippers on the mechanical gripper mechanism can change positions, avoiding the mechanical gripper mechanism from carrying materials during empty strokes, thereby improving loading and unloading efficiency. Based on the vertical rotating motor and the gripper changing rotary cylinder, the pneumatic gripper at the end has a high degree of flexibility in its working range.

[0016] Preferably, it further includes a clamping angle mechanism, which is disposed on one end of the material tray and located on the moving path of the multi-axis displacement robot. The clamping angle mechanism includes a rotary cylinder and a pneumatic clamping assembly. The integrated control system pneumatically controls the working state of the rotary cylinder and the pneumatic clamping assembly. The rotary cylinder is fixed on one end of the material tray, and the rotating end of the rotary cylinder makes a circular motion in the vertical plane. The pneumatic clamping assembly is connected to the rotating end of the rotary cylinder and clamps the workpiece to be processed by a rotation angle.

[0017] The resulting technical effect is that the clamping corner mechanism uses a pneumatic clamping component to clamp the workpiece and adjust its angle. The clamping end of the pneumatic clamping component can rotate based on the rotating end of the rotary cylinder. After the workpiece loading angle is adjusted, the mechanical gripper mechanism clamps the workpiece or product and loads it to the subsequent fixture for processing. Compared with the traditional feeding mechanism, the clamping corner mechanism makes it possible to load products with multiple sides and angles to be processed. It has strong compatibility and a wide range of applications.

[0018] Preferably, the system also includes a sliding waterproof door, which is electrically connected to the integrated control system. The sliding waterproof door is disposed between the material conveying mechanism and the three-axis swing fixture. The side of the sliding waterproof door corresponding to the material conveying mechanism is the material loading area, and the side of the sliding waterproof door corresponding to the three-axis swing fixture is the processing area. The multi-axis displacement robot moves back and forth between the material loading area and the processing area to pick up and place the workpiece to be processed and / or the finished product.

[0019] The resulting technical effect is that the sliding waterproof door can separate the material loading area from the processing area, preventing flying chips or cutting fluid from the processing area from splashing into the material loading area, thus ensuring safe and orderly processing.

[0020] Preferably, it also includes a lead screw sliding mechanism, which is electrically connected to the integrated control system. The sliding seat of the lead screw sliding mechanism is fixedly connected to the three-axis oscillating fixture, and the sliding seat carries the three-axis oscillating fixture close to or away from the grinding center.

[0021] The resulting technical effect is that the lead screw sliding mechanism can carry the three-axis oscillating fixture closer to or further away from the grinding center, avoiding interference between related components and improving the flexibility of the device.

[0022] Preferably, the three-axis rocking fixture includes a three-axis rocking table, a force-applying pressing mechanism, and a pressure claw mechanism. A product placement seat is fixedly connected to the top surface of the three-axis rocking table, and the product placement seat is used to support the workpiece.

[0023] The force-applying and pressing mechanism is detachably connected to the top surface of the three-axis rocking table. The force-applying and pressing mechanism is equipped with a force-applying lever. The fulcrum of the force-applying lever is located on one side of the product placement seat. The resistance end of the force-applying lever is used to laterally press against the workpiece on the product placement seat.

[0024] The pressure claw mechanism is located on the top side of the product placement seat, and the top side of the movable pressure claw of the pressure claw mechanism presses against the workpiece on the product placement seat;

[0025] The integrated control system is connected to the force-applying pressing mechanism and the pressure claw mechanism respectively, and pneumatically controls their operating status.

[0026] The resulting technical effects are: the three-axis oscillating table can adjust the posture angle of the workpiece during clamping, meeting the actual processing needs of the workpiece. The posture of the workpiece can be changed without changing the clamping position of the workpiece on the product placement seat. The force-applying pressing mechanism and the clamping claw mechanism achieve the effect of fixing the workpiece in multiple directions, ensuring the stability of the workpiece during processing, and thus ensuring the accuracy of the workpiece during processing. This device has strong workpiece clamping stability, can adjust the posture of the workpiece during processing as needed, and is applicable to a wide range of processing.

