CN113814816A - Automatic change numerical control cylindrical grinder - Google Patents

Automatic change numerical control cylindrical grinder Download PDF

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Publication number
CN113814816A
CN113814816A CN202111184621.6A CN202111184621A CN113814816A CN 113814816 A CN113814816 A CN 113814816A CN 202111184621 A CN202111184621 A CN 202111184621A CN 113814816 A CN113814816 A CN 113814816A
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CN
China
Prior art keywords
grinding wheel
transverse
grinding
servo motor
guide rail
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202111184621.6A
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Chinese (zh)
Inventor
韩金辉
刘建峰
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zoje Precision Machinery Xuzhou Co ltd
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Zoje Precision Machinery Xuzhou Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by Zoje Precision Machinery Xuzhou Co ltd filed Critical Zoje Precision Machinery Xuzhou Co ltd
Priority to CN202111184621.6A priority Critical patent/CN113814816A/en
Publication of CN113814816A publication Critical patent/CN113814816A/en
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B5/00—Machines or devices designed for grinding surfaces of revolution on work, including those which also grind adjacent plane surfaces; Accessories therefor
    • B24B5/36—Single-purpose machines or devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B1/00—Processes of grinding or polishing; Use of auxiliary equipment in connection with such processes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B41/00—Component parts such as frames, beds, carriages, headstocks
    • B24B41/02—Frames; Beds; Carriages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B41/00—Component parts such as frames, beds, carriages, headstocks
    • B24B41/04—Headstocks; Working-spindles; Features relating thereto
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B47/00—Drives or gearings; Equipment therefor
    • B24B47/10—Drives or gearings; Equipment therefor for rotating or reciprocating working-spindles carrying grinding wheels or workpieces
    • B24B47/12—Drives or gearings; Equipment therefor for rotating or reciprocating working-spindles carrying grinding wheels or workpieces by mechanical gearing or electric power
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B47/00—Drives or gearings; Equipment therefor
    • B24B47/22—Equipment for exact control of the position of the grinding tool or work at the start of the grinding operation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B5/00—Machines or devices designed for grinding surfaces of revolution on work, including those which also grind adjacent plane surfaces; Accessories therefor
    • B24B5/35—Accessories
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B51/00—Arrangements for automatic control of a series of individual steps in grinding a workpiece

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)

Abstract

An automatic numerical control cylindrical grinding machine belongs to the field of mechanical automation of grinding machines. The cylindrical grinding machine includes: the device comprises a lathe body, a grinding wheel transmission mechanism, a workbench, a manipulator, an outer circle measuring device, an end face measuring device and an electric controller; the upper end of the machine body is fixedly connected with a grinding wheel transmission mechanism and a workbench, the grinding wheel transmission mechanism is positioned on one lateral side of the workbench, and the manipulator is arranged on one lateral side of the machine body and positioned on one side of the workbench of the machine body; the upper surface of the workbench is connected with an excircle measuring device; the end face measuring device is connected to the grinding wheel transmission mechanism; the electric controller controls the automatic operation of the cylindrical grinding machine. The advantages are that: the invention automatically loads and unloads the workpiece by the manipulator, automatically switches the workpiece, automatically measures the excircle and the end face of the workpiece on line, can manage a plurality of machines by one person, reduces the manual use, reduces the manual requirement, reduces the rejection rate of products, saves energy, reduces consumption and improves the production efficiency.

Description

Automatic change numerical control cylindrical grinder
Technical Field
The invention relates to the field of mechanical automation of grinding machines, in particular to an automatic numerical control cylindrical grinding machine.
Background
The conventional grinding machine comprises a workbench and a grinding wheel frame, and the workbench does longitudinal reciprocating motion during working; the grinding wheel frame does the transverse feeding reciprocating motion and is fixed in the longitudinal direction. Because the conventional grinding machine has long worktable, large occupied space and unstable longitudinal reciprocating movement, the guide rail is easy to wear, the grinding long shaft is easy to produce taper, and the precision is difficult to control. The conventional grinding machine can only grind an excircle, a step shaft, a cone and the like, has small grinding range, and can not realize the grinding processing of a curved surface and a spiral surface for circular arcs.
The cylindrical grinding is an important process in the traditional processing technology, not only can improve the dimensional accuracy of cylindrical parts and the surface smoothness of the parts, but also can be used as a grinding technology for processing some special cylindrical parts, such as the cylindrical processing of high-hardness materials, the parts are often high in hardness and brittleness and are not suitable for processing by turning and other processes, and the cylindrical grinding can be processed by changing the parameters of the material, the linear speed and the like of a grinding wheel. Although the cylindrical grinding machine has wide application, the requirement on operators is high, one operator can only operate one device, the workpieces need to be frequently stopped and measured, the technical level of the operators directly influences the precision and the production efficiency of the workpieces, and a qualified cylindrical grinding operator usually needs several years of time for cultivation, which is a problem of headache for manufacturing enterprises.
In view of the above, the conventional grinding machine has the following disadvantages: the guide rail has short service life, difficult control of precision, small grinding range and large occupied area, the manual loading, unloading and measurement of workpieces have low efficiency, only one device can be operated by one person, the requirement on operators is high, and the time for cultivating the operators is long.
Disclosure of Invention
The invention aims to provide an automatic numerical control cylindrical grinding machine, which solves the problems that the guide rail of the grinding machine in the prior art is short in service life, difficult to control in precision, small in grinding range, large in occupied area and low in efficiency caused by manual loading, unloading and measurement of workpieces.
The purpose of the invention is realized as follows: the invention comprises a cylindrical grinding machine and an automatic grinding method based on the cylindrical grinding machine.
The cylindrical grinder includes: the device comprises a lathe body, a grinding wheel transmission mechanism, a workbench, a manipulator, an outer circle measuring device, an end face measuring device and an electric controller;
the upper end of the machine body is fixedly connected with a grinding wheel transmission mechanism and a workbench, the grinding wheel transmission mechanism is positioned on one lateral side of the workbench, and the manipulator is arranged on one lateral side of the machine body and positioned on one side of the workbench of the machine body; the upper surface of the workbench is connected with an excircle measuring device; the end face measuring device is connected to the grinding wheel transmission mechanism; the electric controller controls the automatic operation of the cylindrical grinding machine.
