Front foot carving automation equipment

Abstract

The present invention provides a front foot precision carving automation equipment, including a frame, a feeding mechanism, a first positioning mechanism, a handling manipulator and a machining center. The feeding mechanism is arranged on the frame, the first positioning mechanism is arranged on the frame and is located at the feeding end of the feeding structure, the feeding mechanism can transport the workpiece to the first positioning mechanism, the first positioning mechanism is used to initially position the workpiece, the handling manipulator is arranged between the first positioning mechanism and the machining center, the handling manipulator can transport the positioned workpiece on the first positioning mechanism to the machining center, and the machining center is used to process the workpiece. The workpiece is positioned by the first positioning mechanism so that the position on the workpiece matches the handling path of the handling manipulator, so that the handling manipulator can accurately clamp the workpiece on the first positioning mechanism and transport the workpiece to the machining center, and then the workpiece is processed by the machining center, which can improve the processing efficiency and processing quality.

Description

Technical Field

[0001] The invention relates to the technical field of baby carriage front foot processing, and in particular to a front foot precision carving automated equipment. Background Art

[0002] Industrial automation is one of the important prerequisites of Industry 4.0, mainly in the fields of mechanical manufacturing and electrical engineering. Industrial automation is the trend of widely using automatic control and automatic adjustment devices in industrial production to replace manual operation of machines and machine systems for processing and production. Under the conditions of industrial production automation, people only indirectly take care of and supervise the production of machines. At present, in the production of baby stroller parts, it is usually produced by manually operated machines, and only partially automatic control and automatic devices such as CNC machine tools, milling machines, etc. are used. For example, the processing of the bent pipe material of the front foot of the baby stroller requires manual placement of the bent pipe material on the machine tool station, and manual adjustment and positioning of the workpiece, and then the CNC machine tool is operated to process two U-shaped grooves at both ends of the bent pipe material. This processing method has the following problems: due to the need for manual operation, the labor cost is still high, and when batch production is required, people will gradually reduce their work efficiency due to fatigue, which seriously affects the processing efficiency; and the bent pipe material is adjusted and positioned manually, and the positioning accuracy is low, resulting in a high defective rate of the processed products. Summary of the invention

[0003] The object of the present invention is to provide an automated equipment for precision carving of front feet which can fully automatically process the front feet of a baby carriage and has high processing efficiency.

[0004] To achieve the above-mentioned purpose, the present invention provides an automated equipment for front foot precision carving, including a frame, a feeding mechanism, a first positioning mechanism, a handling robot and a machining center. The feeding mechanism is arranged on the frame, the first positioning mechanism is arranged on the frame and is located at the feeding end of the feeding structure, the feeding mechanism can transport the workpiece to the first positioning mechanism, the first positioning mechanism is used to perform initial positioning of the workpiece, the handling robot is arranged between the first positioning mechanism and the machining center, the handling robot can transport the positioned workpiece on the first positioning mechanism to the machining center, and the machining center is used to process the workpiece.

[0005] Preferably, the feeding mechanism includes a material table and a feeding robot. The material table is fixed on the frame. A plurality of material troughs for workpieces to be inserted are provided on the material table. The feeding robot is arranged above the material table. The workpieces in the material troughs are transported to the first positioning mechanism by the robot.

[0006] Preferably, the feeding robot includes an X-axis moving mechanism, a Y-axis moving mechanism, a Z-axis moving mechanism and a suction cup clamp, the Y-axis moving mechanism can be slidably set on the X-axis moving mechanism, the Z-axis moving mechanism can be slidably set on the Y-axis moving mechanism, and the suction cup clamp is set on the Z-axis moving mechanism and is used to clamp the workpiece.

[0007] Preferably, the first positioning mechanism includes a carrier, a first clamping device and a first insertion positioning device. The carrier is fixed on the frame and is used to carry the workpiece. The first clamping device is arranged on the frame and is used to clamp the workpiece. The first insertion positioning device is arranged on the frame and can be inserted into the hole of the workpiece to position the workpiece.

[0008] Preferably, the first clamp device comprises a first clamp driving mechanism and a first clamp arm. The first clamp driving mechanism is disposed on the frame. The output end of the first clamp driving mechanism is connected to the first clamp arm and can drive the first clamp arm to clamp the workpiece.

