CNC equipment automatic loading and unloading system

Abstract

The CNC equipment automatic loading and unloading system provided by the present invention relates to the field of automated processing technology. The system comprises a control unit, an automatic conveying unit, a loading and unloading manipulator unit, an automatic stacking unit for unloading and a plurality of CNC machine tools. The control unit is respectively connected with the automatic conveying unit, the loading and unloading manipulator unit, the automatic stacking unit for unloading and the CNC machine tools; the loading and unloading manipulator unit is movably arranged on the automatic conveying unit and moves back and forth along the conveying direction of the automatic conveying unit, the plurality of CNC machine tools are arranged on both sides of the conveying direction of the automatic conveying unit and are placed within the working range of the loading and unloading manipulator unit, and the automatic stacking unit for unloading and unloading is arranged at the end of the automatic conveying unit. The present invention can effectively improve processing efficiency, save manpower, and reduce production costs.

Description

Technical Field

[0001] The invention relates to the technical field of automated processing, and in particular to an automated loading and unloading system for CNC equipment. Background Art

[0002] In recent years, with the upgrading of processing technology, the number and types of large-sized sheets such as copper sheets processed by CNC machine tools have gradually increased. However, most of the current CNC machine tools work independently, and each CNC machine tool is operated by an independent worker, including loading, unloading, cleaning and stacking. When performing multiple identical tasks, each CNC machine tool needs to be completed independently by a worker, and multiple CNC machine tools need to be equipped with multiple workers, which will undoubtedly lead to a serious waste of human resources and is not conducive to reducing production costs. Summary of the invention

[0003] The invention aims to provide a CNC equipment automatic loading and unloading system which can improve productivity, save manpower and reduce production costs.

[0004] In order to achieve the above-mentioned objectives, the CNC equipment automatic loading and unloading system provided by the present invention mainly includes a control unit, an automatic conveying unit, a loading and unloading robot unit, an automatic stacking unit for unloading and a plurality of CNC machine tools, the control unit is respectively connected to the automatic conveying unit, the loading and unloading robot unit, the automatic stacking unit for unloading and the CNC machine tools; the loading and unloading robot unit is movably arranged on the automatic conveying unit and moves back and forth along the conveying direction of the automatic conveying unit, the plurality of CNC machine tools are arranged on both sides of the conveying direction of the automatic conveying unit and are placed within the working range of the loading and unloading robot unit, and the automatic stacking unit for unloading and unloading is arranged at the end of the automatic conveying unit.

[0005] It can be seen from the above scheme that by setting up a loading and unloading robot unit to manage multiple CNC machine tools at the same time, and loading and unloading each CNC machine tool separately, it is beneficial to save manpower and reduce production costs; by setting up an automatic conveying unit, it is beneficial for the loading and unloading robot to move back and forth between multiple CNC machine tools, and it is beneficial to realize automatic unloading and conveying of materials, thereby improving production efficiency; by setting up an automatic unloading stacking unit, the materials processed by multiple CNC machine tools can be uniformly collected and stacked, avoiding manual stacking, which is beneficial to further save manpower.

[0006] A further solution is that the automatic stacking unit includes an inclined material discharging component, a material moving component and a loading chute component. The inclined material discharging component is connected to the end of the automatic conveying unit, and the material moving component moves between the inclined material discharging component and the loading chute component.

[0007] It can be seen from the above scheme that by setting up the material transfer assembly, the sheets entering the inclined material discharge assembly can be automatically transferred to the loading chute assembly one by one, replacing manual operation, and the degree of automation is high.

[0008] A further solution is that the inclined material discharge assembly includes a mounting seat, an inclined material discharge seat and an in-place sensor, the inclined material discharge seat is inclined on the mounting seat, the first end of the inclined material discharge seat is inclined upward and connected to the end of the automatic conveying unit, the in-place sensor is arranged at the second end of the inclined material discharge seat, and the in-place sensor is data-connected to the control unit.

[0009] It can be seen from the above scheme that by setting an inclined unloading seat, when the material is transported from the automatic conveying unit to the end, it automatically falls on the inclined unloading component under the action of inertia and its own gravity, which is conducive to ensuring the successful unloading of the material and avoiding accumulation on the automatic conveying unit; by setting an in-place sensor, when the in-place sensor detects that the material is in place, it sends a signal to the control unit, and the control unit controls the material moving component to perform the material moving action.