The grinding wheel transmission mechanism comprises: the device comprises a longitudinal guide rail device, a transverse guide rail device and a grinding wheel transmission device; the upper end of the longitudinal guide rail device is connected with a transverse guide rail device, and the longitudinal guide rail of the longitudinal guide rail device and the transverse guide rail of the transverse guide rail device are installed in a cross manner; the upper end of the transverse guide rail device is connected with a grinding wheel transmission device.
The longitudinal rail device includes: the device comprises a longitudinal guide rail, a lead screw nut, a sliding block, a platform and a Z-axis servo motor; the Z-axis servo motor and the longitudinal guide rail are fixedly connected to the lathe bed, the Z-axis servo motor is connected with one end of a lead screw, and the other end of the lead screw is connected to the lathe bed; the screw rod is in threaded connection with a screw rod nut, and the screw rod nut is connected to the bottom surface of the platform; the bottom surface of the platform is connected with a sliding block, and the sliding block is positioned on the longitudinal guide rail and can slide back and forth along the longitudinal guide rail.
The transverse guide rail device is connected to the platform of the longitudinal guide rail device; the transverse guide rail device comprises: the device comprises a transverse guide rail, a transverse sliding block, a transverse lead screw nut, a transverse platform and an X-axis servo motor; a transverse guide rail is connected to a platform of the longitudinal guide rail device, a transverse sliding block is positioned on the transverse guide rail, and the transverse sliding block is connected to the bottom surface of the transverse platform; the bottom surface of the transverse platform is connected with a transverse lead screw nut, the transverse lead screw nut is in threaded fit with the transverse lead screw, one end of the transverse lead screw is connected with an X-axis servo motor, the X-axis servo motor is connected to the platform, and the other end of the transverse lead screw is connected to the platform through a bearing seat.
The horizontal platform is connected with a lower grinding wheel connecting piece, the lower grinding wheel connecting piece is correspondingly and cooperatively connected with an upper grinding wheel connecting piece in a positioning way, and the upper grinding wheel connecting piece can rotate by taking the lower grinding wheel connecting piece as a reference.
The longitudinal guide rail and the transverse guide rail have the same structure and are plane guide rails, cylindrical guide rails, dovetail guide rails or V-shaped guide rails.
The grinding wheel transmission device drives the grinding wheel to rotate in the horizontal plane, so that the grinding requirement of conical parts is met; the grinding wheel transmission device comprises: the grinding wheel comprises a bottom plate, a grinding wheel servo motor, a grinding wheel frame, a grinding wheel shaft, a grinding wheel and a grinding wheel shaft belt wheel; the grinding wheel upper connecting piece is connected to the bottom surface of the bottom plate, a grinding wheel servo motor and a grinding wheel frame are connected to the bottom plate, and a grinding wheel shaft is sleeved on the grinding wheel frame; the two ends of the grinding wheel shaft are worn on the grinding wheel frame, one end of the grinding wheel shaft is connected with a grinding wheel, and the other end of the grinding wheel shaft is connected with a grinding wheel shaft belt wheel; the output shaft of the grinding wheel servo motor is connected with a motor belt wheel, and the motor belt wheel and the grinding wheel shaft belt wheel are connected and driven through a belt.
The workbench is fixedly connected with the lathe bed, a guide groove is formed in the workbench, a headstock and a tailstock are arranged on the workbench, the headstock and the tailstock are positioned on the workbench through a U-shaped pressing block, and the headstock can move along the guide groove in the workbench.
The manipulator is lathe auto-control handling material manipulator, includes: the device comprises a longitudinal clamping jaw, a radial clamping jaw, a small rotating shaft, a small arm shaft, a large rotating shaft, a small cross arm, a large cross arm, a cross arm shaft, a large rotating shaft motor, a large arm shaft motor, a vertical arm shaft, a lower support, a slewing bearing, a base and a front arm;
the longitudinal clamping jaw and the radial clamping jaw are arranged at 90 degrees, are arranged at the front end of the small rotating shaft and rotate along with the rotation of the small rotating shaft; the small rotating shaft is arranged on the front arm, and a small rotating shaft motor is arranged on the front arm and is connected with the small rotating shaft; the front arm is connected to the small arm shaft and rotates by taking the small arm shaft as a shaft;
the front end of the small cross arm is connected with a small arm shaft motor and a small arm shaft, the small arm shaft motor is connected with the small arm shaft, and the small arm shaft motor drives the small arm shaft to rotate up and down;
the rear end of the large rotating shaft is connected with a large rotating shaft motor through a transmission mechanism, and the large rotating shaft motor drives the large rotating shaft to rotate;
the rear part of the large cross arm is hinged with the vertical arm through a cross arm shaft, a motor of the large arm shaft drives the cross arm shaft, and the large cross arm and the vertical arm rotate by taking the cross arm shaft as a shaft;
the lower part of the vertical arm is hinged with the lower support through a vertical arm shaft, the vertical arm shaft is driven by a vertical arm shaft motor, and the vertical arm and the lower support rotate by taking the vertical arm shaft as a shaft;
a rotary support is connected between the lower support and the base, and the lower support is arranged on the base and drives the whole manipulator to rotate by taking the rotary support as a rotary fulcrum.
The electrical controller comprises: a grinder controller and a manipulator controller;
the grinding machine controller comprises: the system comprises a KND numerical control system, an X-axis servo driver, a manipulator controller, an MCP panel, a PLC controller, a Z-axis servo driver, a main control relay module, an auxiliary relay module, a frequency converter, an outer circle measurement controller and an end face measurement controller; further comprising: an X-axis servo motor SM1, a Z-axis servo motor SM2, a grinding wheel drive motor M1, a hydraulic station drive motor M2, a cooling pump drive motor M3, a headstock motor M4, a lubricating pump motor M5, a slewing bearing servo motor SM3, a lower support shaft servo motor SM4, a cross arm shaft servo motor SM5, a large rotating shaft servo motor SM6, a small arm shaft servo motor SM7, a small rotating shaft servo motor SM8, a longitudinal clamping jaw electromagnetic valve DC1 and a radial clamping jaw electromagnetic valve DC 2;
the MCP panel is simultaneously connected with the KND numerical control system and the PLC, and control information is input to the KND numerical control system and the PLC through the MCP panel; the output end of the KND numerical control system controls an X-axis servo driver and a manipulator controller, and the X-axis servo driver controls an X-axis servo motor SM 1;
the PLC controller simultaneously controls the Z-axis servo driver, the main control relay module and the auxiliary relay module; the Z-axis servo driver controls a Z-axis servo motor SM 2;
the main control relay module controls a grinding wheel driving motor M1, a hydraulic station driving motor M2 and a cooling pump driving motor M3;
the auxiliary relay module controls a frequency converter, an excircle measurement controller, an end face measurement controller and a lubricating pump motor M5, and the frequency converter controls a headstock motor M4.
