A grinding table apparatus

Abstract

This utility model discloses a grinding tray device, comprising: a worktable, a grinding mechanism, and an arranging mechanism. The worktable is equipped with a turntable mechanism, a loading robot near the arranging mechanism for transferring arranged products to the turntable mechanism, a unloading robot, a linear module near the grinding mechanism for moving products into / out of the grinding mechanism, and a detection mechanism located beside the turntable mechanism for inspecting the products. This utility model automatically arranges products on a conveyor belt using the arranging mechanism for loading by the loading robot, and moves products into / out of the grinding mechanism using the linear module. This eliminates the traditional method of manual rotation of the turntable to adjust distance, effectively achieving automatic adjustment, saving labor costs, and ensuring grinding quality. Both the linear module and the turntable mechanism adopt a closed waterproof structure, effectively improving production safety.

Description

Technical fields:

[0001] This utility model relates to the field of valve seat processing technology, and specifically to a grinding carrier plate device. Background technology:

[0002] The valve seat is a critical component in a valve that directly contacts the valve core (such as the ball in a ball valve or the gate in a gate valve). The main purpose of valve seat grinding is to improve the precision and surface quality of the valve's sealing surface, ensuring its sealing performance. During the manufacturing process, valve seats inevitably develop scratches, pits, or oxide layers. Valve seat grinding removes these high points by using abrasive cutting, restoring the sealing surface to a smooth finish.

[0003] Currently available valve seat grinding devices can grind the outer wall of valve seats. For example, Chinese utility model patent application CN211332560U discloses a valve seat outer wall grinding device, which includes: a valve seat fixing rod, a drive motor for rotating the valve seat fixing rod, and a moving block. The moving block is located on one side of the valve seat fixing rod, and a grinding head is provided on the side wall of the moving block near the valve seat fixing rod. The grinding head and the valve seat fixing rod are at the same height. A vertical fixing plate is provided at the upper end of the moving block. A horizontal fixing plate is provided at the upper end of the vertical fixing plate near the valve seat fixing rod. A vertically downward cylinder one and a cylinder two are provided on the horizontal fixing plate. A connecting block one is provided on the piston rod of cylinder one, and a brush is provided on it. The brush is located directly above the valve seat fixing rod. A material cylinder is fixed at the lower end of the horizontal fixing plate. The bottom of the material cylinder is provided with a discharge port facing the brush. A sealing plug is provided on the piston rod of cylinder two. The sealing plug is located in the material cylinder, and the outer wall of the sealing plug is in contact with the inner wall of the material cylinder.

[0004] However, this existing valve seat outer wall grinding device relies on manual rotation of a turntable to control the movement of a moving block within a groove, thereby adjusting the distance for the grinding head to grind the valve seat outer wall. This manual distance adjustment not only results in low automation and increased labor costs, but also risks inconsistent grinding quality due to inconsistent manual adjustments, making it unsuitable for mass production. Furthermore, this technical solution fails to achieve automatic loading / unloading, requiring manual handling, which significantly limits production efficiency.

[0005] In view of the above, the inventors propose the following technical solution. Utility Model Content:

[0006] The purpose of this invention is to overcome the shortcomings of the prior art and provide a grinding carrier device.

[0007] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: a grinding tray device, comprising: a worktable, a grinding mechanism disposed on one side of the worktable for grinding products, and an arranging mechanism disposed on the side of the worktable for arranging products. The worktable is respectively provided with a turntable mechanism for carrying products for rotation, a loading robot near the arranging mechanism for transferring the arranged products to the turntable mechanism, a unloading robot for unloading products from the turntable mechanism, a linear module near the grinding mechanism for driving products into / out of the grinding mechanism, and a detection mechanism located on the side of the turntable mechanism for detecting products.

[0008] Furthermore, in the above technical solution, the arranging mechanism includes an arranging housing, a first arranging plate and a second arranging plate rotatably disposed on the arranging housing, a first rotating clamp disposed on the arranging housing for clamping products on the conveyor belt onto the first arranging plate, and a second rotating clamp disposed on the arranging housing for clamping products on the conveyor belt onto the first arranging plate. The first arranging plate is provided with a plurality of first placement positions for positioning products, and the second arranging plate is provided with a plurality of second placement positions for positioning products.

[0009] Furthermore, in the above technical solution, the turntable mechanism includes a turntable support mounted on the worktable, a turntable rotatably mounted on the turntable support, multiple tray positions mounted on the turntable, a tray in each tray position for accommodating the product, a positioning cylinder beside each tray position for preventing accidental rotation of the tray, a transition channel between the turntable and the grinding mechanism, and a rotary motor below the turntable for driving the turntable to rotate.