[0027] Preferably, the grinding machining center includes a mounting frame, a multi-axis moving table, a wobbling spindle, and a wobbling motor. The integrated control system is connected to the multi-axis moving table, the wobbling spindle, and the wobbling motor respectively and controls their operating states. The mounting frame is fixed on the multi-axis moving table and can be raised, lowered, and moved laterally. Rotary supports are fixedly provided in the middle of both sides of the housing of the wobbling spindle. The wobbling spindle is rotatably connected to the mounting frame through the rotary supports. The other end of the wobbling spindle is a wobbling control end. The wobbling motor is fixedly connected to the mounting frame, and the output shaft of the wobbling motor meshes with the wobbling control end to change the wobbling angle of the wobbling spindle.

[0028] The resulting technical effect is that the wobbling spindle is the basis for machining workpieces. Workpieces are machined through the working end of the wobbling spindle. Since the wobbling spindle can rotate around the pivot support, the up and down swing angle of the working end of the wobbling spindle can be changed by the wobbling motor in later use to complete the machining of complex grooves in the workpiece. There is no need to adjust the clamping position of the workpiece, which makes the machining efficient and adaptable to the grooving requirements of different workpieces.

[0029] Preferably, it also includes a workpiece probe, which is fixed to the working end of the mounting bracket near the wobbling spindle. The workpiece probe is used to measure the height position of the workpiece to be processed. The wobbling spindle is an electric spindle. A tool holder is detachably connected to the working end of the wobbling spindle, and a tool for grinding the workpiece is detachably connected to the tool holder.

[0030] The resulting technical effect is that the workpiece position height can be obtained using the workpiece probe, which is used for height compensation of the subsequent tumbling spindle working end, thereby enabling high-precision machining of the workpiece. Different tools can be changed through the tool holder to adapt to different machining situations.

[0031] Preferably, it also includes a dust collection component, which includes a trough and a collection pipe. The trough is located on the bottom side of the three-axis oscillating fixture, and the bottom of the trough is provided with a material inlet. One end of the collection pipe is connected to the material inlet, and the other end of the collection pipe is connected to an external material collection center to collect workpiece debris and grinding fluid.

[0032] The resulting technical effect is that the chips and cutting fluid generated during processing can be collected by the dust collection component, ensuring the cleanliness of the working environment. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of a fully automatic tool grinding and processing equipment according to the present invention. Figure 1 ;

[0034] Figure 2 This is a schematic diagram of a fully automatic tool grinding and processing equipment according to the present invention. Figure 2 ;

[0035] Figure 3 This is a schematic diagram of a fully automatic tool grinding and processing equipment according to the present invention. Figure 3 ;

[0036] Figure 4 This is a schematic diagram of a fully automatic tool grinding and processing equipment according to the present invention. Figure 4 ;

[0037] Figure 5 This is a schematic diagram of the material conveying mechanism of a fully automatic tool grinding and processing equipment according to this utility model;

[0038] Figure 6 This is a schematic diagram of the mechanical gripper mechanism of a fully automatic tool grinding and processing equipment according to this utility model;

[0039] Figure 7 This is a schematic diagram of the clamping angle mechanism of a fully automatic tool grinding and processing equipment according to the present invention;

[0040] Figure 8 This is a schematic diagram of the three-axis oscillating fixture structure of a fully automatic tool grinding and processing equipment according to this utility model;

[0041] Figure 9 for Figure 8 Detailed drawings of some components;

[0042] Figure 10This is a schematic diagram of a product placement seat for a fully automatic tool grinding and processing equipment according to this utility model;

[0043] Figure 11 This is a schematic diagram of a product placement seat and workpiece of a fully automatic tool grinding and processing equipment according to this utility model;

[0044] Figure 12 This is a schematic diagram of the force-applying and pressing mechanism of a fully automatic tool grinding and processing equipment according to this utility model;