The mechanical manipulator controller controls a slewing bearing servo motor SM3, a lower support shaft servo motor SM4, a cross arm shaft servo motor SM5, a large rotating shaft servo motor SM6, a small arm shaft servo motor SM7, a small rotating shaft servo motor SM8, a longitudinal clamping jaw electromagnetic valve DC1 and a transverse clamping jaw electromagnetic valve DC 2; the longitudinal clamping jaw is connected with the air compressor through a longitudinal clamping jaw electromagnetic valve DC1 and the radial clamping jaw through a radial clamping jaw electromagnetic valve DC2, the longitudinal clamping jaw electromagnetic valve DC1 and the radial clamping jaw electromagnetic valve DC2 are controlled to be switched on or switched off, and the clamping of the workpiece by the longitudinal clamping jaw and the radial clamping jaw is pneumatically controlled.
The automatic grinding method comprises the following steps:
step 1, a numerical control system sends a signal to a manipulator control system, the manipulator control system sends a manipulator control instruction, and a manipulator clamping workpiece is arranged at the positioning positions of a headstock and a tailstock on a workbench;
step 2, the headstock and the tailstock clamp and position the workpiece and then rotate, a longitudinal servo motor operates under the control of a numerical control system to drive a lead screw to operate, the lead screw drives a platform to reciprocate through a nut, and a grinding wheel longitudinally reciprocates;
step 3, when the grinding wheel needs to be transversely fed: the numerical control system sends a transverse operation instruction, a transverse servo motor operates, the transverse servo motor drives a transverse lead screw to rotate, a transverse platform is driven to reciprocate through a transverse lead screw nut, and a workpiece is transversely fed;
step 4, when grinding large circular arc, curved surface and spiral workpieces: the numerical control is programmed according to the parameter requirements of the workpiece, and sends out instructions to control the grinding wheel to move transversely and longitudinally simultaneously so as to finish grinding large arcs, curved surfaces and spirals;
step 5, when the outer circle needs to be measured on line: the numerical control system transmits an instruction signal to the outer circle measuring device, the outer circle measuring device extends to a measuring position to carry out online measurement, and the outer circle measuring device automatically retracts to a safe position after grinding;
step 6, when the size of the end face needs to be detected on line: the numerical control system transmits a command signal to the end face measuring device, the end face measuring device extends out to the position of the measured end face to carry out online detection, and the end face measuring device automatically retracts to the original position after grinding is finished;
and 7, when the workpiece needs to be reversely ground: and the numerical control system sends out a grinding wheel rotating instruction, the grinding wheel rotates 180 degrees, the workpiece is inverted, and the workpiece is ground reversely.
The manipulator control instruction comprises the following specific steps:
step 1, the numerical control machine sends a machining completion instruction to inform a manipulator to grab materials, and a manipulator operation program starts to work;
step 2, receiving an instruction by a slewing bearing servo motor to drive a slewing bearing to rotate so as to drive an integral manipulator, namely a longitudinal clamping jaw and a radial clamping jaw, to enter a material warehouse;
step 3, the servo motor of the lower support shaft and the servo motor of the cross arm shaft receive a motion instruction, the lower support shaft and the cross arm shaft are driven to do simultaneous differential compensation motion to enable the vertical arm to extend forwards, and the large cross arm pulls backwards to drive the longitudinal clamping jaw and the radial clamping jaw to reach a material taking area;
step 4, the manipulator instructs a program to control the opening of the pneumatic longitudinal clamping jaw and the radial clamping jaw;
step 5, controlling the large arm shaft to perform slow descending motion by the large arm shaft servo motor according to the instruction program, and pulling the longitudinal clamping jaw and the radial clamping jaw to a workpiece placing area of the grinding machine by the large cross arm;
step 6, controlling the longitudinal clamping jaw to perform clamping action by the cylinder of the longitudinal clamping jaw according to the instruction program, and clamping the workpiece to be processed;
step 7, the large arm shaft servo motor drives the large arm shaft to move upwards to a safety area to stop waiting;
step 8, the small rotating shaft servo motor and the small rotating arm servo motor drive the small rotating shaft and the small rotating arm to jointly move and rotate for 90 degrees;
step 9, driving the large arm shaft to move downwards to a workpiece placing area by the large arm shaft servo motor;
step 10, controlling a cylinder of the longitudinal clamping jaw to execute a grabbing action and clamp a workpiece by a manipulator instruction program;
step 11, driving the slewing bearing to rotate by a slewing bearing servo motor, and moving the slewing bearing upwards to a grinding machine processing area;
step 12, driving the vertical arm shaft and the large arm shaft to move to a clamping position of the grinding machine in a differential compensation mode by the vertical arm shaft servo motor and the large arm shaft motor;
step 13, sending a signal to a grinding machine by a manipulator instruction program, and clamping a clamping device of the grinding machine to start working; after the machining is finished, the grinding machine numerical control system gives a signal to the manipulator control system;
step 14, a manipulator instruction program controls a cylinder of the longitudinal clamping jaw to execute material taking action, a large rotating shaft is driven by a large rotating shaft servo motor 4-9 to rotate forward and backward to adjust the clamping direction, and the longitudinal clamping jaw clamps and takes away a processed workpiece and is controlled by the program;
step 15, the small arm shaft is driven by a small arm shaft motor, the small rotating shaft is driven by a small rotating shaft motor, the small rotating arm and the small rotating shaft move together and rotate 90 degrees, and the transverse clamping jaw workpiece is placed on a clamping device of the grinding machine;
step 16, simultaneously moving all shafts of the mechanical arm to return to a safety area, then instructing a program to send a signal to a grinding machine, and starting machining by the grinding machine;
and step 17, after the grinding machine finishes processing, a manipulator instruction program controls the transverse clamping jaw air cylinder to execute material taking action, the large rotating shaft is driven by a large rotating shaft servo motor and can be automatically transmitted to adjust the clamping direction, and the transverse clamping jaw clamps and takes away the processed workpiece and places the workpiece in a workpiece placing area. Then the manipulator executes the slewing bearing action again, and the operation is repeated in cycles.