[0010] Furthermore, in the above technical solution, the carrier is provided with multiple positioning parts for positioning the product, and the carrier is surrounded by toothed gaps.

[0011] Furthermore, in the above technical solution, the grinding mechanism includes a grinding machine body and a power distribution box located next to the grinding machine body. The grinding machine body is provided with a grinding space, and one end of the linear module extends into the grinding space. A grinding disc for grinding products is provided in the grinding space, and a number of limiting posts for limiting the position of the carrier are distributed in a ring on the grinding disc.

[0012] Furthermore, in the above technical solution, the linear module includes a linear module bracket mounted on a workbench, a linear slide rail mounted on the linear module bracket, a linear slider mounted on the linear slide rail in a reciprocating manner, a linear motor mounted at one end of the linear slide rail for driving the linear slider to slide, a horizontal arm mounted laterally on the linear slider and movable therewith, an L-shaped mounting plate mounted on the horizontal arm, a movable lever mounted on the L-shaped mounting plate for moving the carrier plate into the grinding mechanism, a sensing plate mounted at one end of the horizontal arm, and a first photoelectric switch and a second photoelectric switch respectively mounted at both ends of the linear slide rail for sensing the sensing plate.

[0013] Furthermore, in the above technical solution, the movable lever includes a lifting cylinder mounted on an L-shaped mounting plate, a lifting mounting plate mounted on the output end of the lifting cylinder and driven by the lifting cylinder to lift and lower, and a plurality of pins mounted on the lifting mounting plate and capable of lifting and lowering accordingly to be inserted into the tooth gap of the carrier plate.

[0014] Furthermore, in the above technical solution, the detection mechanism includes a detection bracket mounted on a workbench, a CCD mounting bracket mounted on the upper end of the detection bracket, a CCD detection lens mounted on the CCD mounting bracket for taking pictures and detecting, a first light source mounted on the CCD mounting bracket and located below the CCD detection lens to provide illumination for supplementary light, a second light source mounted on the lower end of the detection bracket for providing illumination for supplementary light, and a display mounted on the detection bracket for displaying the detection results.

[0015] Furthermore, in the above technical solution, the loading robot includes a loading bracket set on the worktable, a loading drive motor mounted on the loading bracket, a first loading swing arm set on the loading drive motor in a swingable manner, a second loading swing arm set at the end of the first loading swing arm in a swingable manner, a loading screw motor set on the second loading swing arm, a loading lifting screw set vertically on the second loading swing arm and driven by the loading screw motor for lifting, a loading mounting disc connected to the lower end of the loading lifting screw, and several loading grippers arranged around the loading mounting disc for clamping products. Each loading gripper is equipped with a loading gripper motor for driving the loading gripper to clamp the product.

[0016] Furthermore, in the above technical solution, the unloading robot includes an unloading bracket set on a workbench, an unloading drive motor mounted on the unloading bracket, a first unloading swing arm set on the unloading drive motor in a swingable manner, a second unloading swing arm set at the end of the first unloading swing arm in a swingable manner, an unloading screw motor set on the second unloading swing arm, an unloading lifting screw set vertically on the second unloading swing arm and driven by the unloading screw motor for lifting, an unloading mounting disc connected to the lower end of the unloading lifting screw, and several unloading grippers arranged around the unloading mounting disc for clamping products. Each unloading gripper is equipped with an unloading gripper motor for driving the unloading gripper to clamp the product.

[0017] After adopting the above technical solution, this utility model has the following beneficial effects compared with the prior art: In this utility model, the products on the conveyor belt are automatically arranged by the arranging mechanism to facilitate loading by the loading robot. The linear module drives the products into / out of the grinding mechanism, changing the traditional method of manual rotation of the turntable to adjust the distance. This effectively achieves automatic adjustment, saves labor costs, and ensures grinding quality, making it suitable for mass production. In addition, compared with the existing structure, this utility model uses a turntable mechanism to drive the product rotation, and the loading and unloading robots perform automated loading and unloading respectively, greatly improving production efficiency. Furthermore, both the linear module and the turntable mechanism adopt a closed waterproof structure, effectively improving production safety, making it suitable for widespread application in various grinding loading and unloading equipment. Attached image description:

[0018] Figure 1 This is a three-dimensional structural schematic diagram of the present invention;