[0010] A further solution is that the inclined material discharge assembly also includes a lateral pushing assembly, which includes a pushing plate and a pushing drive assembly. The pushing plate is arranged on one side of the wide band direction of the inclined material discharge seat. The pushing drive assembly is connected to the pushing plate, and the pushing plate can move along the width direction of the inclined material discharge seat.

[0011] It can be seen from the above scheme that by setting up a horizontal pushing assembly, when the material sheet falls on the inclined lower material seat, the pushing drive assembly drives the pushing plate to push the material sheet to the bottom of the material moving assembly, which facilitates the material moving operation of the material moving assembly.

[0012] A further solution is that the material transfer assembly includes an inclined lifting assembly, a longitudinal moving assembly and a transfer suction cup assembly, the longitudinal moving assembly is arranged between the inclined unloading assembly and the loading trough assembly, the inclined lifting assembly is movably arranged on the longitudinal moving assembly, and the transfer suction cup assembly is arranged on the inclined lifting assembly.

[0013] It can be seen from the above scheme that by setting an inclined lifting assembly to control the downward displacement of the transfer suction cup assembly, the transfer suction cup can extend into the loading trough when placing the material sheet into the loading trough, and gradually decrease according to the number of material sheets in the loading trough, which is beneficial to avoid damage to the material sheet due to dropping the material sheet from a high place.

[0014] A further solution is that the loading trough assembly includes a transverse moving seat, a transverse moving drive assembly and a loading trough, the transverse moving drive assembly is connected to the transverse moving seat, the moving direction of the transverse moving seat is perpendicular to the conveying direction of the automatic conveying unit, the loading trough is inclined on the transverse moving seat, and the inclination direction of the loading trough is parallel to the inclination direction of the inclined unloading seat.

[0015] It can be seen from the above scheme that by setting the inclination direction of the loading chute parallel to the inclination direction of the inclined discharge seat, the material sheet can be placed in the loading chute in an inclined manner without adjusting the level, which is beneficial to simplifying the structure of the material moving component and saving production time.

[0016] A further solution is that the automatic conveying unit includes a conveying frame, a conveyor belt, two guide rails and a rack, the two guide rails are arranged on the conveying frame, the conveyor belt is arranged between the two guide rails and is lower than the guide rails in the vertical direction, and the rack is arranged between the two guide rails and placed on one side of the conveyor belt.

[0017] It can be seen from the above scheme that by setting the conveyor belt between the two guide rails and below the guide rails, the material sheets can be conveyed from the bottom of the loading and unloading robot, which is conducive to saving space.

[0018] A further solution is that the automatic conveying unit also includes a height limiting unit and / or a guide unit, the height limiting unit is arranged above the conveyor belt along a direction perpendicular to the conveying direction of the automatic conveying unit, and the guide unit is arranged above the conveyor belt along the conveying direction of the automatic conveying unit.

[0019] It can be seen from the above scheme that by setting a height limiting unit, it is helpful to avoid the material sheets being transported in a stacked manner on the conveyor belt, affecting the normal operation of the automatic stacking unit for unloading; by setting a guide unit, it is helpful to guide the material sheets on the conveyor belt to ensure that all the material sheets can fall onto the inclined unloading component.

[0020] A further solution is that the loading and unloading robot unit includes a moving seat, a robot and a loading and unloading suction cup assembly, the moving seat is respectively connected to the guide rail and the robot, a rotating drive assembly and gears are provided on the moving seat, the gears are respectively connected to the rotating drive assembly and the rack, and the loading and unloading suction cup assembly is provided on the robot.

[0021] It can be seen from the above scheme that by arranging a gear at the bottom of the moving seat and the gear is meshed and connected with the rack, it is beneficial to realize the back and forth movement of the loading and unloading robot on the guide rail.

[0022] A further solution is that the loading and unloading suction cup assembly includes a first working area, a second working area and a blowing assembly, the blowing assembly is arranged between the first working area and the second working area, and multiple vacuum suction cups are arranged on the first working area and the second working area.

[0023] It can be seen from the above scheme that by setting the first working area and the second working area, when unloading the CNC machine tool, the next piece of material to be processed is first sucked up by the first working area, and then the finished piece of material that has been processed on the CNC machine tool is removed by the second working area, and then the piece of material on the first working area is placed on the tooling fixture in the CNC machine tool. By adopting this method of loading and unloading, it is beneficial to save loading and unloading time and improve production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 2 is a top view of an embodiment of the present invention.