The excircle measuring device is connected to the workbench and can stretch under the driving of the hydraulic cylinder; when the device works, the outer circle measuring device stretches to a measuring position to carry out online measurement, and the device automatically retracts to a safe position after grinding is finished.
The end face measuring device is connected to the grinding carriage and can stretch out and draw back under the action of the air cylinder; when the end face grinding device works, the end face measuring device extends out of the position of the measured end face to carry out online detection, and the end face measuring device automatically retracts to the original position after grinding is finished.
The lathe has the beneficial effects that by adopting the scheme, the workbench is tightly connected with the lathe body, and the workbench clamps the workpiece and does not do longitudinal reciprocating movement, so that the guide rail abrasion caused by the longitudinal long-term reciprocating movement of the workbench in the prior art is avoided, the workpiece precision error is prevented from being influenced, and the service life of the guide rail of the lathe and the grinding precision are improved; the grinding wheel realizes longitudinal and transverse feeding movement, so that a workpiece is clamped on the workbench at one time without repeated positioning, the grinding of the end surface of the excircle can be carried out, the grinding precision and the position degree are improved, the repeated clamping time is saved, and the production efficiency is improved. The numerical control system controls the grinding wheel to move longitudinally, transversely and feed, so that large arcs, curved surfaces and spirals can be ground, and the grinding range is enlarged.
The problems that the grinding machine guide rail in the prior art is short in service life, difficult to control in precision, small in grinding range, large in occupied area and low in efficiency due to manual loading, unloading and measurement of workpieces are solved, and the purpose of the invention is achieved.
The advantages are that: the invention automatically loads and unloads the workpiece by the manipulator, automatically switches the workpiece, automatically measures the excircle and the end face of the workpiece on line, can manage a plurality of machines by one person, reduces the manual use, reduces the manual requirement, reduces the rejection rate of products, saves energy, reduces consumption and improves the production efficiency.
Drawings
FIG. 1 is a three-dimensional assembly drawing of the present invention.
Fig. 2 is a three-dimensional assembly drawing of the host machine of the present invention.
Fig. 3 is a three-dimensional view of the longitudinal feeding device of the present invention.
Fig. 4 is a three-dimensional view of the infeed apparatus of the present invention.
FIG. 5 is a three-dimensional view of the grinding wheel unit of the present invention.
Fig. 6 is a cross-sectional three-dimensional view of the transverse and longitudinal rails of the present invention.
Fig. 7 is a schematic structural view of the robot of the present invention.
Fig. 8 is a control block diagram of the electrical controller of the present invention.
Fig. 9 is a block diagram of a robot controller controlled servo motor of the present invention.
In the figure, 1, a lathe bed; 2. a grinding wheel transmission mechanism; 3. a work table; 4. a manipulator; 5. an outer circle measuring device; 6. an end face measuring device; 7. a longitudinal rail arrangement; 8. a transverse guide means; 9. a grinding wheel transmission device; 10. a longitudinal guide rail 11, a screw; 12. a lead screw nut; 13. a slider; 14. a platform; 15. a Z-axis servo motor; 16. a transverse guide rail; 17. a transverse slide block; 18. a transverse lead screw; 19. a transverse lead screw nut; 20. a transverse platform; 21. an X-axis servo motor; 22. a lower grinding wheel connecting piece; 23. a connecting piece on the grinding wheel; 24. a base plate; 25. a grinding wheel servo motor; 26. a grinding carriage; 27. a grinding wheel spindle; 28 grinding wheel; 29. a grinding wheel shaft belt wheel; 30. a belt; 31. a head frame; 32 tail frame.
4-1, longitudinal clamping jaws; 4-2, radial clamping jaws; 4-3, a small rotating shaft; 4-4, a forearm shaft; 4-5, a large rotating shaft; 4-6, a small cross arm; 4-7, a big cross arm; 4-8, a cross arm shaft; 4-9, a large-rotating-shaft servo motor; 4-10, a large arm shaft servo motor; 4-11, standing arm; 4-12, a vertical arm shaft; 4-13, a lower support; 4-14, a slewing bearing; 4-15, a base; 4-16, forearm.
Detailed Description
Example 1: the invention comprises a cylindrical grinding machine and an automatic grinding method based on the cylindrical grinding machine.
The cylindrical grinder includes: the device comprises a lathe body 1, a grinding wheel transmission mechanism 2, a workbench 3, a manipulator 4, an excircle measuring device 5, an end face measuring device 6 and an electric controller;
the upper end of the machine body 1 is fixedly connected with a grinding wheel transmission mechanism 2 and a workbench 3, the grinding wheel transmission mechanism 2 is positioned on one lateral side of the workbench 3, and a manipulator 4 is arranged on one lateral side of the machine body 1 and positioned on one lateral side of the workbench of the machine body 1; the upper surface of the workbench 3 is connected with an excircle measuring device 5; the end face measuring device 6 is connected to the grinding wheel transmission mechanism 2; the electric controller controls the automatic operation of the cylindrical grinding machine.
The grinding wheel transmission mechanism 2 includes: a longitudinal guide rail device 7, a transverse guide rail device 8 and a grinding wheel transmission device 9; the upper end of the longitudinal guide rail device 7 is connected with a transverse guide rail device 8, and a longitudinal guide rail 10 of the longitudinal guide rail device 7 and a transverse guide rail 16 of the transverse guide rail device 8 are installed in a cross manner; the upper end of the transverse guide rail device 8 is connected with a grinding wheel transmission device 9.
The longitudinal rail device 7 comprises: the device comprises a longitudinal guide rail 10, a lead screw 11, a lead screw nut 12, a sliding block 13, a platform 14 and a Z-axis servo motor 15; the Z-axis servo motor 15 and the longitudinal guide rail 10 are fixedly connected to the lathe bed 1, the Z-axis servo motor 15 is connected with one end of the lead screw 11, and the other end of the lead screw 11 is connected to the lathe bed 1; the screw rod 11 is in threaded connection with a screw rod nut 12, and the screw rod nut 12 is connected to the bottom surface of the platform 14; a slider 13 is attached to the bottom surface of the platform 14, and the slider 13 is positioned on the longitudinal rail 10 and can slide back and forth along the longitudinal rail 10.