[0019] Figure 2 This is a schematic diagram of the arrangement mechanism in this utility model;

[0020] Figure 3 This is a schematic diagram of the turntable mechanism in this utility model;

[0021] Figure 4 This is a schematic diagram of the carrier disk in this utility model;

[0022] Figure 5 This is a schematic diagram of the linear module in this utility model;

[0023] Figure 6 This is a schematic diagram of the detection mechanism in this utility model;

[0024] Figure 7 This is a schematic diagram of the loading robot in this utility model;

[0025] Figure 8This is a schematic diagram of the unloading robot in this utility model. Detailed implementation method:

[0026] The present invention will be further described below with reference to specific embodiments and accompanying drawings.

[0027] See Figures 1 to 8 As shown, a grinding tray device includes: a worktable 1, a grinding mechanism 2 disposed on one side of the worktable 1 for grinding products, and an arranging mechanism 3 disposed beside the worktable 1 for arranging products. The worktable 1 is equipped with a turntable mechanism 4 for carrying and rotating products, a loading robot 5 near the arranging mechanism 3 for transferring arranged products to the turntable mechanism 4, a unloading robot 6 for unloading products from the turntable mechanism 4, a linear module 7 near the grinding mechanism 2 for moving products into / out of the grinding mechanism 2, and a detection mechanism 8 located beside the turntable mechanism 4 for detecting products. Both the linear module 7 and the turntable mechanism 4 employ a closed, waterproof structure.

[0028] In this invention, the arrangement mechanism 3 automatically arranges the products on the conveyor belt for loading by the loading robot 5. The linear module 7 drives the products into / out of the grinding mechanism 2, changing the traditional method of manual rotation of the turntable to adjust the distance. This effectively achieves automatic adjustment, saves labor costs, and ensures grinding quality, making it suitable for mass production. Furthermore, compared to existing structures, this invention utilizes the turntable mechanism 4 to rotate the products, with the loading robot 5 and unloading robot 6 performing automated loading and unloading, significantly improving production efficiency. Both the linear module 7 and the turntable mechanism 4 employ a closed, waterproof structure, effectively enhancing production safety and making it suitable for widespread application in various grinding and loading / unloading equipment.

[0029] The arranging mechanism 3 includes an arranging housing 31, a first arranging disk 32 and a second arranging disk 33 rotatably mounted on the arranging housing 31, a first rotating clamp 34 mounted on the arranging housing 31 for clamping products on the conveyor belt onto the first arranging disk 32, and a second rotating clamp 35 mounted on the arranging housing 31 for clamping products on the conveyor belt onto the first arranging disk 33. The first arranging disk 32 is provided with a plurality of first placement positions 321 for positioning products, and the second arranging disk 33 is provided with a plurality of second placement positions 331 for positioning products. The first rotating clamp 34 includes a first rotating bracket 341, a first rotating cylinder 342 disposed on the first rotating bracket 341, a rotating plate 343 mounted on the output shaft of the first rotating cylinder 342, and a first cylinder clamp 344 and a second cylinder clamp 345 respectively disposed at both ends of the rotating plate 343. The first rotating clamp 34 can rotate to clamp products and transfer them to the first placement position 321 of the first arrangement tray 33 to complete the arrangement. In addition, the structure of the second rotating clamp 35 is basically the same as that of the first rotating clamp 34, and can be implemented with reference to the first rotating clamp 34, and will not be described in detail here. In addition, preferably, the number of first placement positions 321 on the first arrangement tray 33 is five, and correspondingly, the number of loading grippers 58 of the loading robot 5 is five, and the number of positioning parts 441 of the carrier tray 44 is also five, so that the loading robot 5 can clamp five products at a time for loading, effectively improving the efficiency of loading and processing.

[0030] The turntable mechanism 4 includes a turntable support 41 mounted on the worktable 1, a turntable 42 rotatably mounted on the turntable support 41, multiple tray positions 43 mounted on the turntable 42, trays 44 disposed in each tray position 43 for holding products, positioning cylinders 45 disposed beside each tray position 43 for preventing accidental rotation of the trays 44, a transition channel 46 disposed between the turntable 42 and the grinding mechanism 2, and a rotary motor 47 disposed below the turntable 42 for driving the turntable 42 to rotate. Preferably, the number of tray positions 43 is eight, and the number of positioning parts 441 of the trays 44 is five.