[0009] Preferably, the first insertion positioning device includes a first insertion drive mechanism and a first insertion shaft. The first insertion drive mechanism is disposed on the frame. The output end of the first insertion drive mechanism is connected to the first insertion shaft and can drive the first insertion shaft to be inserted into the hole of the workpiece.

[0010] Preferably, the bearing member has an elastic structure.

[0011] Preferably, the number of the first clamping devices is three, and the three first clamping devices clamp the two ends and the top of the workpiece correspondingly.

[0012] Preferably, the number of the first insertion positioning devices is two, and the two first insertion positioning devices are respectively used to insert into the holes opened on the end of the workpiece.

[0013] Preferably, it also includes an alarm device, which is used to detect whether the first insertion positioning device can be inserted into the hole of the workpiece.

[0014] Preferably, a second positioning mechanism is provided on the machining platform of the machining center, and the second positioning mechanism is used for secondary positioning of the workpiece. The transport robot can transport the workpiece on the first positioning mechanism to the second positioning mechanism.

[0015] Preferably, the second positioning mechanism includes a second clamp device and a second insertion positioning device, the second clamp device is arranged on the processing platform and is used to clamp the workpiece, and the second insertion positioning device is arranged on the processing platform and can be inserted into the hole of the workpiece to position the workpiece.

[0016] Preferably, the second clamp device includes a second clamp driving mechanism and a second clamp arm, the second clamp arm can be slidably disposed on the working platform, the second clamp driving mechanism is disposed on the working platform, and the output end of the second clamp driving mechanism is connected to the second clamp arm and can drive the second clamp arm to slide and clamp the workpiece.

[0017] Preferably, the second insertion positioning device includes a second insertion drive mechanism and a second insertion shaft. The second insertion drive mechanism is arranged on the working platform. The output end of the second insertion drive mechanism is connected to the second insertion shaft and can drive the second insertion shaft to be inserted into the hole of the workpiece.

[0018] Preferably, the number of the second clamping devices is three, and the three second clamping devices clamp the two ends and the top of the workpiece correspondingly.

[0019] Preferably, the number of the second insertion positioning devices is two, and the two second insertion positioning devices are respectively used to insert into the holes at both ends of the workpiece.

[0020] Preferably, it also includes a material unloading robot and a material unloading conveying mechanism, which are located on one side of the machining center. The material unloading robot can clamp the processed workpiece on the machining center to the material unloading conveying mechanism, so that the material unloading conveying mechanism can unload and convey the processed workpiece.

[0021] Preferably, there are two machining centers, and the transport robot is located between the two machining centers. The transport robot can transport the positioned workpieces on the first positioning mechanism to the two machining centers respectively.

[0022] Compared with the prior art, since the front foot precision carving automated equipment of the present invention is provided with a feeding mechanism, a first positioning mechanism and a handling robot, the workpiece is conveyed by the feeding mechanism and transported to the first positioning mechanism, and the workpiece is positioned by the first positioning mechanism so that the position on the workpiece matches the handling path of the handling robot, so that the handling robot can accurately clamp the workpiece on the first positioning mechanism and transport the workpiece to the machining center, and then process the workpiece through the machining center. Therefore, the front foot precision carving automated equipment of the present invention can fully automate the front foot of the baby stroller without the need to manually load the workpiece one by one and operate the machining center for processing, thereby reducing labor costs and improving processing efficiency and processing quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a three-dimensional structural schematic diagram of the front foot fine carving automation equipment of the present invention.

[0024] Figure 2 It is a structural schematic diagram of the feeding mechanism and the first positioning mechanism of the front foot fine carving automation equipment of the present invention.

[0025] Figure 3 It is a structural schematic diagram of the first positioning mechanism of the front foot fine carving automation equipment of the present invention.

[0026] Figure 4It is a structural schematic diagram of the second positioning mechanism of the front foot fine carving automation equipment of the present invention. DETAILED DESCRIPTION

[0027] In order to explain the technical content and structural features of the present invention in detail, further description will be given below in combination with the implementation modes and the accompanying drawings.