The transverse guide rail device 8 is connected to the platform 14 of the longitudinal guide rail device 7; the cross rail device 8 includes: the device comprises a transverse guide rail 16, a transverse sliding block 17, a transverse lead screw 18, a transverse lead screw nut 19, a transverse platform 20 and an X-axis servo motor 21; a transverse guide rail 16 is connected to the platform 14 of the longitudinal guide rail device 7, a transverse sliding block 17 is positioned on the transverse guide rail 16, and the transverse sliding block 17 is connected to the bottom surface of a transverse platform 20; the bottom surface of the transverse platform 20 is connected with a transverse lead screw nut 19, the transverse lead screw nut 19 is in threaded fit with the transverse lead screw 18, one end of the transverse lead screw 18 is connected with an X-axis servo motor 21, the X-axis servo motor 21 is connected on the platform 14, and the other end of the transverse lead screw 18 is connected on the platform 14 through a bearing seat.
The transverse platform 20 is connected with a grinding wheel lower connecting piece 22, the grinding wheel lower connecting piece 22 is correspondingly and cooperatively connected with a grinding wheel upper connecting piece 23 in a positioning mode, and the grinding wheel upper connecting piece 23 can rotate by taking the grinding wheel lower connecting piece 22 as a reference.
The longitudinal guide rail 10 and the transverse guide rail 16 have the same structure and are plane guide rails, cylindrical guide rails, dovetail guide rails or V-shaped guide rails.
The grinding wheel transmission device 9 drives the grinding wheel 28 to rotate in the horizontal plane, so that the grinding requirement of conical parts is met; the grinding wheel drive 9 includes: a base plate 24, a grinding wheel servo motor 25, a grinding carriage 26, a grinding wheel shaft 27, a grinding wheel 28 and a grinding wheel shaft pulley 29; the grinding wheel upper connecting piece 23 is connected to the bottom surface of the bottom plate 24, the bottom plate 24 is connected with a grinding wheel servo motor 25 and a grinding wheel frame 26, and the grinding wheel frame 26 is sleeved with a grinding wheel shaft 27; the grinding wheel frame 26 is worn at the two ends of the grinding wheel shaft 27, one end is connected with a grinding wheel 28, and the other end is connected with a grinding wheel shaft belt wheel 29; a motor pulley 28 is connected to an output shaft of the wheel servomotor 25, and the motor pulley 28 and a wheel shaft pulley 29 are connected and driven by a belt 30.
The workbench 3 is fixedly connected with the lathe bed 1, a guide groove is formed in the workbench 3, a headstock 31 and a tailstock 32 are arranged on the workbench 3, the headstock 31 and the tailstock 32 are positioned on the workbench through U-shaped pressing blocks, and the headstock 31 can move along the guide groove in the workbench 3.
Manipulator 4 is lathe auto-control handling material manipulator, includes: 4-1 parts of longitudinal clamping jaws, 4-2 parts of radial clamping jaws, 4-3 parts of small rotating shafts, 4-4 parts of small arm shafts, 4-5 parts of large rotating shafts, 4-6 parts of small cross arms, 4-7 parts of large cross arms, 4-8 parts of cross arm shafts, 4-9 parts of large rotating shaft motors, 4-10 parts of large arm shaft motors, 4-11 parts of vertical arms, 4-12 parts of vertical arm shafts, 4-13 parts of lower supports, 4-14 parts of slewing bearings, 4-15 parts of bases and 4-16 parts of front arms;
the longitudinal clamping jaw 4-1 and the radial clamping jaw 4-2 are arranged at 90 degrees, are arranged at the front end of the small rotating shaft 4-3 and rotate along with the rotation of the small rotating shaft 4-3; the small rotating shaft 4-3 is arranged on the front arm 4-16, and a small rotating shaft motor is arranged on the front arm 4-16 and is connected with the small rotating shaft 4-3; the front arm 4-16 is connected to the small arm shaft 4-4 and rotates by taking the small arm shaft 4-4 as a shaft;
the front end of the small cross arm 4-6 is connected with a small arm shaft motor and a small arm shaft 4-4, the small arm shaft motor is connected with the small arm shaft 4-4, and the small arm shaft motor drives the small arm shaft 4-4 to rotate up and down;
the rear end of the small cross arm 4-6 is connected with the end of the large rotating shaft 4-5 and rotates along with the rotation of the large rotating shaft 4-5, the large rotating shaft 4-5 is installed at the front end of the large cross arm 4-7 and rotates on the large cross arm 4-7, the rear end of the large rotating shaft 4-5 is connected with a large rotating shaft motor 4-9 through a transmission mechanism, and the large rotating shaft motor 4-9 drives the large rotating shaft 4-5 to rotate;
the rear part of the big cross arm 4-7 is hinged with the vertical arm 4-11 through a cross arm shaft 4-8, a big arm shaft motor 4-10 drives the cross arm shaft 4-8, and the big cross arm 4-7 and the vertical arm 4-11 rotate by taking the cross arm shaft 4-8 as a shaft;
the lower part of the vertical arm 4-11 is hinged with the lower support 4-13 through a vertical arm shaft 4-12, the vertical arm shaft motor drives the vertical arm shaft 4-12, and the vertical arm 4-11 and the lower support 4-13 rotate by taking the vertical arm shaft 4-12 as a shaft;
a rotary support 4-14 is connected between the lower support 4-13 and the base 4-15, the lower support 4-13 is arranged on the base 4-15, and the rotary support 4-14 is used as a rotary fulcrum to drive the whole manipulator to rotate.