[0031] The grinding mechanism 2 includes a grinding machine body 21 and an electrical distribution box 22 located beside the grinding machine body 21. The grinding machine body 21 has a grinding space 23. One end of the linear module 7 extends into the grinding space 23. A grinding disc 24 for grinding products is located within the grinding space 23. Several limiting posts 25 are arranged in a ring on the grinding disc 24 to limit the movement of the carrier disc 44. Here, the grinding disc 24 can drive the carrier disc 44 to rotate clockwise to move it into the grinding space 23 for grinding. The limiting posts 25 are mounted on the grinding disc 24 in a liftable manner to facilitate the linear module 7 in transferring the carrier disc 44. Furthermore, the limiting posts 25 can lock the teeth gaps 442 of the carrier disc 44 to prevent accidental movement during the grinding process.

[0032] The linear module 7 includes a linear module bracket 71 mounted on the workbench 1, a linear slide rail 72 mounted on the linear module bracket 71, a linear slider 73 mounted on the linear slide rail 72 in a reciprocating manner, a linear motor 79 mounted at one end of the linear slide rail 72 for driving the linear slider 73 to slide, a horizontal arm 74 mounted laterally on the linear slider 73 and movable therewith, an L-shaped mounting plate 75 mounted on the horizontal arm 74, a movable lever arm 76 mounted on the L-shaped mounting plate 75 for moving the carrier plate 44 into the grinding mechanism 2, a sensing plate 77 mounted at one end of the horizontal arm 74, and a first photoelectric switch 781 and a second photoelectric switch 782 respectively mounted at both ends of the linear slide rail 72 for sensing the sensing plate 77.

[0033] The carrier tray 44 is provided with multiple positioning parts 441 for positioning the product, and toothed gaps 442 are distributed around the periphery of the carrier tray 44. The movable lever arm 76 includes a lifting cylinder 761 mounted on an L-shaped mounting plate 75, a lifting mounting plate 762 mounted on the output end of the lifting cylinder 761 and driven by the lifting cylinder 761 to move up and down, and multiple insertion pins 763 mounted on the lifting mounting plate 762 and capable of moving up and down to insert into the toothed gaps 442 of the carrier tray 44. Preferably, there are four insertion pins 763, which can be inserted into the toothed gaps 442 to facilitate the movement of the carrier tray 44.

[0034] The detection mechanism 8 includes a detection bracket 81 mounted on the workbench 1, a CCD mounting bracket 82 mounted on the upper end of the detection bracket 81, a CCD detection lens 83 mounted on the CCD mounting bracket 82 for photographic detection, a first light source 84 mounted on the CCD mounting bracket 82 and located below the CCD detection lens 83 to provide illumination for supplementary light, a second light source 85 located at the lower end of the detection bracket 81 for providing illumination for supplementary light, and a display 86 mounted on the detection bracket 81 for displaying detection results.

[0035] The loading robot 5 includes a loading bracket 51 mounted on a worktable 1, a loading drive motor 52 mounted on the loading bracket 51, a first loading swing arm 53 mounted on the loading drive motor 52 in a swingable manner, a second loading swing arm 54 mounted at the end of the first loading swing arm 53 in a swingable manner, a loading screw motor 55 mounted on the second loading swing arm 54, a loading lifting screw 56 mounted vertically on the second loading swing arm 54 and driven by the loading screw motor 55 for lifting, a loading mounting disc 57 connected to the lower end of the loading lifting screw 56, and several loading grippers 58 arranged around the loading mounting disc 57 for gripping products. Each loading gripper 58 is equipped with a loading gripper motor 59 for driving the loading gripper 58 to grip the product. Preferably, there are five loading grippers 58, and correspondingly, five loading gripper motors 59.

[0036] The unloading robot 6 includes an unloading bracket 61 mounted on a worktable 1, an unloading drive motor 62 mounted on the unloading bracket 61, a first unloading swing arm 63 oscillatingly mounted on the unloading drive motor 62, a second unloading swing arm 64 oscillatingly mounted at the end of the first unloading swing arm 63, an unloading lead screw motor 65 mounted on the second unloading swing arm 64, an unloading lifting lead screw 66 vertically mounted on the second unloading swing arm 64 and driven by the unloading lead screw motor 65 for lifting, an unloading mounting disc 67 connected to the lower end of the unloading lifting lead screw 66, and several unloading grippers 68 arranged around the unloading mounting disc 67 for gripping products. Each unloading gripper 68 is equipped with an unloading gripper motor 69 for driving the unloading gripper 68 to grip the product. Preferably, there are five unloading grippers 68, and correspondingly, five unloading gripper motors 69.

