A feeding and discharging mechanism of a grinding tool equipment

Abstract

The utility model discloses a kind of unloading taking and placing mechanism of grinding equipment, including lifting module, swing arm mechanism, swing arm rotating mechanism and taking and collecting mechanism;Swing arm mechanism is set on lifting module, and is driven to move up and down by lifting module;Swing arm mechanism is connected with swing arm rotating mechanism, and is driven to swing left and right by swing arm rotating mechanism;Swing arm mechanism includes first swing arm assembly and second swing arm assembly, first swing arm assembly is connected with swing arm rotating mechanism, second swing arm assembly is connected with taking and collecting mechanism, first swing arm assembly and second swing arm assembly are connected by hinged joint A;Swing arm mechanism further includes linkage mechanism, linkage mechanism connects first swing arm assembly and second swing arm assembly, so that when swing arm mechanism swings, taking and collecting mechanism keeps stable posture.The utility model provides a kind of unloading taking and placing mechanism of grinding equipment, which is ingenious in structure design, stable in movement, accurate in positioning and can automatically keep the posture of end effector.

Description

Technical Field

[0001] This utility model relates to the field of mechanical automation technology, specifically to a loading and unloading mechanism for a knife grinding machine. Background Technology

[0002] In the tool manufacturing industry, automated grinding equipment has been widely used to replace traditional manual operations, thereby improving production efficiency and processing consistency. The loading and unloading mechanism, as a core component of automated grinding equipment, directly affects the overall operating efficiency and reliability of the machine.

[0003] Currently, common automated loading and unloading solutions mainly include articulated robots and Cartesian manipulators. Articulated robots offer high flexibility but are expensive, complex to program, and may not meet the requirements of high-precision grinding in terms of repeatability and rigidity. Cartesian manipulators have a simple structure and high precision, but their motion trajectory is usually linear, resulting in limited workspace. When obstacle avoidance or complex trajectory transfers between workstations at different heights are required, complex multi-axis combinations are often needed, leading to a bulky structure and complex control.

[0004] More importantly, whether it's a simple robotic arm or a complex robot, ensuring that the end effector (such as a pneumatic gripper) maintains a stable posture (such as a horizontal position) during the material handling process is a key technical challenge. If the end effector's posture is unstable, it may cause the workpiece to loosen or fall off during high-speed movement, or cause positional deviations when placing the workpiece, affecting the processing quality.

[0005] Therefore, there is an urgent need in this field for a dedicated loading and unloading mechanism that is compact, cost-effective, precise in motion, and capable of passively maintaining the stable posture of the end effector, in order to solve the above-mentioned technical problems. Utility Model Content

[0006] To address the shortcomings of existing technologies, this utility model provides a tool grinding equipment loading and unloading mechanism with ingenious structural design, stable movement, precise positioning, and the ability to automatically maintain the attitude of the end effector.

[0007] To achieve the above objectives, this utility model provides the following technical solution:

[0008] A tool grinding machine loading and unloading mechanism includes a lifting module, a swing arm mechanism, a swing arm rotation mechanism, and a material handling mechanism. The swing arm mechanism is mounted on the lifting module and is driven by the lifting module to move up and down. The swing arm mechanism is connected to the swing arm rotation mechanism and is driven by the swing arm rotation mechanism to swing left and right. The swing arm mechanism includes a first swing arm assembly and a second swing arm assembly. The first swing arm assembly is connected to the swing arm rotation mechanism, and the second swing arm assembly is connected to the material handling mechanism. The first swing arm assembly and the second swing arm assembly are connected by a hinge joint A. The swing arm mechanism also includes a linkage mechanism that connects the first swing arm assembly and the second swing arm assembly, so that when the swing arm mechanism swings, the material handling mechanism maintains a stable posture.

[0009] Furthermore, the lifting module includes a fixed plate, a lifting frame, a lifting slider, a mounting plate, and a motor; the lifting frame is located on the upper part of the fixed plate, and a transmission rod and a guide rod are connected inside the lifting frame; the lifting slider is connected to the transmission rod and the guide rod; the mounting plate is located on the lifting slider; and the motor is located at the bottom of the fixed plate and drives the lifting slider to move up and down along the guide rod through the transmission rod.