[0028] See also Figure 1 and Figure 2 The front foot precision carving automation equipment 100 of the present invention includes a frame 1, a feeding mechanism 2, a first positioning mechanism 3, a handling manipulator 4 and a machining center 5. The feeding mechanism 2 is arranged on the frame 1, the first positioning mechanism 3 is arranged on the frame 1 and is located at the feeding end of the feeding structure, the feeding mechanism 2 can transport the workpiece 200 to the first positioning mechanism 3, the first positioning mechanism 3 is used to initially position the workpiece 200, the handling manipulator 4 is arranged between the first positioning mechanism 3 and the machining center 5, the handling manipulator 4 can transport the positioned workpiece 200 on the first positioning mechanism 3 to the machining center 5, and the machining center 5 is used to process the workpiece 200. The handling manipulator 4 can be a five-axis manipulator, a six-axis manipulator, etc. The workpiece 200 is conveyed by the feeding mechanism 2 and transported to the first positioning mechanism 3, and the workpiece 200 is positioned by the first positioning mechanism 3 so that the position on the workpiece 200 matches the transport path of the transport robot 4, so that the transport robot 4 can accurately clamp the workpiece 200 on the first positioning mechanism 3 and transport the workpiece 200 to the machining center 5, and then the workpiece 200 is processed by the machining center 5. More specifically:

[0029] See also Figure 2The feeding mechanism 2 includes a material table 21 and a feeding manipulator 22. The material table 21 is fixed on the frame 1. A plurality of material slots 211 for the workpiece 200 to be inserted are provided on the material table 21. The feeding manipulator 22 is arranged above the material table 21. The workpiece 200 in the material slot 211 is transported to the first positioning mechanism 3 by the feeding manipulator 22. Specifically, the feeding manipulator 22 includes an X-axis moving mechanism 221, a Y-axis moving mechanism 222, a Z-axis moving mechanism 223 and a suction cup fixture 224. The Y-axis moving mechanism 222 is slidably arranged on the X-axis moving mechanism 221, the Z-axis moving mechanism 223 is slidably arranged on the Y-axis moving mechanism 222, and the suction cup fixture 224 is arranged on the Z-axis moving mechanism 223 and is used to clamp the workpiece 200. The suction cup fixture 224 is driven to move in three-dimensional space by the X-axis moving mechanism 221, the Y-axis moving mechanism 222 and the Z-axis moving mechanism 223, so that the suction cup fixture 224 can move to the position corresponding to the material slot 211 and clamp the workpiece 200 located in the material slot 211 to the first positioning mechanism 3, wherein the suction cup fixture 224 can adopt an existing vacuum suction cup. However, the setting mode of the feeding manipulator 22 is not limited to this, and the feeding manipulator 22 can also adopt a five-axis manipulator, a six-axis manipulator, etc.

[0030] See also Figure 3The first positioning mechanism 3 includes a carrier 31, a first clamping device 32 and a first insertion positioning device 33. The carrier 31 is fixed on the frame 1 and is used to carry the workpiece 200. The first clamping device 32 is arranged on the frame 1 and is used to clamp the workpiece 200. The first insertion positioning device 33 is arranged on the frame 1 and can be inserted into the hole 201 of the workpiece 200 to position the workpiece 200. Specifically, the first clamp device 32 includes a first clamp driving mechanism 321 and a first clamp arm 322. The first clamp driving mechanism 321 is arranged on the frame 1. The output end of the first clamp driving mechanism 321 is connected to the first clamp arm 322 and can drive the first clamp arm 322 to clamp the workpiece 200. The first clamp driving mechanism 321 can adopt an existing cylinder driving mechanism; the first insertion positioning device 33 includes a first insertion driving mechanism 331 and a first insertion shaft 332. The first insertion driving mechanism 331 is arranged on the frame 1. The output end of the first insertion driving mechanism 331 is connected to the first insertion shaft 332 and can drive the first insertion shaft 332 to insert into the hole 201 of the workpiece 200. The first insertion driving mechanism 331 can adopt an existing telescopic cylinder, a linear motor, etc. The feeding robot 22 clamps the workpiece 200 located in the material trough 211 and places the workpiece 200 on the carrier 31. The first clamp driving mechanism 321 drives the first clamping arm 322 to move and clamp the workpiece 200. Then the first insertion driving mechanism 331 drives the first insertion shaft 332 to insert into the hole 201 of the workpiece 200, thereby positioning the workpiece 200 so that the position on the workpiece 200 matches the transport path of the transport robot 4, so that the transport robot 4 can accurately clamp the workpiece 200 on the carrier 31. Among them, the supporting member 31 is an elastic structure, so as to protect the workpiece 200 placed thereon by the feeding robot 22. For example, the supporting member 31 can adopt the existing elastic supporting device; the first plug-in shaft 332 can also adopt the existing elastic plug-in shaft, so as to protect the workpiece 200; in this embodiment, the number of the first clamping devices 32 is three, and the three first clamping devices 32 correspond to clamping the two ends and the top of the workpiece 200. Both ends of the workpiece 200 are provided with holes 201. The number of the first insertion positioning devices 33 is two, and the two first insertion positioning devices 33 are respectively used to insert into the holes 201 at the two ends of the workpiece 200, so as to improve the positioning accuracy of the workpiece 200. In order to improve the accuracy of the first positioning mechanism 3 in positioning the workpiece 200, the front foot precision carving automation equipment 100 of the present invention also includes an alarm device 6, which is used to detect whether the first insertion positioning device 33 can be inserted into the hole position 201 of the workpiece 200. When the first insertion shaft 332 driven by the first insertion drive mechanism 331 cannot be inserted into the hole position 201 of the workpiece 200 and the workpiece 200 cannot be effectively positioned, the alarm device 6 alarms; when the first insertion shaft 332 driven by the first insertion drive mechanism 331 can be correctly inserted into the hole position 201 of the workpiece 200 and the workpiece 200 can be effectively positioned, the alarm device 6 does not alarm.