[0025] Figure 2 It is a structural diagram of the automatic stacking unit for blanking according to an embodiment of the present invention.

[0026] Figure 3 It is a structural diagram of the inclined blanking component of an embodiment of the present invention.

[0027] Figure 4 It is a structural diagram of a material moving assembly according to an embodiment of the present invention.

[0028] Figure 5 It is a structural diagram of a charging chute assembly according to an embodiment of the present invention.

[0029] Figure 6 It is a structural diagram of an automatic conveying unit according to an embodiment of the present invention.

[0030] Figure 7 yes Figure 6 Enlarged view of point A in the middle.

[0031] Figure 8 It is a structural diagram of a loading and unloading robot unit according to an embodiment of the present invention.

[0032] Fig. 9 yes Figure 8 Enlarged view of point B in the middle.

[0033] Fig.10 It is a structural diagram of a loading rack according to an embodiment of the present invention.

[0034] Fig.11 It is a structural diagram of a silo according to an embodiment of the present invention.

[0035] The present invention is further described below in conjunction with the accompanying drawings and embodiments. DETAILED DESCRIPTION

[0036] See also Figure 1 , Figure 1: is a top view of an embodiment of the present invention. The CNC equipment automatic loading and unloading system of this embodiment includes a control unit, an automatic conveying unit 1, a loading and unloading manipulator unit 2, an automatic stacking unit 3 for unloading, and twelve CNC machine tools 4. The control unit is connected to the automatic conveying unit 1, the loading and unloading manipulator unit 2, the automatic stacking unit 3 for unloading, and the CNC machine tools 4 respectively. In this embodiment, the conveying direction of the automatic conveying unit 1 is set to the Y direction, and the direction perpendicular to the Y direction is set to the X direction. The loading and unloading manipulator unit 2 is movably arranged on the automatic conveying unit 1 and moves back and forth along the conveying direction of the automatic conveying unit 1. The twelve CNC machine tools 4 are arranged on both sides of the conveying direction of the automatic conveying unit 1, and each CNC machine tool 4 is arranged within the working range of the loading and unloading manipulator unit 2. The CNC machine tool 4 is provided with two hatches, which are symmetrically arranged on both sides of itself. The first hatch is used for loading and unloading the loading and unloading manipulator unit 2, and the second hatch is convenient for the staff to perform operations such as tool changing. The double hatch design is conducive to achieving non-interference between people and robots, and at the same time, the operability and safety are also very good. During production, the number of CNC machine tools 4 can be adaptively adjusted according to the production order quantity of this batch of sheets. That is, when the production order quantity is small, a small number of CNC machine tools 4 can be started for simultaneous processing; when the production order quantity is large, a large number of CNC machine tools 4 can be started for simultaneous processing. This can not only meet the production needs of customers, but also will not waste resources. It is particularly suitable for small and medium-sized batch processing of sheets.

[0037] A loading rack 5 is provided between two adjacent CNC machine tools 4, and two material bins 51 are provided on the loading rack 5, and the two material bins 51 correspond to the adjacent CNC machine tools 4 respectively. Each material bin 51 corresponds to a unique CNC machine tool 4, and the material bin 51 is provided within the working range of the loading and unloading manipulator unit 2, and the material pieces to be processed are placed in the material bin 51, so that the loading and unloading manipulator unit 2 can grab the material pieces and put them into the corresponding CNC machine tools 4 for processing. When the control unit starts N of the CNC machine tools 4, the material bins 51 corresponding to the N CNC machine tools 4 are all filled with material pieces, and the control unit controls the loading and unloading manipulator unit 2 to move between the N CNC machine tools 4 and the material bins 51 with the material pieces. The unloading automatic stacking unit 3 is provided at the end of the conveying direction of the automatic conveying unit 1, and is used to stack the finished material pieces.

[0038] See also Figure 2 , Figure 2 1 is a structural diagram of an automatic stacking unit for material unloading according to an embodiment of the present invention. The automatic stacking unit 3 for material unloading comprises a stacking platform 31, an inclined unloading assembly 32, a material moving assembly 33 and a loading chute assembly 34. The inclined unloading assembly 32 is arranged at the front side of the stacking platform 31 in the Y direction, the loading chute assembly 34 is arranged at the rear side of the stacking platform 31 in the Y direction, and the material moving assembly 33 is arranged between the inclined unloading assembly 32 and the loading chute assembly 34.