[0010] Furthermore, the swing arm rotation mechanism is a servo motor, and its output end is connected to a drive gear. A driven gear is connected to the first swing arm assembly, and the drive gear and the driven gear are meshed together.

[0011] Furthermore, the linkage mechanism includes a synchronous belt and a synchronous pulley mechanism; the first swing arm assembly is connected to the mounting plate of the lifting module via a rotary joint, and a synchronous pulley A is connected to the rotary joint; a synchronous pulley B and a synchronous pulley C are connected to the hinge joint A; the end of the second swing arm assembly is connected via a hinge joint B, and a synchronous pulley D is connected to the hinge joint B; synchronous pulley A and synchronous pulley B are connected via synchronous belt A, and synchronous pulley C and synchronous pulley D are connected via synchronous belt B.

[0012] Furthermore, both the first and second swing arm assemblies are provided with tensioning pulleys, which contact synchronous belts A and B to tension the synchronous belts.

[0013] Furthermore, the material receiving mechanism includes a receiving connecting plate, a gripper mounting plate, and pneumatic grippers; the material receiving mechanism is connected to the end of the second swing arm assembly through the receiving connecting plate, and the gripper mounting plate is connected to the receiving connecting plate through a rotating shaft, so that the gripper mounting plate can rotate relative to the receiving connecting plate; multiple sets of pneumatic grippers are provided at the bottom of the gripper mounting plate.

[0014] Furthermore, each of the two gripping fingers on the pneumatic gripper is connected to a detachable gripping fixture, and the gripping fixture is connected to a plurality of spaced-apart gripping blocks, which are detachably connected to the gripping fixture.

[0015] Furthermore, a cylinder is provided at the rear end of the receiving connecting plate, and a push block is connected to the output end of the cylinder. The front side of the push block has an arc-shaped portion. A groove is provided in the middle of the receiving connecting plate, and a rotatably connected roller A is provided in the groove. The roller A contacts the upper surface of the push block. A connecting pin is provided on the side of the receiving connecting plate, and a tension spring is connected to the connecting pin. The other end of the tension spring is connected to the finger clamping mounting plate. A rotatably connected roller B is provided at the rear end of the finger clamping mounting plate, and the roller B is located at the front of the push block.

[0016] Compared with existing technologies, the technical solution of this patent has the following advantages:

[0017] 1. Through the mechanical coupling of a unique double swing arm assembly and linkage mechanism (synchronous belt / synchronous pulley system), purely mechanical attitude compensation is achieved. No matter how the swing arm swings, the end-effector can passively maintain a predetermined stable attitude, without relying on a complex electronic feedback system, resulting in high reliability, fast response, and low cost.

[0018] 2. The lifting module adopts a high-rigidity guide design, and the swing arm rotation mechanism uses a servo motor in conjunction with gear transmission to ensure high positioning accuracy of the mechanism in the vertical direction and swing angle, thus ensuring the accuracy of picking up and placing materials.

[0019] 3. The material handling mechanism integrates two sets of pneumatic grippers for both material handling and receiving, improving work efficiency. The clamping fixture and clamping blocks adopt a detachable modular design, allowing the mechanism to quickly adapt to different specifications of cutting tools, thus improving the equipment's versatility and changeover efficiency.

[0020] 4. The angle adjustment mechanism, consisting of a cylinder, push block, tension spring, and roller, enables automated fine-tuning of the working posture of the material receiving and picking mechanism, increasing the flexibility of the mechanism's movements and its adaptability to complex working scenarios. Attached Figure Description

[0021] Figure 1 The diagram shown is a structural schematic of the loading and unloading mechanism of this utility model in the loading and unloading state of area A.

[0022] Figure 2 The figure shown is a three-dimensional view of the internal structure of the loading and unloading mechanism of this utility model.

[0023] Figure 3 The image shown is a side view of the internal structure of the loading and unloading mechanism of this utility model.