[0031] See also Figure 4 The machining center 5 can adopt an existing CNC precision engraving machine, but is not limited thereto. A second positioning mechanism 7 is provided on the machining platform 51 of the machining center 5. The second positioning mechanism 7 is used to perform secondary positioning on the workpiece 200. The handling robot 4 can transport the workpiece 200 on the first positioning mechanism 3 to the second positioning mechanism 7. Specifically, the second positioning mechanism 7 includes a second clamping device 71 and a second insertion positioning device 72. The second clamping device 71 is provided on the machining platform 51 and is used to clamp the workpiece 200. The second insertion positioning device 72 is provided on the machining platform 51 and can be inserted into the hole 201 of the workpiece 200 to position the workpiece 200. More specifically, the second clamp device 71 includes a second clamp driving mechanism 711 and a second clamp arm 712. The second clamp arm 712 can be slidably arranged on the working platform. The second clamp driving mechanism 711 is arranged on the working platform. The output end of the second clamp driving mechanism 711 is connected to the second clamp arm 712 and can drive the second clamp arm 712 to slide and clamp the workpiece 200; the second insertion positioning device 72 includes a second insertion driving mechanism 721 and a second insertion shaft 722. The second insertion driving mechanism 721 is arranged on the working platform. The output end of the second insertion driving mechanism 721 is connected to the second insertion shaft 722 and can drive the second insertion shaft 722 to insert into the hole 201 of the workpiece 200. The transport robot 4 transports the workpiece 200 positioned on the first positioning mechanism 3 to the work platform, drives the second clamp arm 712 to slide and clamp the workpiece 200 through the second clamp driving mechanism 711, and then drives the second insertion shaft 722 to insert into the hole 201 of the workpiece 200 through the second insertion driving mechanism 721, thereby realizing the secondary positioning of the workpiece 200, so that the position of the workpiece 200 matches the processing path of the machining center 5. Among them, the second insertion shaft 722 can adopt the existing elastic insertion shaft, so as to protect the workpiece 200; in this embodiment, the number of the second clamp devices 71 is three, and the three second clamp devices 71 correspond to clamping the two ends and the top of the workpiece 200, and the number of the second insertion positioning devices 72 is two, and the two second insertion positioning devices 72 are respectively used to insert into the hole 201 at the two ends of the workpiece 200, thereby improving the positioning accuracy of the workpiece 200. In order to improve the processing efficiency, there are two machining centers 5, and the handling robot 4 is located between the two machining centers 5. The handling robot 4 can carry the positioned workpiece 200 on the first positioning mechanism 3 to the two machining centers 5 respectively. The workpiece 200 on the first positioning mechanism 3 is carried to one of the machining centers 5 by the handling robot 4, and then the workpiece 200 on the first positioning mechanism 3 is carried to the other machining center 5 by the handling robot 4, which makes full use of the processing time and improves the processing efficiency.