[0045] Figure 13 This is a schematic diagram of the force-applying lever layout of a fully automatic tool grinding and processing equipment according to this utility model;

[0046] Figure 14 This is a schematic diagram of the gripper mechanism of a fully automatic tool grinding and processing equipment according to the present invention;

[0047] Figure 15 This is a schematic diagram of a grinding center for a fully automatic tool grinding and processing equipment according to this utility model. Figure 1 ;

[0048] Figure 16 This is a schematic diagram of a grinding center for a fully automatic tool grinding and processing equipment according to this utility model. Figure 2 ;

[0049] Figure 17 This is a schematic diagram of the tilting spindle of a fully automatic tool grinding and processing equipment according to this utility model.

[0050] 1. Material conveying mechanism; 2. Material tray; 3. Three-axis oscillating fixture; 31. Three-axis oscillating table; 32. Force-applying pressing mechanism; 321. Force-applying lever; 322. Force-applying cylinder; 33. Claw mechanism; 34. Product placement seat; 4. Multi-axis displacement robot; 41. Mechanical gripper mechanism; 411. Base; 412. Vertical rotary motor; 413. Transition rotary seat; 414. Claw shifting rotary cylinder; 415. Claw mounting seat; 416. Pneumatic gripper; 42. Multi-axis displacement slide; 5. Grinding machining center; 51. Mounting frame; 52. Multi-axis moving table; 53. Tilting spindle; 54. Tilting motor; 55. Rotating support; 56. Tool holder; 57. Tool; 6. Clamping corner mechanism; 61. Rotary cylinder; 62. Pneumatic clamping assembly; 7. Sliding waterproof door; 8. Lead screw sliding mechanism; 9. Workpiece probe; 10. Dust collection assembly; 101. Slot box; 102. Material collection pipe. Detailed Implementation

[0051] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0052] See appendix to this utility model Figures 1 to 17 According to an embodiment of the present invention, a fully automatic tool grinding and processing equipment includes:

[0053] Material conveying mechanism 1, which is equipped with a material tray 2 for carrying and transferring workpieces. In specific implementation, the material conveying mechanism is a motor-driven lead screw sliding mechanism, and the material tray 2 is fixed on the sliding seat of the lead screw sliding mechanism.

[0054] The three-axis swing fixture 3 is located beside the material conveying mechanism 1 and is used to clamp and position the workpiece to be processed on the material tray.

[0055] Multi-axis displacement robot 4 is set at one end of the material conveying mechanism 1 and moves back and forth between the material tray 2 and the three-axis swing fixture 3. The workpiece here can be a workpiece to be processed or a finished workpiece. When the material conveying mechanism 1 feeds the workpiece to the three-axis swing fixture 3, it is a workpiece to be processed. When the three-axis swing fixture 3 unloads the workpiece from the material conveying mechanism 1, it is a finished workpiece.

[0056] Grinding machining center 5, the grinding machining center 5 is equipped with a wobbling spindle 53, one end of the wobbling spindle 53 is provided with a working end, based on the wobbling of the wobbling spindle 53, the working end can change the working swing angle and process the workpiece to be processed on the three-axis wobbling fixture 3;

[0057] The integrated control system integrates control circuits and control pneumatic circuits, and can electrically control related electronic components or pneumatic components. The integrated control system connects the material handling mechanism 1, the three-axis swing fixture 3, the multi-axis displacement robot 4, and the grinding machining center 5 to control their coordinated operation, thereby realizing automated processing.

[0058] In other embodiments, the material conveying mechanism 1 is a lead screw sliding mechanism. The sliding table of the lead screw sliding mechanism is provided with at least one set of material trays 2. The material trays 2 are used to place the parts to be processed or the finished parts after processing. The loading and unloading are completed in one process, which simplifies the component layout.