[0024] Figure 4The figure shown is a three-dimensional structural diagram of the material receiving and picking mechanism of this utility model;

[0025] Figure 5 The figure shown is a side view of the material receiving mechanism of this utility model.

[0026] Figure 6 The diagram shown is a structural schematic of the loading and unloading mechanism of this utility model in the loading and unloading state of zone B.

[0027] Figure 7 The diagram shown is a schematic diagram of the material loading and unloading mechanism of this utility model in standby mode.

[0028] In the diagram: 1. Lifting module; 11. Fixing plate; 12. Lifting frame; 13. Lifting slider; 14. Mounting plate; 15. Motor; 16. Transmission rod; 17. Guide rod; 2. Swing arm mechanism; 21. First swing arm assembly; 211. Driven gear; 212. Belt synchronous pulley A; 213. Belt synchronous pulley B; 214. Synchronous belt A; 215. Tensioner; 22. Second swing arm assembly; 221. Belt synchronous pulley C; 222. Belt synchronous pulley D; 223. Synchronous belt B 224. Tensioner wheel; 23. Rotary joint; 24. Hinge joint A; 25. Hinge joint B; 3. Swing arm rotation mechanism; 31. Drive gear; 4. Pick-up and pick-up mechanism; 41. Receiving connecting plate; 411. Groove; 42. Grip finger mounting plate; 43. Pneumatic gripper finger; 44. Rotating shaft; 45. Clamping fixture; 46. Clamping block; 47. Cylinder; 48. Push block; 481. Arc-shaped part; 49. Roller A; 50. Connecting pin; 51. Tension spring; 52. Roller B; 6. Cutting tool. Detailed Implementation

[0029] 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.

[0030] See Figure 1-7As shown, this embodiment provides a loading and unloading mechanism for a grinding machine, including a lifting module 1, a swing arm mechanism 2, a swing arm rotation mechanism 3, and a material handling mechanism 4. The swing arm mechanism 2 is mounted on the lifting module 1 and is driven by the lifting module 1 to move up and down. The swing arm mechanism 2 is connected to the swing arm rotation mechanism 3 and is driven by the swing arm rotation mechanism 3 to swing left and right. The swing arm mechanism 2 includes a first swing arm assembly 21 and a second swing arm assembly 22. The first swing arm assembly 21 is connected to the swing arm rotation mechanism 3, and the second swing arm assembly 22 is connected to the material handling mechanism 4. The first swing arm assembly 21 and the second swing arm assembly 22 are connected by a hinge joint A24. The swing arm mechanism 2 also includes a linkage mechanism that connects the first swing arm assembly 21 and the second swing arm assembly 22, so that when the swing arm mechanism 2 swings, the material handling mechanism 4 maintains a stable posture. This achieves stable maintenance of complex spatial movements and end-effector posture. Through the coordinated operation of the lifting module 1, the swing arm rotation mechanism 3, and the swing arm mechanism 2 composed of a double swing arm assembly, this mechanism can accurately transport the cutting tool to the grinding equipment station and the receiving station. Furthermore, the linkage mechanism ensures that the end-effector picking and receiving mechanism 4 maintains a predetermined and stable posture regardless of how the swing arm swings, thus guaranteeing the reliability and accuracy of picking and placing materials.

[0031] The lifting module 1 includes a fixed plate 11, a lifting frame 12, a lifting slider 13, a mounting plate 14, and a motor 15. The lifting frame 12 is located on the upper part of the fixed plate 11, and a transmission rod 16 and a guide rod 17 are connected inside the lifting frame 12. The lifting slider 13 is connected to the transmission rod 16 and the guide rod 17. The mounting plate 14 is located on the lifting slider 13. The motor 15 is located at the bottom of the fixed plate 11 and drives the lifting slider 13 to move up and down along the guide rod 17 through the transmission rod 16. This provides stable, smooth, and precisely guided vertical movement. The combination of the transmission rod 16 and the guide rod 17, driven by the motor 15, constitutes a high-rigidity lifting system. This effectively avoids swaying and off-center loading during the lifting process, ensuring the positioning accuracy and operational stability of the entire swing arm mechanism 2 in the vertical direction.