[0039] See also Figure 3 Combined with Figure 2 , Figure 3 3 is a structural diagram of the inclined material discharging assembly of an embodiment of the present invention. The inclined material discharging assembly 32 includes a mounting seat 321, an inclined material discharging seat 322, an in-position sensor 323 and a lateral material pushing assembly 324. The mounting seat 321 is arranged on the stacking platform 31, and the inclined material discharging seat 322 is arranged obliquely on the mounting seat 321. The first end of the inclined material discharging seat 322 is inclined upward and connected to the end of the automatic conveying unit 1. The in-position sensor 323 is arranged at the second end of the inclined material discharging seat 322. The in-position sensor 323 is preferably a reflective full material sensor 352. The in-position sensor 323 is connected to the control unit data. Three isolation strips 325 are arranged on the inclined material discharging seat 322. The isolation strips 325 are arranged on the surface of the inclined material discharging seat 322 along the length direction of the inclined material discharging seat 322 to isolate the material sheet falling into the inclined material discharging seat 322 from the inclined material discharging seat 322, so as to reduce the contact area between the material sheet and the inclined material discharging seat 322 and reduce the friction force. The isolation strip 325 can be made of fabric to prevent part of the coolant remaining on the sheet from adhering to the isolation strip 325 due to its own viscosity, thereby affecting the sheet from sliding into the inclined lower material seat 322 .

[0040] The lateral pushing assembly 324 includes a pushing plate 3241 and a pushing drive assembly. The pushing plate 3241 is arranged on one side of the inclined material discharging seat 322 in the width direction. The two ends of the pushing plate 3241 in the length direction extend respectively to the first end and the second end of the inclined material discharging seat 322. The pushing drive assembly is arranged on the lower side of the inclined material discharging seat 322. The pushing drive assembly is connected to the pushing plate 3241 through a toggle block 3242. The pushing drive assembly is effectively a double cylinder, which can drive the pushing plate 3241 to move along the width direction of the inclined material discharging seat 322, and is used to move the sheet falling on the inclined material discharging seat 322 to the side of the inclined material discharging seat 322 close to the material moving assembly 33, so as to facilitate the material moving assembly 33 to move the material.

[0041] See also Figure 4 Combined with Figure 2 , Figure 4 It is a structural diagram of the material moving assembly of an embodiment of the present invention. The material moving assembly 33 includes a material moving stand 331, a longitudinal moving assembly 332, an inclined lifting assembly 333 and a transfer suction cup assembly 334. The material moving stand 331 is arranged on one side of the stacking stand 31, and the longitudinal moving assembly 332 is arranged on the material moving stand 331 along the Y direction. The two ends of the longitudinal moving assembly 332 extend to the inclined unloading assembly 32 and the loading chute assembly 34 respectively. The longitudinal moving assembly 332 is preferably a rodless cylinder, which includes a slider and a guide rod, and the slider can move along the axial direction of the guide rod. A three-color light alarm is provided on the material moving assembly 33. When the material chute is fully loaded with material sheets, the material moving assembly 33 suspends material moving, and the three-color light alarm sounds an alarm to remind the staff to remove all the material sheets.

[0042] The tilting lifting assembly 333 includes a linear module 3331 and a material picking arm 3332. The linear module 3331 is preferably a synchronous belt linear module 3331. The linear module 3331 is tiltedly arranged on the slider of the longitudinal moving assembly 332, and the lower end of the linear module 3331 extends tiltedly toward the tilting material discharging assembly 32. The linear module 3331 includes a stepping motor, a slide seat and a slide. The stepping motor drives the slide to move back and forth along the length direction of the slide seat. The upper part of the material picking arm 3332 is arranged on the slide of the linear module 3331 through a fine-tuning assembly 3333. The fine-tuning assembly 3333 is preferably a slide precision cylinder. The fine-tuning assembly 3333 is arranged along the Y direction for fine-tuning the position of the material picking arm 3332 in the Y direction. The transfer suction cup assembly 334 is arranged at the lower part of the material picking arm 3332 and is placed directly above the tilting material discharging seat 322. The transfer suction cup assembly 334 is parallel to the surface of the inclined material discharge seat 322 , and a plurality of vacuum suction cups are evenly spaced on the transfer suction cup assembly 334 , and the plurality of vacuum suction cups are divided into two symmetrical rows.