[0032] See also Figure 1The front foot precision carving automation equipment 100 of the present invention also includes a material unloading manipulator 8 and a material unloading conveying mechanism 9, which are located on one side of the machining center 5. The material unloading manipulator 8 can clamp the processed workpiece 200 on the machining center 5 to the material unloading conveying mechanism 9, so that the material unloading conveying mechanism 9 can unload and convey the processed workpiece 200. Among them, the material unloading manipulator 8 can adopt the existing three-axis manipulator, six-axis manipulator, etc.; the material unloading conveying mechanism 9 can adopt the existing belt conveying mechanism, roller conveying mechanism, etc., so it is not cumbersome here.

[0033] Combination Figures 1 to 4 The working principle of the front foot carving automation equipment 100 of the present invention is as follows:

[0034] The suction cup clamp 224 is driven to move in three-dimensional space by the X-axis moving mechanism 221, the Y-axis moving mechanism 222 and the Z-axis moving mechanism 223, so that the suction cup clamp 224 can move to the position corresponding to the material slot 211 and clamp the workpiece 200 located in the material slot 211 to the carrier 31 of the first positioning mechanism 3, the first clamp driving mechanism 321 drives the first clamping arm 322 to move and clamp the workpiece 200, and then the first insertion driving mechanism 331 drives the first insertion shaft 332 to insert into the hole 201 of the workpiece 200, so as to initially position the workpiece 200, that is, once position; after the initial positioning of the workpiece 200 is completed, the handling robot 4 moves the workpiece 200 that has been positioned on the first positioning mechanism 3 The workpiece 200 is transported to the working platform, and the second clamp driving mechanism 711 drives the second clamping arm 712 to slide and clamp the workpiece 200, and then the second insertion driving mechanism 721 drives the second insertion shaft 722 to insert into the hole 201 of the workpiece 200, thereby realizing the secondary positioning of the workpiece 200; after the secondary positioning of the workpiece 200 is completed, the machining center 5 processes the workpiece 200, specifically, the tool of the machining center 5 carves two U-shaped grooves 202 at the two ends of the workpiece 200 in a straight line direction; finally, the unloading robot 8 clamps the processed workpiece 200 onto the unloading conveying mechanism 9, and unloads the workpiece 200 through the unloading conveying mechanism 9.

[0035] It is worth noting that the front foot fine carving automated equipment 100 of the present invention is not limited to processing the front feet of baby carriages, but can also be used to process other parts.

[0036] In summary, since the front foot precision carving automation equipment 100 of the present invention is provided with a feeding mechanism 2, a first positioning mechanism 3 and a handling robot 4, the workpiece 200 is conveyed by the feeding mechanism 2 and transported to the first positioning mechanism 3, and the workpiece 200 is positioned by the first positioning mechanism 3 so that the position on the workpiece 200 matches the handling path of the handling robot 4, so that the handling robot 4 can accurately clamp the workpiece 200 on the first positioning mechanism 3 and transport the workpiece 200 to the machining center 5, and then the workpiece 200 is processed by the machining center 5. Therefore, the front foot precision carving automation equipment 100 of the present invention can fully automate the front foot of the baby carriage without the need to manually load the workpiece 200 one by one and operate the machining center 5 for processing, thereby reducing labor costs and improving processing efficiency and processing quality.

[0037] The above disclosure is only a preferred embodiment of the present invention, which cannot be used to limit the scope of the present invention. Therefore, equivalent changes made according to the claims of the present invention are all within the scope of the present invention.