[0032] The swing arm rotation mechanism 3 is a servo motor, with a drive gear 31 connected to its output end. A driven gear 211 is connected to the first swing arm assembly 21, and the drive gear 31 and the driven gear 211 are meshed together. This achieves high-precision swing angle control. By using a servo motor in conjunction with the meshing transmission of the drive gear 31 and the driven gear 211, precise programming control of the left and right swing angles of the swing arm can be achieved. The servo motor itself has the characteristics of high response and high positioning accuracy, enabling the mechanism to move quickly and accurately to the material picking position, processing position, and material receiving position.

[0033] The linkage mechanism includes a synchronous belt and synchronous pulley mechanism; the first swing arm assembly 21 is connected to the mounting plate 14 of the lifting module 1 via a rotary joint 23, and a synchronous belt pulley A212 is connected to the rotary joint 23; a synchronous belt pulley B213 and a synchronous belt pulley C221 are connected to the hinge joint A24; the end of the second swing arm assembly 22 is connected via a hinge joint B25, and a synchronous belt pulley D222 is connected to the hinge joint B25; synchronous belt pulleys A212 and B213 are connected via a synchronous belt A214, and synchronous belt pulleys C221 and D222 are connected via a synchronous belt B223. This provides a precise, reliable, and efficient attitude maintenance solution. Through the mechanical linkage of four sets of synchronous pulleys and two synchronous belts, the rotation angle of the first swing arm is precisely transmitted and compensated for to the second swing arm. This purely mechanical synchronization method is fast-responding, has no delay, precise transmission, and low noise, fundamentally ensuring that the posture of the material receiving and picking mechanism 4 remains constant during the movement process. Its reliability is higher than that of schemes that rely entirely on sensors and control systems for real-time adjustments.

[0034] Both the first swing arm assembly 21 and the second swing arm assembly 22 are equipped with tension pulleys 215 and 224, which contact the synchronous belts A214 and B223 to tension them. This ensures the long-term stability and reliability of the synchronous belt drive system. The tension pulleys can adjust and maintain the tension of the synchronous belt, preventing slippage, tooth skipping, or vibration caused by the synchronous belt stretching after prolonged operation. This ensures the accuracy of motion transmission by the linkage mechanism and extends the service life of the synchronous belt.

[0035] The material handling mechanism 4 includes a receiving connecting plate 41, a gripper mounting plate 42, and pneumatic grippers 43. The material handling mechanism 4 is connected to the end of the second swing arm assembly 22 via the receiving connecting plate 41. The gripper mounting plate 42 is connected to the receiving connecting plate 41 via a rotating shaft 44, allowing the gripper mounting plate 42 to rotate relative to the receiving connecting plate 41. Two sets of pneumatic grippers 43 are provided at the bottom of the gripper mounting plate 42, one set for picking up materials and the other for collecting materials. This integrates the picking and collecting functions and provides fine-tuning capability for the end-effector posture, improving work efficiency. Simultaneously, the gripper mounting plate 42 has a structure that allows it to rotate relative to the receiving connecting plate 41.

[0036] Both gripping fingers on the pneumatic gripper 43 are connected to detachable clamping fixtures 45. Several spaced-apart clamping blocks 46 are connected to the clamping fixtures 45, and these blocks 46 are detachably connected to them. This greatly improves the versatility and changeover convenience of the mechanism. By replacing the clamping fixtures 45 and clamping blocks 46 with different shapes or sizes, the mechanism can quickly adapt to different specifications of cutting tools or workpieces, achieving flexible production. The modular design reduces tooling changeover time and lowers usage and maintenance costs.