[0059] In some other specific embodiments, the multi-axis displacement manipulator 4 has a mechanical gripper mechanism 41 at its actuator end. The mechanical gripper mechanism 41 includes a base 411, a vertical rotary motor 412, a transition rotary seat 413, a gripper shifting rotary cylinder 414, a gripper mounting seat 415, and a pneumatic gripper 416. The base 411 is fixed on the multi-axis displacement slide 42, the transition rotary seat 413 is rotatably located on the bottom side of the base 411, and the vertical rotary motor 412 is fixed on the base 411 and electrically connected to the integrated control system. The system has a vertical rotating motor 412 whose rotating shaft is fixedly connected to a transition rotating seat 413 and causes the transition rotating seat 413 to rotate in a horizontal plane. A gripper shifting rotating cylinder 414 is fixedly inclined on one side of the transition rotating seat 413. The rotating shaft of the gripper shifting rotating cylinder 414 drives the gripper mounting seat 415 to rotate. There are two sets of pneumatic grippers 416, which are fixed perpendicularly to each other on the gripper mounting seat 415. The integrated control system pneumatically controls the working status of the gripper shifting rotating cylinder 414 and the pneumatic grippers 416.

[0060] The two pneumatic grippers on the mechanical gripper mechanism can change positions, avoiding the mechanical gripper mechanism from empty strokes to transport materials, thereby improving loading and unloading efficiency. Based on the vertical rotating motor and the gripper changing rotary cylinder, the pneumatic grippers at the end have a high working range flexibility.

[0061] In some other embodiments, a clamping angle mechanism 6 is also included. The clamping angle mechanism 6 is disposed on one end of the material tray 2 and located on the moving path of the multi-axis displacement robot 4. The clamping angle mechanism 6 includes a rotary cylinder 61 and a pneumatic clamping assembly 62. An integrated control system pneumatically controls the working state of the rotary cylinder 61 and the pneumatic clamping assembly 62. The rotary cylinder 61 is fixed on one end of the material tray 2. The rotating end of the rotary cylinder 61 makes a circular motion in the vertical plane. The pneumatic clamping assembly 62 is connected to the rotating end of the rotary cylinder 61 and clamps the workpiece to be processed by rotating at an angle.

[0062] The clamping angle mechanism relies on pneumatic clamping components to clamp the workpiece and adjust its angle. The clamping end of the pneumatic clamping component can rotate based on the rotating end of the rotary cylinder. After the loading angle of the workpiece is adjusted, the mechanical gripper mechanism clamps the workpiece or product and loads it to the subsequent fixture. The added clamping angle mechanism is suitable for loading products with multiple sides that need to be processed. It has strong compatibility and a wide range of applications.

[0063] In some other specific embodiments, a sliding waterproof door 7 is also included. The sliding waterproof door 7 is electrically connected to the integrated control system. The sliding waterproof door 7 is located between the material conveying mechanism 1 and the three-axis swing fixture 3. The side of the sliding waterproof door 7 corresponding to the material conveying mechanism 1 is the material loading area, and the side of the sliding waterproof door 7 corresponding to the three-axis swing fixture 3 is the processing area. The multi-axis displacement robot 4 moves back and forth between the material loading area and the processing area to pick up and place the workpiece to be processed and / or the finished part. The sliding waterproof door can be controlled by a cylinder to control its sliding state, effectively establishing a separation between the material loading area and the processing area.

[0064] In other embodiments, a lead screw sliding mechanism 8 is also included. The lead screw sliding mechanism 8 is electrically connected to an integrated control system. The sliding seat of the lead screw sliding mechanism 8 is fixedly connected to a three-axis oscillating fixture 3. The sliding seat carries the three-axis oscillating fixture 3 to be close to or away from the grinding machining center 5 to avoid interference with the operation of related components or mechanisms.