[0043] See also Figure 5 Combined with Figure 2 , Figure 5 : is a structural diagram of a loading trough assembly of an embodiment of the present invention. The loading trough assembly 34 includes a transverse moving seat 341, a transverse moving driving assembly 342 and two loading troughs 343. The transverse moving seat 341 is arranged on the stacking stand 31 along the X direction. The transverse moving driving assembly 342 is preferably a cylinder, which is arranged on the lower side of the stacking stand 31, and the piston rod of the cylinder is connected to the transverse moving seat 341 through a connecting plate that penetrates the stacking stand 31. The cylinder can drive the transverse moving seat 341 to move back and forth along the X direction. The two loading troughs 343 are both arranged obliquely on the transverse moving seat 341, and the inclination direction of the loading trough 343 is parallel to the inclination direction of the inclined unloading seat 322.

[0044] When stacking materials, the material moving assembly 33 moves the first material sheet from the inclined material discharging assembly 32 to the top of the loading trough 343, and then the inclined lifting assembly 333 of the material moving assembly 33 moves down for the first time, so that the transfer suction cup assembly 334 and the first material sheet enter the loading trough 343, until the first material sheet is infinitely close to the bottom of the loading trough 343 and the first material sheet is released. When the material moving assembly 33 moves the second material sheet to the top of the loading trough 343, the inclined lifting assembly 333 moves down for the second time, and the height of the second downward movement is less than the height of the first downward movement by a preset height, so that the second material sheet is released when the second material sheet is infinitely close to the upper surface of the first material sheet. And so on, the subsequent material sheet stacking operation is carried out until the loading trough 343 is fully loaded. The preset height is preferably the thickness of the finished sheet. The thickness may be different for different batches of sheets. Before processing begins, the height of each downward movement of the tilting and lifting assembly 333 can be freely set according to the thickness of the finished sheets of the current batch, to ensure that all finished sheets can be safely and easily placed in the loading trough 343, to avoid strong collisions between the finished sheets and the loading trough 343, and between the finished sheets, which may affect the surface quality of the finished sheets.

[0045] The stacking rack 31 is also provided with a full material detection unit 35, which includes a mounting and adjusting frame 351 and a full material sensor 352. The mounting and adjusting frame 351 is arranged on the stacking rack 31 and is placed on one side of one of the loading troughs 343, preferably on the side of the loading trough 343 close to the material moving assembly 33. An avoidance groove 3431 is arranged on one side of the trough wall of the loading trough 343, and the avoidance groove 3431 extends toward the bottom of the trough 343. The full material sensor 352 is movably arranged on the mounting and adjusting frame 351, and the full material sensor 352 is arranged opposite to the avoidance groove 3431. The full material sensor 352 is connected to the control unit, and is used to detect whether the loading trough is fully loaded with sheets. The full sensor 352 preferably sends a full load signal to the control unit through delayed triggering, that is, when the full sensor 352 detects the light beam reflected by the obstruction for a preset period of time, the full load signal is triggered to avoid the premature movement of the loading trough 343 due to accidental triggering of the full sensor 352.

[0046] For the convenience of explanation, the loading trough 343 near the side of the material moving component 33 is temporarily named as the first loading trough, and the other loading trough 343 is named as the second loading trough. Before stacking, the location of the first loading trough is the stacking area, and the location of the second loading trough is the waiting area. When the full material detection unit 35 detects that the first loading trough is fully loaded, the full material sensor 352 sends a first full load signal to the control unit, and the control unit controls the lateral movement drive component 342 to move the first preset displacement along the X direction, so that the first loading trough moves to one side of the stacking rack 31, and the second loading trough moves to the stacking area to prepare for stacking. When the full material detection unit 35 detects that the second loading trough is fully loaded, the full material sensor 352 sends a full load signal to the control unit again, and the control unit controls the lateral movement drive component 342 to move the second preset displacement in the same direction, so that the first loading trough and the second loading trough are both moved to one side of the stacking rack 31, which is convenient for manual removal of the stacked sheets.