Claims

1. A front foot carving automation equipment, characterized in that: The invention comprises a frame, a feeding mechanism, a first positioning mechanism, a handling robot and a machining center, wherein the feeding mechanism is arranged on the frame, the first positioning mechanism is arranged on the frame and is located at the feeding end of the feeding mechanism, the feeding mechanism can transport the workpiece to the first positioning mechanism, the first positioning mechanism is used for initially positioning the workpiece, the handling robot is arranged between the first positioning mechanism and the machining center, the handling robot can transport the positioned workpiece on the first positioning mechanism to the machining center, and the machining center is used for processing the workpiece. The first positioning mechanism includes a bearing member, a first clamping device and a first insertion positioning device. The bearing member is fixed on the frame and used to bear the workpiece. The first clamping device is arranged on the frame and used to clamp the workpiece. The first insertion positioning device is arranged on the frame and can be inserted into the hole of the workpiece to position the workpiece. The first clamp device includes a first clamp driving mechanism and a first clamp arm. The first clamp driving mechanism is disposed on the frame. The output end of the first clamp driving mechanism is connected to the first clamp arm and can drive the first clamp arm to clamp the workpiece. Wherein, a second positioning mechanism is provided on the processing platform of the machining center, and the second positioning mechanism is used for secondary positioning of the workpiece, and the transport robot can transport the workpiece on the first positioning mechanism to the second positioning mechanism. The second positioning mechanism includes a second clamp device and a second insertion positioning device, wherein the second clamp device is arranged on the processing platform and is used to clamp the workpiece, and the second insertion positioning device is arranged on the processing platform and can be inserted into the hole of the workpiece to position the workpiece. Among them, the second clamp device includes a second clamp driving mechanism and a second clamp arm, the second clamp arm can be slidably arranged on the processing platform, the second clamp driving mechanism is arranged on the processing platform, and the output end of the second clamp driving mechanism is connected to the second clamp arm and can drive the second clamp arm to slide and clamp the workpiece.

2. The front foot carving automation equipment according to claim 1 is characterized in that: The feeding mechanism includes a material table and a feeding robot. The material table is fixed on the frame. The material table is provided with a plurality of material troughs for workpieces to be inserted into. The feeding robot is arranged above the material table. The workpieces in the material troughs are transported to the first positioning mechanism by the feeding robot.

3. The front foot carving automation equipment according to claim 2 is characterized in that: The feeding robot includes an X-axis moving mechanism, a Y-axis moving mechanism, a Z-axis moving mechanism and a suction cup clamp. The Y-axis moving mechanism can be slidably arranged on the X-axis moving mechanism, the Z-axis moving mechanism can be slidably arranged on the Y-axis moving mechanism, and the suction cup clamp is arranged on the Z-axis moving mechanism and is used to clamp the workpiece.

4. The front foot carving automation equipment according to claim 1 is characterized in that: The first insertion positioning device includes a first insertion drive mechanism and a first insertion shaft. The first insertion drive mechanism is arranged on the frame. The output end of the first insertion drive mechanism is connected to the first insertion shaft and can drive the first insertion shaft to be inserted into the hole of the workpiece.

5. The front foot carving automation equipment according to claim 1 is characterized in that: The bearing component has an elastic structure.

6. The automated forefoot carving equipment according to claim 1 is characterized in that: The number of the first clamping devices is three, and the three first clamping devices correspondingly clamp the two ends and the top of the workpiece.

7. The automated forefoot carving equipment according to claim 1 is characterized in that: The number of the first insertion positioning devices is two, and the two first insertion positioning devices are respectively used to be inserted into the holes opened on the two ends of the workpiece.

8. The automated forefoot carving equipment according to claim 1 is characterized in that: It also includes an alarm device, which is used to detect whether the first insertion and positioning device can be inserted into the hole of the workpiece.

9. The automated forefoot carving equipment according to claim 1, characterized in that: The second insertion positioning device includes a second insertion drive mechanism and a second insertion shaft. The second insertion drive mechanism is arranged on the processing platform. The output end of the second insertion drive mechanism is connected to the second insertion shaft and can drive the second insertion shaft to be inserted into the hole of the workpiece.

10. The automated forefoot carving equipment according to claim 1, characterized in that: The number of the second clamping devices is three, and the three second clamping devices correspondingly clamp the two ends and the top of the workpiece.

11. The automated forefoot carving equipment according to claim 1 is characterized in that: The number of the second insertion positioning devices is two, and the two second insertion positioning devices are respectively used to be inserted into the holes opened on the two ends of the workpiece.

12. The automated forefoot engraving equipment according to claim 1, characterized in that: It also includes a material unloading robot and a material unloading conveying mechanism, which are located on one side of the machining center. The material unloading robot can clamp the processed workpiece on the machining center to the material unloading conveying mechanism, so that the material unloading conveying mechanism can unload and convey the processed workpiece.

13. The automated forefoot carving equipment according to claim 1, characterized in that: There are two machining centers, and the transport robot is located between the two machining centers. The transport robot can transport the positioned workpieces on the first positioning mechanism to the two machining centers respectively.

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