[0065] In some other embodiments, the three-axis rocking fixture 3 includes a three-axis rocking table 31, a force-applying pressing mechanism 32, and a pressure claw mechanism 33. A product placement seat 34 is fixedly connected to the top surface of the three-axis rocking table 31. The product placement seat 34 is used to support the workpiece. The three-axis rocking table 31 can realize the position adjustment of the xyz axis, which is the prior art and will not be described in detail here.

[0066] The force-applying pressing mechanism 32 is detachably connected to the top surface of the three-axis rocking table 31. The force-applying pressing mechanism 32 is equipped with a force-applying lever 321 and a force-applying cylinder 322. The fulcrum of the force-applying lever is located on one side of the product placement seat 34. The resistance end of the force-applying lever is used to laterally press against the workpiece on the product placement seat 34. The force-applying cylinder 322 causes the force-applying lever 321 to swing around the fulcrum. Based on the lever-and-tilt principle, the force-applying lever can achieve the effect of small torque input and large torque output. A wedge is fixed to the extended end of the force-applying cylinder 322. A roller is rotatably connected to the power end of the force-applying lever 321. The roller makes rolling contact with the inclined surface of the wedge. A pressing block for laterally pressing against the workpiece is provided at the resistance end of the force-applying lever 321.

[0067] The pressure claw mechanism 33 is located on the top side of the product placement seat 34. The top side of the movable pressure claw of the pressure claw mechanism 33 presses against the workpiece on the product placement seat 34. The force pressing mechanism and the pressure claw mechanism achieve the effect of multi-directional restriction of the workpiece, thereby ensuring the positional stability of the workpiece during processing and ensuring the subsequent processing accuracy.

[0068] The integrated control system is connected to the force-applying pressing mechanism 32 and the pressure claw mechanism 33 respectively, and pneumatically controls their operating status.

[0069] In some other embodiments, the grinding machining center 5 includes a mounting frame 51, a multi-axis moving table 52, a wobbling spindle 53, and a wobbling motor 54. An integrated control system is connected to the multi-axis moving table 52, the wobbling spindle 53, and the wobbling motor 54 respectively and controls their operating states. The mounting frame 51 is fixed on the multi-axis moving table 52 and can be raised, lowered, and moved laterally. Rotary supports 55 are fixedly provided in the middle of both sides of the housing of the wobbling spindle 53. The wobbling spindle 53 is rotatably connected to the mounting frame 51 through the rotary supports. The other end of the wobbling spindle 53 is a wobbling control end. The wobbling motor 54 is fixedly connected to the mounting frame 51 and the output shaft of the wobbling motor meshes with the wobbling control end to change the wobbling angle of the wobbling spindle 53.

[0070] The multi-axis moving table 52 actually combines the functions of a horizontal sliding mechanism and a lifting mechanism. The fixed end of the lifting mechanism is connected to the moving end of the horizontal sliding mechanism, and the specific mounting bracket 51 is fixed on the lifting platform of the lifting mechanism.

[0071] The wobbling control end has an arc-shaped rack, and the wobbling control of the wobbling main shaft is achieved by the meshing of the output shaft gear of the wobbling motor with the arc-shaped rack.

[0072] It also includes a grinding fluid supply pipe, which is a flexible bamboo-joint hose to facilitate adjustment of the spray angle. The grinding fluid supply pipe is fixed on the mounting bracket and connected to an external grinding fluid supply source.

[0073] In some other specific embodiments, in order to improve the machining accuracy and the accuracy of the machining process, a workpiece probe 9 is also included. The workpiece probe 9 is a high-precision displacement sensor, and its electrical signal is connected to the integrated control system. The workpiece probe 9 is fixed on the working end of the mounting bracket 51 near the wobbling spindle 53. The workpiece probe 9 is used to measure the height position of the workpiece to be machined. The wobbling spindle 53 is an electric spindle. A tool holder 56 is detachably connected to the working end of the wobbling spindle 53. A tool 57 for grinding the workpiece is detachably connected to the tool holder 56.

[0074] It should be noted that electric spindles are existing technology and will not be discussed in detail here.