[0037] In summary, this invention automatically arranges the products on the conveyor belt using the arranging mechanism 3, facilitating loading by the loading robot 5. The linear module 7 then moves the products into / out of the grinding mechanism 2, eliminating the traditional method of manual rotation of the turntable to adjust the distance. This effectively achieves automatic adjustment, saves labor costs, and ensures grinding quality, making it suitable for mass production. Furthermore, compared to existing structures, this invention utilizes the turntable mechanism 4 to rotate the products, with the loading robot 5 and unloading robot 6 performing automated loading and unloading, significantly improving production efficiency. Both the linear module 7 and the turntable mechanism 4 employ a closed, waterproof structure, effectively enhancing production safety and making it suitable for widespread application in various grinding and loading / unloading equipment.

[0038] The working process of this utility model is as follows: First, the products on the conveyor belt are automatically arranged by the arranging mechanism 3. Then, the rotating disk 42 drives the carrier disk 44 to rotate clockwise. When it reaches the side of the loading robot 5, the loading robot 5 transfers the products arranged by the arranging mechanism 3 onto the carrier disk 44 (five products are clamped at a time). After two carrier disks 44 are filled, the rotating disk 42 rotates, moving the two carrier disks 44 to the linear module 7. The moving arm 76 of the linear module 7 then transfers the carrier disks 44 to the grinding mechanism 2 for grinding. At this time, the rotating disk 42 removes two carrier disks 44, freeing up two carrier disk positions 43. The moving arm 76 has four pins 763, with two pins 763 corresponding to one carrier disk 4. 4. (Four insert pins 763 drive two carrier plates 44) to the grinding mechanism 2. Further, the grinding disc 24 of the grinding mechanism 2 also rotates clockwise, rotating the two carrier plates 44 into the grinding space 23 for grinding. Simultaneously, during the rotation, the two carrier plates 44 containing the ground products are rotated out. Further, the moving arm 76 of the linear module 7 moves the two carrier plates 44 containing the ground products to the two previously vacated carrier plate positions 43 on the rotating disc 42. The rotating disc 42 drives the two carrier plates 44 containing the ground products to the detection mechanism 8 for detection. Finally, the rotating disc 42 drives the two carrier plates 44 containing the ground products to the unloading robot 6, where the unloading robot 6 completes the unloading. This utility model effectively achieves full automation from arrangement to loading, grinding, detection, and unloading. Furthermore, both the linear module 7 and the rotating disc mechanism 4 adopt a closed waterproof structure, significantly improving processing quality, production efficiency, and production safety.

[0039] Of course, the above description is only a specific embodiment of the present utility model and is not intended to limit the scope of the present utility model. All equivalent changes or modifications made to the structure, features and principles described in the claims of the present utility model should be included in the scope of the claims of the present utility model.

Claims

1. A grinding tray apparatus, comprising: The workbench (1), the grinding mechanism (2) disposed on one side of the workbench (1) for grinding the product, and the arranging mechanism (3) disposed on the side of the workbench (1) for arranging the product, are characterized in that, The workbench (1) is equipped with a turntable mechanism (4) for carrying products and rotating them, a loading robot (5) located near the arranging mechanism (3) for transferring the arranged products to the turntable mechanism (4), a unloading robot (6) for unloading products from the turntable mechanism (4), a linear module (7) located near the grinding mechanism (2) for driving products into / out of the grinding mechanism (2), and a detection mechanism (8) located next to the turntable mechanism (4) for detecting products.

2. The grinding disc device according to claim 1, characterized in that: The arranging mechanism (3) includes an arranging housing (31), a first arranging plate (32) and a second arranging plate (33) rotatably disposed on the arranging housing (31), a first rotating clamp (34) disposed on the arranging housing (31) for clamping products on the conveyor belt onto the first arranging plate (32), and a second rotating clamp (35) disposed on the arranging housing (31) for clamping products on the conveyor belt onto the first arranging plate (32). The first arranging plate (32) is provided with several first placement positions (321) for positioning products, and the second arranging plate (33) is provided with several second placement positions (331) for positioning products.

3. The grinding disc device according to claim 1, characterized in that: The turntable mechanism (4) includes a turntable support (41) mounted on the worktable (1), a turntable (42) rotatably mounted on the turntable support (41), a plurality of tray positions (43) mounted on the turntable (42), a tray (44) mounted in each tray position (43) for holding the product, a positioning cylinder (45) mounted beside each tray position (43) for preventing the tray (44) from rotating accidentally, a transition channel (46) mounted between the turntable (42) and the grinding mechanism (2), and a rotary motor (47) mounted below the turntable (42) for driving the turntable (42) to rotate.