The electrical controller comprises: a grinder controller and a manipulator controller;
the grinding machine controller comprises: a KND numerical control system (model: Kaiendi K1000 GF), an X-axis servo driver (model: HSV-160U), a manipulator controller (the manipulator controller is an IRPZ1508A industrial manipulator, model: BRTIRUS 1510A), an MCP panel, a PLC controller (model: H10-1200-M2), a Z-axis servo driver (model: HSV-160U (P)), a main control relay module (model: KND SD 300-30), an auxiliary relay module (model: JZX-22F (D)/2Z), a frequency converter (model: MD310T1.5B), an excircle measurement controller (model: M1070) and an end face measurement controller (model: M172); further comprising: an X-axis servo motor SM 121, a Z-axis servo motor SM 215, a grinding wheel drive motor M1, a hydraulic station drive motor M2, a cooling pump drive motor M3, a headstock motor M4, a lubricating pump motor M5, a slewing bearing servo motor SM3, a lower support shaft servo motor SM4, a cross arm shaft servo motor SM5, a large rotating shaft servo motor SM6, a small arm shaft servo motor SM7, a small rotating shaft servo motor SM8, a longitudinal clamping jaw electromagnetic valve DC1 and a radial clamping jaw electromagnetic valve DC 2;
the MCP panel is simultaneously connected with the KND numerical control system and the PLC, and control information is input to the KND numerical control system and the PLC through the MCP panel; the output end of the KND numerical control system controls an X-axis servo driver and a manipulator controller, and the X-axis servo driver controls an X-axis servo motor SM 121;
the PLC controller simultaneously controls the Z-axis servo driver, the main control relay module and the auxiliary relay module; the Z-axis servo driver controls a Z-axis servo motor SM 215;
the main control relay module controls a grinding wheel driving motor M1, a hydraulic station driving motor M2 and a cooling pump driving motor M3;
the auxiliary relay module controls a frequency converter, an excircle measurement controller, an end face measurement controller and a lubricating pump motor M5, and the frequency converter controls a headstock motor M4.
The mechanical manipulator controller controls a slewing bearing servo motor SM3, a lower support shaft servo motor SM4, a cross arm shaft servo motor SM5, a large rotating shaft servo motor SM6, a small arm shaft servo motor SM7, a small rotating shaft servo motor SM8, a longitudinal clamping jaw electromagnetic valve DC1 and a transverse clamping jaw electromagnetic valve DC 2. The longitudinal clamping jaw 4-1 is connected with an air compressor through a longitudinal clamping jaw electromagnetic valve DC1 and the radial clamping jaw 4-2 through a radial clamping jaw electromagnetic valve DC2, the connection or disconnection of the longitudinal clamping jaw electromagnetic valve DC1 and the radial clamping jaw electromagnetic valve DC2 is controlled, and the clamping of the workpiece by the longitudinal clamping jaw 4-1 and the radial clamping jaw 4-2 is pneumatically controlled.
The automatic grinding method comprises the following steps:
step 1, a numerical control system sends a signal to a manipulator control system, the manipulator control system sends a manipulator control instruction, and a manipulator clamping workpiece is arranged at the positioning positions of a headstock and a tailstock on a workbench;
step 2, the headstock and the tailstock clamp and position the workpiece and then rotate, a longitudinal servo motor operates under the control of a numerical control system to drive a lead screw to operate, the lead screw drives a platform to reciprocate through a nut, and a grinding wheel longitudinally reciprocates;
step 3, when the grinding wheel needs to be transversely fed: the numerical control system sends a transverse operation instruction, a transverse servo motor operates, the transverse servo motor drives a transverse lead screw to rotate, a transverse platform is driven to reciprocate through a transverse lead screw nut, and a workpiece is transversely fed;
step 4, when grinding large circular arc, curved surface and spiral workpieces: the numerical control is programmed according to the parameter requirements of the workpiece, and sends out instructions to control the grinding wheel to move transversely and longitudinally simultaneously so as to finish grinding large arcs, curved surfaces and spirals;
step 5, when the outer circle needs to be measured on line: the numerical control system transmits an instruction signal to the outer circle measuring device, the outer circle measuring device extends to a measuring position to carry out online measurement, and the outer circle measuring device automatically retracts to a safe position after grinding;
step 6, when the size of the end face needs to be detected on line: the numerical control system transmits a command signal to the end face measuring device, the end face measuring device extends out to the position of the measured end face to carry out online detection, and the end face measuring device automatically retracts to the original position after grinding is finished;
and 7, when the workpiece needs to be reversely ground: and the numerical control system sends out a grinding wheel rotating instruction, the grinding wheel rotates 180 degrees, the workpiece is inverted, and the workpiece is ground reversely.
The manipulator control instruction comprises the following specific steps:
step 1, the numerical control machine sends a machining completion instruction to inform a manipulator to grab materials, and a manipulator operation program starts to work;
step 2, receiving a command by a slewing bearing servo motor to drive a slewing bearing to rotate so as to drive an integral manipulator, namely a longitudinal clamping jaw 4-1 and a radial clamping jaw 4-2 to a material warehouse;
step 3, the lower support shaft servo motor and the cross arm shaft servo motor receive a motion instruction, the lower support shaft and the cross arm shaft are driven to do simultaneous differential compensation motion to enable the vertical arm to extend forwards, and the large cross arm pulls backwards to drive the longitudinal clamping jaw 4-1 and the radial clamping jaw 4-2 to a material taking area;
step 4, the manipulator instructs a program to control the opening of the pneumatic longitudinal clamping jaw 4-1 and the radial clamping jaw 4-2;
step 5, controlling the large arm shaft to perform slow descending motion by the large arm shaft servo motor according to an instruction program, and pulling the longitudinal clamping jaw 4-1 and the radial clamping jaw 4-2 to a workpiece placing area of the grinding machine by the large cross arm;
step 6, controlling the longitudinal clamping jaw 4-1 to execute a clamping action by the cylinder of the longitudinal clamping jaw 4-1 according to the instruction program, and clamping the workpiece to be processed;
step 7, the large arm shaft servo motor drives the large arm shaft to move upwards to a safety area to stop waiting;
step 8, the small rotating shaft servo motor and the small rotating arm servo motor drive the small rotating shaft and the small rotating arm to jointly move and rotate for 90 degrees;
step 9, driving the large arm shaft to move downwards to a workpiece placing area by the large arm shaft servo motor;
step 10, controlling a cylinder of the longitudinal clamping jaw 4-1 to execute a grabbing action and clamp a workpiece by a manipulator instruction program;
step 11, driving the slewing bearing to rotate by a slewing bearing servo motor, and moving the slewing bearing upwards to a grinding machine processing area;
step 12, driving the vertical arm shaft and the large arm shaft to move to a clamping position of the grinding machine in a differential compensation mode by the vertical arm shaft servo motor and the large arm shaft motor;
step 13, sending a signal to a grinding machine by a manipulator instruction program, and clamping a clamping device of the grinding machine to start working; after the machining is finished, the grinding machine numerical control system gives a signal to the manipulator control system;
step 14, a manipulator instruction program controls an air cylinder of the longitudinal clamping jaw 4-1 to execute material taking action, a large rotating shaft is driven by a large rotating shaft servo motor 4-9 to rotate forward and backward to adjust the clamping direction, and the longitudinal clamping jaw 4-1 clamps and takes away a processed workpiece and is controlled by the program;
step 15, the small arm shaft is driven by a small arm shaft motor, the small rotating shaft is driven by a small rotating shaft motor, the small rotating arm and the small rotating shaft move together and rotate 90 degrees, and the workpiece with the transverse clamping jaw 4-2 is placed on a clamping device of the grinding machine;
step 16, simultaneously moving all shafts of the mechanical arm to return to a safety area, then instructing a program to send a signal to a grinding machine, and starting machining by the grinding machine;
and step 17, after the grinding machine finishes processing, a manipulator instruction program controls the transverse clamping jaw 4-2 cylinder to execute material taking action, the large rotating shaft is driven by a large rotating shaft servo motor 4-9 and can be automatically transmitted to adjust the clamping direction, and the transverse clamping jaw 4-2 clamps and takes away a processed workpiece and places the workpiece in a workpiece placing area. Then the manipulator executes the slewing bearing action again, and the operation is repeated in cycles.