[0037] To further control the posture of the material receiving mechanism 4, this utility model also includes an angle adjustment mechanism. A cylinder 47 is located at the rear end of the receiving connecting plate 41, and a push block 48 is connected to the output end of the cylinder 47. An arc-shaped portion 481 is provided on the front side of the push block 48. A groove 411 is provided in the middle of the receiving connecting plate 41, and a rotatably connected roller A49 is installed within the groove 411, contacting the upper surface of the push block 48. A connecting pin 50 is provided on the side of the receiving connecting plate 41, and a tension spring 51 is connected to the connecting pin 50. The other end of the tension spring 51 is connected to the finger clamping mounting plate 42. A rotatably connected roller B52 is located at the rear end of the finger clamping mounting plate 42, and the roller B52 is positioned at the front of the push block 48. When cylinder 47 pushes push block 48 forward, the arc-shaped part 481 of push block 48 will press against roller B52, overcoming the tension of tension spring 51, forcing finger clamp mounting plate 42 to rotate around pivot 44 to finely adjust the angle, thereby changing the angle of pneumatic finger clamp 43. By controlling the stroke of cylinder 47, the tilt angle of finger clamp mounting plate 42 can be precisely controlled.

[0038] The working process of the loading and unloading mechanism of this utility model's grinding equipment is as follows:

[0039] S1: When the lifting module 1 is working, the motor 15 starts and drives the lifting slider 13 to descend along the guide rod 17 through the transmission rod 16, which in turn drives the entire swing arm mechanism 2 and the material picking and receiving mechanism 4 to descend to the preset material picking height.

[0040] S2: A set of pneumatic grippers 43 located in the material handling mechanism 4 opens and then clamps, and a tool 6 to be sharpened is reliably gripped by the gripping fixture 45 and the clamping block 46 on it; after successful gripping, the lifting module 1 is activated to raise the entire boom to a safe height, making room for swinging.

[0041] S3: The servo motor starts, driving the first swing arm assembly 21 to swing through the meshing of the drive gear 31 and the driven gear 211. The linkage mechanism works synchronously; while the first swing arm assembly 21 swings, the motion is precisely transmitted to the second swing arm assembly 22 through the linkage mechanism consisting of a synchronous pulley and a synchronous belt. This mechanism ensures that no matter how the swing arm swings, the end-effector pick-up and drop-off mechanism 4 can maintain a stable posture and smoothly transport the tool to the grinding position. When the swing arm mechanism 2 is in standby mode or during the entire loading and unloading mechanism's forward and backward transfer process, the swing arm rotation mechanism 3 drives the swing arm mechanism 2 to retract. After the swing arm mechanism 2 is in position at the grinding equipment, the lifting module 1 descends, precisely placing the tool 6 on the fixture of the grinding equipment.

[0042] S4. After the clamp on the grinding equipment clamps the tool to be ground, the pneumatic gripper 43 of the take-up and take-down mechanism 4 opens and releases. Immediately afterwards, another set of pneumatic gripper 43 of the take-up and take-down mechanism 4 actuates to grab the tool that has been ground. After the grabbing is completed, the lifting module 1 rises, driving the boom to rise to a safe height.

[0043] S5. The servo motor rotates in the opposite direction, driving the swing arm mechanism 2 to swing from the grinding position to the receiving position. After reaching the receiving position, the pneumatic gripper 43 of the receiving mechanism 4 opens, releasing the processed tool 6.

[0044] S6. After unloading is completed, the swing arm rotation mechanism 3 drives the swing arm mechanism 2 to swing back to the material picking position, ready to start the next work cycle.

Claims

1. A loading and unloading mechanism for a knife grinding machine, characterized in that, The system includes a lifting module (1), a swing arm mechanism (2), a swing arm rotation mechanism (3), and a material collection mechanism (4); the swing arm mechanism (2) is mounted on the lifting module (1); the swing arm mechanism (2) is connected to the swing arm rotation mechanism (3); the swing arm mechanism (2) includes a first swing arm assembly (21) and a second swing arm assembly (22), the first swing arm assembly (21) is connected to the swing arm rotation mechanism (3), and the second swing arm assembly (22) is connected to the material collection mechanism (4), the first swing arm assembly (21) and the second swing arm assembly (22) are connected by a hinge joint A (24); the swing arm mechanism (2) also includes a linkage mechanism, the linkage mechanism connects the first swing arm assembly (21) and the second swing arm assembly (22), so that when the swing arm mechanism (2) swings, the material collection mechanism (4) maintains a stable posture.