[0075] In some other embodiments, a dust collection assembly 10 is also included. The dust collection assembly 10 includes a tank 101 and a collection pipe 102. The tank 101 is disposed on the bottom side of the three-axis swing fixture 3. The bottom of the tank 101 is provided with a material inlet. One end of the collection pipe 102 is connected to the material inlet, and the other end of the collection pipe 102 is connected to an external material collection center to collect workpiece debris and grinding fluid.

[0076] This utility model has a high degree of integration and automation, strong processing flexibility, adapts to various workpiece processing situations, meets the needs of different workpieces and different groove processing, and is easy to promote and use.

[0077] The apparatus and methods disclosed in the embodiments are described simply because they correspond to the methods disclosed in the embodiments. For relevant details, please refer to the method section.

[0078] The above description of the disclosed embodiments enables those skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A fully automatic tool grinding and processing equipment, characterized in that, include: Material handling mechanism (1), wherein the material handling mechanism (1) is provided with a material tray (2) for carrying and transferring workpieces; A three-axis swing fixture (3) is located beside the material conveying mechanism (1) and is used to clamp and position the workpiece to be processed on the material tray. A multi-axis displacement manipulator (4) is provided at one end of the material handling mechanism (1) and moves the workpieces on the material tray (2) and the three-axis swing fixture (3) back and forth. Grinding machining center (5), the grinding machining center (5) is provided with a wobbling spindle (53), one end of the wobbling spindle (53) is provided with a working end, based on the wobbling of the wobbling spindle (53), the working end can change the working swing angle and process the workpiece to be processed on the three-axis wobbling fixture (3); An integrated control system is provided, which connects the material handling mechanism (1), the three-axis swing fixture (3), the multi-axis displacement robot (4), and the grinding machining center (5) to control their coordinated operation.

2. The fully automatic tool grinding and processing equipment according to claim 1, characterized in that, The material conveying mechanism (1) is a screw sliding mechanism. The sliding table of the screw sliding mechanism is provided with at least one set of material trays (2). The material trays (2) are on which the workpiece to be processed or the finished workpiece after processing is placed.

3. The fully automatic tool grinding and processing equipment according to claim 2, characterized in that, The multi-axis displacement manipulator (4) has a mechanical gripper mechanism (41) at its execution end. The mechanical gripper mechanism (41) includes a base (411), a vertical rotary motor (412), a transition rotary seat (413), a gripper shifting rotary cylinder (414), a gripper mounting seat (415), and a pneumatic gripper (416). The base (411) is fixed on the multi-axis displacement slide (42). The transition rotary seat (413) is rotatably located on the bottom side of the base (411). The vertical rotary motor (412) is fixed on the base (411) and electrically connected to the integrated control system. The rotating shaft of the vertical rotary motor (412) is fixedly connected to the transition rotating seat (413) and causes the transition rotating seat (413) to rotate in the horizontal plane. A gripper shifting rotary cylinder (414) is fixedly inclined on one side of the transition rotating seat (413). The rotating shaft of the gripper shifting rotary cylinder (414) drives the gripper mounting seat (415) to rotate. There are two sets of pneumatic grippers (416) that are fixed perpendicularly to each other on the gripper mounting seat (415). The integrated control system pneumatically controls the working state of the gripper shifting rotary cylinder (414) and the pneumatic grippers (416).

4. The fully automatic tool grinding and processing equipment according to claim 1, characterized in that, It also includes a clamping angle mechanism (6), which is set on one end of the material tray (2) and located on the moving path of the multi-axis displacement manipulator (4). The clamping angle mechanism (6) includes a rotary cylinder (61) and a pneumatic clamping assembly (62). The integrated control system pneumatically controls the working state of the rotary cylinder (61) and the pneumatic clamping assembly (62). The rotary cylinder (61) is fixed on one end of the material tray (2). The rotating end of the rotary cylinder (61) makes a circular motion in the vertical plane. The pneumatic clamping assembly (62) is connected to the rotating end of the rotary cylinder (61) and clamps the workpiece to be processed by rotating the angle.