The excircle measuring device 5 is M1070 in model, is connected to the workbench 3, and can be driven by a hydraulic cylinder to stretch; during working, the outer circle measuring device 5 extends to a measuring position to carry out on-line measurement, and automatically retracts to a safe position after grinding is finished.
The end face measuring device 6 is M172, is connected to the grinding carriage 26 and can stretch under the action of the air cylinder; when the grinding device works, the end face measuring device 6 extends out to the position of the end face to be measured to carry out online detection, and the grinding device automatically retracts to the original position after grinding.

Claims (9)

1. The utility model provides an automatic change numerical control cylindrical grinder, characterized by: the cylindrical grinding machine includes: the device comprises a lathe body, a grinding wheel transmission mechanism, a workbench, a manipulator, an outer circle measuring device, an end face measuring device and an electric controller;
the upper end of the machine body is fixedly connected with a grinding wheel transmission mechanism and a workbench, the grinding wheel transmission mechanism is positioned on one lateral side of the workbench, and the manipulator is arranged on one lateral side of the machine body and positioned on one side of the workbench of the machine body; the upper surface of the workbench is connected with an excircle measuring device; the end face measuring device is connected to the grinding wheel transmission mechanism; the electric controller controls the automatic operation of the cylindrical grinding machine.
2. The automatic numerical control cylindrical grinding machine according to claim 1, which is characterized in that: the grinding wheel transmission mechanism comprises: the device comprises a longitudinal guide rail device, a transverse guide rail device and a grinding wheel transmission device; the upper end of the longitudinal guide rail device is connected with a transverse guide rail device, and the longitudinal guide rail of the longitudinal guide rail device and the transverse guide rail of the transverse guide rail device are installed in a cross manner; the upper end of the transverse guide rail device is connected with a grinding wheel transmission device.
3. The automatic numerical control cylindrical grinding machine according to claim 2, which is characterized in that: the longitudinal rail device includes: the device comprises a longitudinal guide rail, a lead screw nut, a sliding block, a platform and a Z-axis servo motor; the Z-axis servo motor and the longitudinal guide rail are fixedly connected to the lathe bed, the Z-axis servo motor is connected with one end of a lead screw, and the other end of the lead screw is connected to the lathe bed; the screw rod is in threaded connection with a screw rod nut, and the screw rod nut is connected to the bottom surface of the platform; the bottom surface of the platform is connected with a sliding block, and the sliding block is positioned on the longitudinal guide rail and can slide back and forth along the longitudinal guide rail.
4. The automatic numerical control cylindrical grinding machine according to claim 2, which is characterized in that: the transverse guide rail device is connected to the platform of the longitudinal guide rail device; the transverse guide rail device comprises: the device comprises a transverse guide rail, a transverse sliding block, a transverse lead screw nut, a transverse platform and an X-axis servo motor; a transverse guide rail is connected to a platform of the longitudinal guide rail device, a transverse sliding block is positioned on the transverse guide rail, and the transverse sliding block is connected to the bottom surface of the transverse platform; the bottom surface of the transverse platform is connected with a transverse lead screw nut, the transverse lead screw nut is in threaded fit with the transverse lead screw, one end of the transverse lead screw is connected with an X-axis servo motor, the X-axis servo motor is connected to the platform, and the other end of the transverse lead screw is connected to the platform through a bearing seat.
5. The automatic numerical control cylindrical grinding machine according to claim 4, which is characterized in that: the horizontal platform is connected with a lower grinding wheel connecting piece, the lower grinding wheel connecting piece is correspondingly and cooperatively connected with an upper grinding wheel connecting piece in a positioning way, and the upper grinding wheel connecting piece can rotate by taking the lower grinding wheel connecting piece as a reference.
6. An automated, numerically controlled cylindrical grinding machine as in claim 3 or 4, wherein: the longitudinal guide rail and the transverse guide rail have the same structure and are plane guide rails, cylindrical guide rails, dovetail guide rails or V-shaped guide rails.
7. The automatic numerical control cylindrical grinding machine according to claim 2, which is characterized in that: the grinding wheel transmission device drives the grinding wheel to rotate in the horizontal plane, so that the grinding requirement of conical parts is met; the grinding wheel transmission device comprises: the grinding wheel comprises a bottom plate, a grinding wheel servo motor, a grinding wheel frame, a grinding wheel shaft, a grinding wheel and a grinding wheel shaft belt wheel; the grinding wheel upper connecting piece is connected to the bottom surface of the bottom plate, a grinding wheel servo motor and a grinding wheel frame are connected to the bottom plate, and a grinding wheel shaft is sleeved on the grinding wheel frame; the two ends of the grinding wheel shaft are worn on the grinding wheel frame, one end of the grinding wheel shaft is connected with a grinding wheel, and the other end of the grinding wheel shaft is connected with a grinding wheel shaft belt wheel; the output shaft of the grinding wheel servo motor is connected with a motor belt wheel, and the motor belt wheel and the grinding wheel shaft belt wheel are connected and driven through a belt.