[0047] See also Figure 6 to Figure 7 , Figure 6 is a structural diagram of an automatic conveying unit according to an embodiment of the present invention, Figure 7 yes Figure 6 A partial enlarged view of the A in the figure. The automatic conveying unit 1 includes five conveying frames 11, five conveyor belts 12, two guide rails 13 and a rack 14. The five conveyor frames 11 are arranged along the Y direction, and the five conveyor frames 11 are connected together in a straight line. The five conveyor belts 12 are respectively arranged on the five conveyor frames 11, and the ends of two adjacent conveyor belts 12 are adjacent and connected to each other. A conveying drive assembly is arranged on each conveyor frame 11, and the conveying drive assembly is used to drive the conveyor belt 12 on the corresponding conveyor frame 11 to perform a conveying action. Two adjacent conveyor frames 11 are fixedly connected by a connecting piece. The conveying directions of each conveyor belt 12 are the same and the conveying speeds are equal. Two guide rails 13 are arranged on the five conveyor frames 11 at the same time along the Y direction, and the conveyor belt 12 is arranged between the two guide rails 13, and the height of the conveyor belt 12 in the vertical direction is lower than the height of the guide rail 13 in the vertical direction. The rack 14 is on five conveying frames 11 simultaneously along the Y direction, and the rack 14 is arranged between two guide rails 13 and placed on one side of the conveyor belt 12. The height of the rack 14 is equal to the height of the guide rail 13.

[0048] The automatic conveying unit 1 also includes a plurality of height limiting units 15 and / or a plurality of guide units 16. The plurality of height limiting units 15 are evenly spaced above the conveyor belt 12 along the Y direction, and each sheet processed by the CNC machine tool 4 passes through at least one height limiting unit 15 when being conveyed on the conveyor belt 12. Each height limiting unit 15 is perpendicular to the conveying direction of the automatic conveying unit 1, and the height limiting unit 15 has a preset height from the surface of the conveyor belt 12. When the sheets are stacked up and down on the conveyor belt 12, under the conveying action of the conveyor belt 12, when two or more sheets stacked together pass through the height limiting unit 15, under the blocking action of the height limiting unit 15, it is ensured that only the sheet at the bottom flows through, so that the two or more sheets stacked together can be laid flat on the conveyor belt 12 one by one and flow out in sequence.

[0049] A plurality of guide units 16 are arranged above the conveyor belt 12 along the conveying direction of the automatic conveying unit 1, and the guide strips are adjacent to the surface of the conveyor belt 12 and are separated by a preset safety distance. In this embodiment, the middle of the guide unit 16 is arranged at the lower side of the height limiting unit 15, and a guide portion 161 is arranged at the first end of the guide unit 16. The guide portion 161 extends along the edge of the conveyor belt 12 toward the middle of the conveyor belt 12, and is used to guide the sheet placed on the first side of the conveyor belt 12 to the middle or second side of the conveyor belt 12.

[0050] Two hydraulic buffers 17 are respectively provided at both ends of the automatic conveying unit 1 in the Y direction for contacting with the loading and unloading robot unit 2 .

[0051] See also Figure 8 and Fig. 9 , Figure 8 This is a structural diagram of a loading and unloading robot unit according to an embodiment of the present invention. Fig. 9 yes Figure 8 Enlarged view of point B in the middle. The loading and unloading manipulator unit 2 includes a moving seat 21, a manipulator 22 and a loading and unloading suction cup assembly 23. The bottom of the moving seat 21 is movably connected to the two guide rails 13, and the upper part of the moving seat 21 is connected to the first end of the manipulator 22. A rotary drive assembly is arranged on the inner side of the moving seat 21, and a gear is arranged on the bottom of the moving seat 21. The rotary drive assembly is preferably a servo motor, and the gear is arranged on the output end of the reduction motor. The gear is meshed with the rack 14. When the rotary drive assembly drives the gear to rotate, under the meshing action of the gear and the rack 14, the moving seat 21 moves along the length direction of the rack 14, driving the entire loading and unloading manipulator unit 2 to move along the Y direction. The moving direction of the loading and unloading manipulator unit 2 depends on the rotation direction of the rotary drive assembly. The manipulator 22 can realize the movement in the front and back, left and right, up and down and rotation directions through program control to realize the loading and unloading of each CNC machine tool 4.

[0052] The loading and unloading suction cup assembly 23 is arranged on the second end of the manipulator 22. The loading and unloading suction cup assembly 23 includes a first working area 231, a second working area 232 and a blowing assembly 233. The blowing assembly 233 is arranged between the first working area 231 and the second working area 232. A plurality of vacuum suction cups are arranged on the first working area 231 and the second working area 232. The first working area 231 is used to absorb the sheet to be processed for loading, and the second working area 232 is used to absorb the sheet after processing. The blowing assembly 233 is used to clean the coolant and waste chips remaining on the processed sheet before absorbing the processed sheet. The blowing assembly 233 is also used to clean the coolant and waste chips remaining on the fixture after removing the processed sheet.