5. The fully automatic tool grinding and processing equipment according to claim 1, characterized in that, It also includes a sliding waterproof door (7), which is electrically connected to the integrated control system. The sliding waterproof door (7) is located between the material conveying mechanism (1) and the three-axis swing fixture (3). The side of the sliding waterproof door (7) corresponding to the material conveying mechanism (1) is the material loading area, and the side of the sliding waterproof door (7) corresponding to the three-axis swing fixture (3) is the processing area. The multi-axis displacement robot (4) moves back and forth between the material loading area and the processing area to pick up and place the workpiece to be processed and / or the finished product.

6. The fully automatic tool grinding and processing equipment according to claim 1, characterized in that, It also includes a lead screw sliding mechanism (8), which is electrically connected to the integrated control system. The sliding seat of the lead screw sliding mechanism (8) is fixedly connected to the three-axis oscillating fixture (3). The sliding seat carries the three-axis oscillating fixture (3) to or away from the grinding machining center (5).

7. The fully automatic tool grinding and processing equipment according to claim 1, characterized in that, The three-axis swing fixture (3) includes a three-axis swing table (31), a force-applying pressing mechanism (32), and a pressure claw mechanism (33). A product placement seat (34) is fixedly connected to the top surface of the three-axis swing table (31), and the product placement seat (34) is used to support the workpiece. The force-applying pressing mechanism (32) is detachably connected to the top surface of the three-axis rocking table (31). The force-applying pressing mechanism (32) is provided with a force-applying lever. The fulcrum of the force-applying lever is located on one side of the product placement seat (34). The resistance end of the force-applying lever is used to laterally press against the workpiece on the product placement seat (34). The pressure claw mechanism (33) is located on the top side of the product placement seat (34), and the top side of the movable pressure claw of the pressure claw mechanism (33) presses against the workpiece on the product placement seat (34); The integrated control system is connected to the force-applying pressing mechanism (32) and the pressure claw mechanism (33) respectively and pneumatically controls their operating status.

8. The fully automatic tool grinding and processing equipment according to claim 1, characterized in that, The grinding machining center (5) includes a mounting frame (51), a multi-axis moving table (52), a wobbling spindle (53), and a wobbling motor (54). The integrated control system is connected to the multi-axis moving table (52), the wobbling spindle (53), and the wobbling motor (54) respectively and controls their working status. The mounting frame (51) is fixed on the multi-axis moving table (52) and can be raised, lowered, and moved laterally. Rotary supports (55) are fixedly provided in the middle of both sides of the housing of the wobbling spindle (53). The wobbling spindle (53) is rotatably connected to the mounting frame (51) through the rotary supports. The other end of the wobbling spindle (53) is a wobbling control end. The wobbling motor (54) is fixedly connected to the mounting frame (51), and the output shaft of the wobbling motor meshes with the wobbling control end to change the wobbling angle of the wobbling spindle (53).

9. The fully automatic tool grinding and processing equipment according to claim 8, characterized in that, It also includes a workpiece probe (9), which is fixed on the mounting bracket (51) near the working end of the tumbling spindle (53). The workpiece probe (9) is used to measure the height position of the workpiece to be processed. The tumbling spindle (53) is an electric spindle. A tool holder (56) is detachably connected to the working end of the tumbling spindle (53). A tool (57) for grinding the workpiece is detachably connected to the tool holder (56).

10. The fully automatic tool grinding and processing equipment according to any one of claims 1-9, characterized in that, It also includes a dust collection assembly (10), which includes a trough (101) and a collection pipe (102). The trough (101) is located on the bottom side of the three-axis swing fixture (3). The bottom of the trough (101) is provided with a material inlet. One end of the collection pipe (102) is connected to the material inlet, and the other end of the collection pipe (102) is connected to an external material collection center to collect workpiece debris and grinding fluid.

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