2. The loading and unloading mechanism for the grinding equipment according to claim 1, characterized in that, The lifting module (1) includes a fixed plate (11), a lifting frame (12), a lifting slider (13), a mounting plate (14), and a motor (15). The lifting frame (12) is located on the upper part of the fixed plate (11). A transmission rod (16) and a guide rod (17) are connected inside the lifting frame (12). The lifting slider (13) is connected to the transmission rod (16) and the guide rod (17). The mounting plate (14) is located on the lifting slider (13). The motor (15) is located at the bottom of the fixed plate (11) and drives the lifting slider (13) to move up and down along the guide rod (17) through the transmission rod (16).

3. The loading and unloading mechanism for the grinding equipment according to claim 1 or 2, characterized in that, The swing arm rotation mechanism (3) is a servo motor, and its output end is connected to a drive gear (31). The first swing arm assembly (21) is connected to a driven gear (211), and the drive gear (31) meshes with the driven gear (211).

4. The loading and unloading mechanism for the grinding equipment according to claim 1, characterized in that, The linkage mechanism includes a synchronous belt and a synchronous pulley mechanism; the first swing arm assembly (21) is connected to the mounting plate (14) of the lifting module (1) through a rotary joint (23), and a synchronous belt pulley A (212) is connected to the rotary joint (23); a synchronous belt pulley B (213) and a synchronous belt pulley C (221) are connected to the hinge joint A (24); the end of the second swing arm assembly (22) is connected through a hinge joint B (25), and a synchronous belt pulley D (222) is connected to the hinge joint B (25); the synchronous belt pulley A (212) and the synchronous belt pulley B (213) are connected through a synchronous belt A (214), and the synchronous belt pulley C (221) and the synchronous belt pulley D (222) are connected through a synchronous belt B (223).

5. The loading and unloading mechanism for the grinding equipment according to claim 4, characterized in that, The first swing arm assembly (21) and the second swing arm assembly (22) are each provided with tensioning wheels (215, 224), which contact the timing belt A (214) and the timing belt B (223) to tension the timing belt.

6. The loading and unloading mechanism for the grinding equipment according to claim 1, characterized in that, The material receiving mechanism (4) includes a receiving connecting plate (41), a finger clamping mounting plate (42), and pneumatic fingers (43); the material receiving mechanism (4) is connected to the end of the second swing arm assembly (22) through the receiving connecting plate (41), and the finger clamping mounting plate (42) is connected to the receiving connecting plate (41) through a rotating shaft (44), so that the finger clamping mounting plate (42) can rotate relative to the receiving connecting plate (41); multiple sets of pneumatic fingers (43) are provided at the bottom of the finger clamping mounting plate (42).

7. The loading and unloading mechanism for the grinding equipment according to claim 6, characterized in that, The two gripping fingers on the pneumatic gripper (43) are each connected to a detachable gripping fixture (45). The gripping fixture (45) is connected to a number of spaced-apart gripping blocks (46), which are detachably connected to the gripping fixture (45).

8. The loading and unloading mechanism for the grinding equipment according to claim 6, characterized in that, A cylinder (47) is provided at the rear end of the receiving connecting plate (41), and a push block (48) is connected to the output end of the cylinder (47). An arc-shaped part (481) is provided on the front side of the push block (48). A groove (411) is provided in the middle of the receiving connecting plate (41), and a rotatably connected roller A (49) is provided in the groove (411). The roller A (49) contacts the upper surface of the push block (48). A connecting pin (50) is provided on the side of the receiving connecting plate (41), and a tension spring (51) is connected to the connecting pin (50). The other end of the tension spring (51) is connected to the finger clamping mounting plate (42). A rotatably connected roller B (52) is provided at the rear end of the finger clamping mounting plate (42), and the roller B (52) is located at the front of the push block (48).

Images