[0053] See also Fig.10 and Fig.11 , Fig.10 This is a structural diagram of a loading rack according to an embodiment of the present invention. Fig.11 It is a structural diagram of a silo according to an embodiment of the present invention. Two silos 51 are arranged in parallel on the loading rack 5. The silo 51 includes a first straight plate 511, a second straight plate 512, a supporting plate 513 and a support 516. The supporting plate 513 is arranged obliquely on the support 516, so that the first corner 514 of the supporting plate 513 away from the automatic conveying unit is arranged obliquely downward, and the heights of the second corner, the third corner and the fourth corner of the supporting plate 513 are all greater than the height of the first corner 514. The first straight plate 511 and the second straight plate 512 are respectively arranged perpendicular to the supporting plate 513, and the first straight plate 511 and the second straight plate 512 intersect at the first corner 514. The angle at which the first straight plate 511 and the second straight plate 512 intersect is preferably a right angle, and the sheet is stacked on the supporting plate 513 and abuts against the first straight plate 511 and the second straight plate 512. A first through hole is provided in the middle of the first straight plate 511 and the middle of the second straight plate 512. The first through hole is preferably rectangular, which can reduce the weight of the silo 51 and facilitate the staff to observe the remaining amount of the tablets in the silo 51. A second through hole is provided in the middle of the supporting plate 513 to reduce the weight of the silo 51.

[0054] The loading rack 5 is also provided with two groups of control switch components 515, both of which are arranged on one side of the material bin 51, and each group of control switch components 515 is connected to the control unit, and the control switch components 515 include a start switch, a stop switch and an emergency stop switch. The two groups of control switch components 515 can be provided with an emergency stop switch together, and when the emergency stop switch is pressed, the entire CNC equipment automatic loading and unloading system stops urgently. When the start switch is pressed, the material bin 51 and the CNC machine tool 4 both enter the working state, and the control unit controls the loading and unloading manipulator unit 2 to take materials in the material bin 51 in a timely manner according to the processing conditions of the CNC machine tool 4; when the stop switch is pressed, the control unit will temporarily shield the material bin 51 and the corresponding CNC machine tool 4, so that the loading and unloading manipulator unit 2 will not take materials from the material bin 51, nor will it load the CNC machine tool 4, so that the CNC machine tool 4 can be separated at any time when the tool is replaced or the sample is processed, and the overall operation of the CNC equipment automatic loading and unloading system is not affected.

[0055] The working process of the automatic loading and unloading system of CNC equipment is as follows: after the control unit receives the processing completion signal of the CNC machine tool 4, the control unit controls the loading and unloading robot unit 2 to quickly move to the side of the material bin 51 corresponding to the CNC machine tool 4, and the multiple vacuum suction cups on the first working area 231 of the loading and unloading robot unit 2 suck up the to-be-processed material in the material bin 51, the CNC machine tool 4 opens the first hatch, and the blowing component 233 of the loading and unloading robot unit 2 uses compressed air to clean the coolant and waste chips remaining on the fixture of the CNC machine tool 4 and the finished material, and then the loading and unloading robot unit 2 adjusts the working area, and uses the multiple vacuum suction cups on the second working area 232 to suck up the finished material, and then the loading and unloading robot unit 2 The hand unit 2 adjusts the working area again, and places the to-be-processed material pieces on the first working area 231 onto the fixture in the CNC machine tool 4, and then the loading and unloading suction cup assembly 23 of the loading and unloading robot unit 2 withdraws from the CNC machine tool 4, and the CNC machine tool 4 closes the first hatch for automatic processing; after the loading and unloading suction cup assembly 23 withdraws from the CNC machine tool, the finished material pieces in the second working area 232 are placed on the conveyor belt 12 of the automatic conveying unit 1, and the automatic conveying unit 1 conveys a plurality of finished material pieces to the unloading automatic stacking unit 3, and the unloading automatic stacking unit 3 transfers a plurality of finished material pieces one by one to the loading trough 343 and automatically stacks them, so as to complete the automatic loading and unloading and stacking of the automatic loading and unloading system of the CNC equipment.