4. The grinding disc device according to claim 3, characterized in that: The carrier (44) is provided with a plurality of positioning parts (441) for positioning the product, and tooth gaps (442) are distributed around the carrier (44).

5. The grinding disc device according to claim 1, characterized in that: The grinding mechanism (2) includes a grinding machine body (21) and a power distribution box (22) located next to the grinding machine body (21). The grinding machine body (21) is provided with a grinding space (23). One end of the linear module (7) extends into the grinding space (23). The grinding space (23) is provided with a grinding disc (24) for grinding products. The grinding disc (24) is provided with a number of limiting posts (25) arranged in a ring on it for limiting the carrier disc (44).

6. The grinding disc device according to claim 1, characterized in that: The linear module (7) includes a linear module bracket (71) mounted on the workbench (1), a linear slide rail (72) mounted on the linear module bracket (71), a linear slider (73) mounted on the linear slide rail (72) in a reciprocating manner, a linear motor (79) mounted at one end of the linear slide rail (72) for driving the linear slider (73) to slide, a horizontal arm (74) mounted laterally on the linear slider (73) and movable therewith, an L-shaped mounting plate (75) mounted on the horizontal arm (74), a movable lever arm (76) mounted on the L-shaped mounting plate (75) for driving the carrier plate (44) to move into the grinding mechanism (2), a sensing plate (77) mounted at one end of the horizontal arm (74), and a first photoelectric switch (781) and a second photoelectric switch (782) respectively mounted at both ends of the linear slide rail (72) for sensing the sensing plate (77).

7. The grinding disc device according to claim 6, characterized in that: The movable lever (76) includes a lifting cylinder (761) mounted on an L-shaped mounting plate (75), a lifting mounting plate (762) mounted on the output end of the lifting cylinder (761) and driven by the lifting cylinder (761) to lift and lower, and a plurality of pins (763) mounted on the lifting mounting plate (762) and capable of being lifted and lowered to be inserted into the tooth gap (442) of the carrier plate (44).

8. The grinding disc device according to claim 1, characterized in that: The detection mechanism (8) includes a detection bracket (81) mounted on the workbench (1), a CCD mounting bracket (82) mounted on the upper end of the detection bracket (81), a CCD detection lens (83) mounted on the CCD mounting bracket (82) and used for photographic detection, a first light source (84) mounted on the CCD mounting bracket (82) and located below the CCD detection lens (83) to provide illumination for supplementary light, a second light source (85) mounted on the lower end of the detection bracket (81) and used for providing illumination for supplementary light, and a display (86) mounted on the detection bracket (81) and used for displaying detection results.

9. A grinding disc apparatus according to any one of claims 1-8, characterized in that: The loading robot (5) includes a loading bracket (51) set on the worktable (1), a loading drive motor (52) mounted on the loading bracket (51), a first loading swing arm (53) set on the loading drive motor (52) in a swingable manner, a second loading swing arm (54) set at the end of the first loading swing arm (53) in a swingable manner, a loading screw motor (55) set on the second loading swing arm (54), a loading lifting screw (56) set vertically on the second loading swing arm (54) and driven by the loading screw motor (55) for lifting, a loading mounting disc (57) connected to the lower end of the loading lifting screw (56), and several loading grippers (58) arranged around the loading mounting disc (57) for clamping products. Each loading gripper (58) is provided with a loading gripper motor (59) for driving the loading gripper (58) to clamp the product.

10. A grinding disc apparatus according to any one of claims 1-8, characterized in that: The unloading robot (6) includes an unloading bracket (61) mounted on a worktable (1), an unloading drive motor (62) mounted on the unloading bracket (61), a first unloading swing arm (63) mounted on the unloading drive motor (62) in a swingable manner, a second unloading swing arm (64) mounted on the end of the first unloading swing arm (63) in a swingable manner, an unloading screw motor (65) mounted on the second unloading swing arm (64), an unloading lifting screw (66) mounted vertically on the second unloading swing arm (64) and driven by the unloading screw motor (65) for lifting, an unloading mounting disc (67) connected to the lower end of the unloading lifting screw (66), and several unloading grippers (68) arranged around the unloading mounting disc (67) for clamping products. Each unloading gripper (68) is equipped with an unloading gripper motor (69) for driving the unloading gripper (68) to grip the product.

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