8. The automatic grinding method of the automatic numerical control cylindrical grinding machine according to claim 1 is characterized in that: the automatic grinding method comprises the following steps:
step 1, a numerical control system sends a signal to a manipulator control system, the manipulator control system sends a manipulator control instruction, and a manipulator clamping workpiece is arranged at the positioning positions of a headstock and a tailstock on a workbench;
step 2, the headstock and the tailstock clamp and position the workpiece and then rotate, a longitudinal servo motor operates under the control of a numerical control system to drive a lead screw to operate, the lead screw drives a platform to reciprocate through a nut, and a grinding wheel longitudinally reciprocates;
step 3, when the grinding wheel needs to be transversely fed: the numerical control system sends a transverse operation instruction, a transverse servo motor operates, the transverse servo motor drives a transverse lead screw to rotate, a transverse platform is driven to reciprocate through a transverse lead screw nut, and a workpiece is transversely fed;
step 4, when grinding large circular arc, curved surface and spiral workpieces: the numerical control is programmed according to the parameter requirements of the workpiece, and sends out instructions to control the grinding wheel to move transversely and longitudinally simultaneously so as to finish grinding large arcs, curved surfaces and spirals;
step 5, when the outer circle needs to be measured on line: the numerical control system transmits an instruction signal to the outer circle measuring device, the outer circle measuring device extends to a measuring position to carry out online measurement, and the outer circle measuring device automatically retracts to a safe position after grinding;
step 6, when the size of the end face needs to be detected on line: the numerical control system transmits a command signal to the end face measuring device, the end face measuring device extends out to the position of the measured end face to carry out online detection, and the end face measuring device automatically retracts to the original position after grinding is finished;
and 7, when the workpiece needs to be reversely ground: and the numerical control system sends out a grinding wheel rotating instruction, the grinding wheel rotates 180 degrees, the workpiece is inverted, and the workpiece is ground reversely.
9. The automatic grinding method of the automatic numerical control cylindrical grinding machine according to claim 8, characterized in that: the manipulator control instruction comprises the following specific steps:
step 1, the numerical control machine sends a machining completion instruction to inform a manipulator to grab materials, and a manipulator operation program starts to work;
step 2, receiving an instruction by a slewing bearing servo motor to drive a slewing bearing to rotate so as to drive an integral manipulator, namely a longitudinal clamping jaw and a radial clamping jaw, to enter a material warehouse;
step 3, the servo motor of the lower support shaft and the servo motor of the cross arm shaft receive a motion instruction, the lower support shaft and the cross arm shaft are driven to do simultaneous differential compensation motion to enable the vertical arm to extend forwards, and the large cross arm pulls backwards to drive the longitudinal clamping jaw and the radial clamping jaw to reach a material taking area;
step 4, the manipulator instructs a program to control the opening of the pneumatic longitudinal clamping jaw and the radial clamping jaw;
step 5, controlling the large arm shaft to perform slow descending motion by the large arm shaft servo motor according to the instruction program, and pulling the longitudinal clamping jaw and the radial clamping jaw to a workpiece placing area of the grinding machine by the large cross arm;
step 6, controlling the longitudinal clamping jaw to perform clamping action by the cylinder of the longitudinal clamping jaw according to the instruction program, and clamping the workpiece to be processed;
step 7, the large arm shaft servo motor drives the large arm shaft to move upwards to a safety area to stop waiting;
step 8, the small rotating shaft servo motor and the small rotating arm servo motor drive the small rotating shaft and the small rotating arm to jointly move and rotate for 90 degrees;
step 9, driving the large arm shaft to move downwards to a workpiece placing area by the large arm shaft servo motor;
step 10, controlling a cylinder of the longitudinal clamping jaw to execute a grabbing action and clamp a workpiece by a manipulator instruction program;
step 11, driving the slewing bearing to rotate by a slewing bearing servo motor, and moving the slewing bearing upwards to a grinding machine processing area;
step 12, driving the vertical arm shaft and the large arm shaft to move to a clamping position of the grinding machine in a differential compensation mode by the vertical arm shaft servo motor and the large arm shaft motor;
step 13, sending a signal to a grinding machine by a manipulator instruction program, and clamping a clamping device of the grinding machine to start working; after the machining is finished, the grinding machine numerical control system gives a signal to the manipulator control system;
step 14, a manipulator instruction program controls a cylinder of the longitudinal clamping jaw to execute material taking action, a large rotating shaft is driven by a large rotating shaft servo motor 4-9 to rotate forward and backward to adjust the clamping direction, and the longitudinal clamping jaw clamps and takes away a processed workpiece and is controlled by the program;
step 15, the small arm shaft is driven by a small arm shaft motor, the small rotating shaft is driven by a small rotating shaft motor, the small rotating arm and the small rotating shaft move together and rotate 90 degrees, and the transverse clamping jaw workpiece is placed on a clamping device of the grinding machine;
step 16, simultaneously moving all shafts of the mechanical arm to return to a safety area, then instructing a program to send a signal to a grinding machine, and starting machining by the grinding machine;
step 17, after the grinding machine finishes processing, a manipulator instruction program controls a transverse clamping jaw air cylinder to execute material taking action, a large rotating shaft is driven by a large rotating shaft servo motor and can be automatically transmitted to adjust the clamping direction, and a transverse clamping jaw clamps and takes away a processed workpiece and places the workpiece in a workpiece placing area; then the manipulator executes the slewing bearing action again, and the operation is repeated in cycles.
CN202111184621.6A 2021-10-12 2021-10-12 Automatic change numerical control cylindrical grinder Pending CN113814816A (en)

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Application Number Priority Date Filing Date Title
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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114505771A (en) * 2022-01-17 2022-05-17 潍坊埃锐制动***有限公司 Device for removing surface coating of special pipe
CN115106857A (en) * 2022-06-29 2022-09-27 济南凯特尔机器有限公司 Workpiece reversing prevention device of high-sensitivity numerical control cylindrical grinding machine

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114505771A (en) * 2022-01-17 2022-05-17 潍坊埃锐制动***有限公司 Device for removing surface coating of special pipe
CN115106857A (en) * 2022-06-29 2022-09-27 济南凯特尔机器有限公司 Workpiece reversing prevention device of high-sensitivity numerical control cylindrical grinding machine
CN115106857B (en) * 2022-06-29 2023-06-13 济南凯特尔机器有限公司 Workpiece reversing prevention device of high-sensitivity numerical control cylindrical grinding machine

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