Claims

1. CNC equipment automatic loading and unloading system, characterized by: It includes a control unit, an automatic conveying unit, a loading and unloading manipulator unit, an automatic stacking unit for unloading and a plurality of CNC machine tools, wherein the control unit is respectively connected to the automatic conveying unit, the loading and unloading manipulator unit, the automatic stacking unit for unloading and the CNC machine tools; The loading and unloading manipulator unit is movably arranged on the automatic conveying unit and moves back and forth along the conveying direction of the automatic conveying unit. The plurality of CNC machine tools are arranged on both sides of the conveying direction of the automatic conveying unit and are placed within the working range of the loading and unloading manipulator unit. The unloading automatic stacking unit is arranged at the end of the automatic conveying unit. The automatic stacking unit comprises an inclined material discharging assembly, a material shifting assembly and a material loading chute assembly, wherein the inclined material discharging assembly is connected to the end of the automatic conveying unit, the material loading chute assembly is arranged on one side of the inclined material discharging assembly, the material shifting assembly moves between the inclined material discharging assembly and the material loading chute assembly, and the material shifting assembly transfers the sheets on the inclined material discharging assembly to the material loading chute assembly one by one; The inclined material discharge assembly includes a mounting seat, an inclined material discharge seat and an in-place sensor. The inclined material discharge seat is inclinedly arranged on the mounting seat. The first end of the inclined material discharge seat is inclined upward and connected to the end of the automatic conveying unit. An isolation strip is arranged on the inclined material discharge seat. The in-place sensor is arranged at the second end of the inclined material discharge seat. The in-place sensor is data-connected to the control unit.

2. The CNC equipment automatic loading and unloading system according to claim 1 is characterized in that: The inclined material discharge assembly also includes a lateral pushing assembly, which includes a pushing plate and a pushing drive assembly. The pushing plate is arranged on one side of the width direction of the inclined material discharge seat. The pushing drive assembly is connected to the pushing plate, and the pushing plate can move along the width direction of the inclined material discharge seat.

3. The CNC equipment automatic loading and unloading system according to claim 1 is characterized in that: The material moving assembly includes a material moving platform, an inclined lifting assembly, a longitudinal moving assembly and a transfer suction cup assembly. The longitudinal moving assembly is arranged between the inclined unloading assembly and the loading trough assembly. The longitudinal moving assembly is arranged on the material moving platform along the Y direction. The inclined lifting assembly is movably arranged on the longitudinal moving assembly. The transfer suction cup assembly is arranged on the inclined lifting assembly. The longitudinal moving assembly can drive the inclined lifting assembly and the transfer suction cup assembly to move along the Y direction. The inclined lifting assembly can drive the transfer suction cup assembly to move up and down.

4. The CNC equipment automatic loading and unloading system according to claim 1 is characterized in that: The loading chute assembly includes a transverse moving seat, a transverse moving drive assembly and a loading chute, the transverse moving drive assembly is connected to the transverse moving seat, the moving direction of the transverse moving seat is perpendicular to the conveying direction of the automatic conveying unit, the loading chute is obliquely arranged on the transverse moving seat, and the inclination direction of the loading chute is parallel to the inclination direction of the inclined unloading seat.

5. The CNC equipment automatic loading and unloading system according to any one of claims 1 to 4, characterized in that: The automatic conveying unit includes a conveying frame, a conveying belt, two guide rails and a rack. The two guide rails are arranged on the conveying frame, the conveying belt is arranged between the two guide rails and is lower than the guide rails in the vertical direction, and the rack is arranged between the two guide rails and placed on one side of the conveying belt.

6. The CNC equipment automatic loading and unloading system according to claim 5, characterized in that: The automatic conveying unit further comprises a height limiting unit and / or a guiding unit. The height limiting unit is arranged above the conveying belt in a direction perpendicular to the conveying direction of the automatic conveying unit. The guiding unit is arranged above the conveying belt in the conveying direction of the automatic conveying unit.

7. The CNC equipment automatic loading and unloading system according to claim 5, characterized in that: The loading and unloading robot unit includes a moving seat, a robot and a loading and unloading suction cup assembly, the moving seat is respectively connected to the guide rail and the robot, a rotating drive assembly and a gear are provided on the moving seat, the gear is respectively connected to the rotating drive assembly and the rack, and the loading and unloading suction cup assembly is provided on the robot.

8. The CNC equipment automatic loading and unloading system according to claim 7, characterized in that: The loading and unloading suction cup assembly includes a first working area, a second working area and a blowing assembly. The blowing assembly is arranged between the first working area and the second working area. A plurality of vacuum suction cups are arranged on the first working area and the second working area.

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