Automated machining production line

Abstract

The application discloses an automatic machining production line, which comprises a machining device, an automatic feeding and discharging system and a control system. The machining device is used for machining workpieces and has an inlet and outlet. The automatic feeding and discharging system comprises a temporary storage rack, a first transfer trolley, a second transfer trolley and a buffer device. The control system is in communication with the machining device, the first transfer trolley, the second transfer trolley and the buffer device. The workpieces to be machined stored on the temporary storage rack are sequentially conveyed to the machining device through the second transfer trolley, the first transfer trolley, the buffer device and the inlet and outlet. The machined workpieces are sequentially transferred to the temporary storage rack through the inlet and outlet, the buffer device, the first transfer trolley and the second transfer trolley. The automatic machining production line can automatically feed and discharge and machine workpieces, and has low labor input cost and high machining efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of processing equipment, in particular to an automatic processing production line. Background Art

[0002] When using processing equipment to process a workpiece, such as drilling a PCB with a drilling machine, the workpiece is placed on the drilling machine's processing table, and then drilled using a tool. However, in related technologies, the workpiece is usually placed into the processing equipment manually, and then the workpiece is manually retrieved after processing is completed. This not only increases the labor cost required for the workpiece processing process, but also reduces the efficiency of loading and unloading the workpiece. Summary of the Invention

[0003] The present invention proposes an automatic processing production line, which can automatically load and unload materials and perform workpiece processing operations, and has the advantages of low labor input cost and high processing efficiency.

[0004] According to an embodiment of the present invention, the automatic processing production line includes: processing equipment, which is used to process workpieces, and the processing equipment has an inlet and outlet; an automatic loading and unloading system, which includes a temporary material rack, a first transfer trolley, a second transfer trolley and a cache device, the temporary material rack is used to store workpieces, the cache device is located on the side of the processing equipment with the inlet and outlet and is docked with the processing equipment, the cache device is used to cache and transport workpieces, the first transfer trolley and the second transfer trolley can both move on the ground to transfer workpieces, and the first transfer trolley and the cache device can be detachably docked; a control system, which is communicated with the processing equipment, the first transfer trolley, the second transfer trolley and the cache device The processing equipment and the processing device are connected to the storage device through the transmission line, and the processing equipment and the processing device are connected to the storage device through the transmission line. The processing equipment and the processing device are connected to the storage device through the transmission line, and the processing device and the processing device are connected to the storage device through the transmission line. The processing equipment and the processing device are connected to the storage device through the transmission line, and the processing device and the processing device are connected to the storage device through the transmission line.

[0005] According to the automatic machining production line provided by the embodiment of the present application, the automatic feeding and discharging system is arranged, and the control system is in communication with the machining device, the first transfer trolley, the second transfer trolley and the buffer device, so that the control system can control the first transfer trolley, the second transfer trolley and the buffer device to realize the automatic feeding and discharging of the workpieces according to the machining instructions, reduce the labor intensity of workers in the machining process of the workpieces, improve the production and machining efficiency of the workpieces, reduce the labor cost, and improve the safety of production to a certain extent.

[0006] According to some embodiments of the present application, the first transfer trolley comprises a first moving base, and a storage conveying device arranged on the first moving base. The storage conveying device comprises a storage rack and a storage conveying mechanism arranged on the storage rack. The storage conveying mechanism comprises a plurality of layers of storage conveying positions arranged in sequence in the up-down direction. Each layer of the storage conveying positions comprises a storage conveying bottom plate and a conveying assembly arranged on the storage conveying bottom plate. The storage conveying bottom plate is connected with the storage rack. Each layer of the conveying assembly independently conveys workpieces or synchronously conveys workpieces.

[0007] According to some embodiments of the present application, the buffer device comprises a plurality of layers of buffer warehouses arranged in sequence in the up-down direction. Each layer of the buffer warehouses comprises a plurality of buffer stations arranged in the horizontal direction. Each buffer station is used for buffering and conveying workpieces.

[0008] According to some embodiments of the present application, the buffer device comprises a support frame, a buffer mechanism and a lifting mechanism. The buffer mechanism comprises a plurality of layers of buffer warehouses arranged in sequence in the up-down direction. The lifting mechanism is arranged on the support frame and connected with the buffer mechanism to drive the buffer mechanism to lift. Through the lifting of the buffer mechanism, any layer of the buffer warehouses is located at a feeding and discharging position. The workpieces in the buffer warehouse located at the feeding and discharging position are suitable to be conveyed to the machining stations of the machining device.

[0009] According to some embodiments of the present application, each buffer station comprises a buffer bottom plate and a conveying assembly arranged on the buffer bottom plate and used for conveying workpieces. Each buffer station further comprises auxiliary support members arranged on the buffer bottom plate and located on opposite sides of the conveying assembly. The auxiliary support members comprise support blocks extending in the conveying direction of the conveying assembly and a plurality of support wheels arranged on the support blocks and spaced apart in the extension direction of the support blocks.

[0010] According to some embodiments of the present application, the second transfer trolley comprises a second mobile base; a grabbing transfer device disposed on the second mobile base, the grabbing transfer device comprising a grabbing transfer mechanism for grabbing or releasing workpieces, the grabbing transfer mechanism having a clamping assembly or a suction disc assembly for grabbing or releasing workpieces.

[0011] According to some embodiments of the present application, the grabbing transfer device comprises a support seat, the grabbing transfer mechanism being disposed on the support seat, the grabbing transfer mechanism comprising a mechanical arm and a grabbing and conveying module, one end of the mechanical arm being connected to the support seat, the grabbing and conveying module being disposed on the other end of the mechanical arm, the mechanical arm being used to drive the grabbing and conveying module to move, the grabbing and conveying module comprising a mounting plate and a clamping and conveying assembly disposed on the mounting plate, the clamping and conveying assembly comprising the clamping assembly and a conveying assembly, the clamping assembly being used to grab workpieces, the conveying assembly being used to output workpieces grabbed by the clamping assembly or convey workpieces to the clamping assembly.

[0012] According to some embodiments of the present application, the clamping assembly and the conveying assembly are adapted to jointly clamp workpieces, the clamping assembly comprising a clamping piece and a clamping driving mechanism, the clamping driving mechanism being disposed on the mounting plate, the clamping driving mechanism being connected to the clamping piece to drive the clamping piece to grab workpieces, the clamping piece comprising a clamping block and a clamping portion disposed on the clamping block, the conveying assembly being disposed on the clamping block, the conveying assembly being disposed opposite to and spaced apart from the clamping portion, the conveying assembly and the clamping portion defining a clamping space adapted to clamp workpieces therebetween.

[0013] According to some embodiments of the present application, the grabbing transfer device further comprises a moving mechanism for driving the conveying assembly to move, the moving mechanism being disposed on the clamping block, the moving mechanism being connected to the conveying assembly to drive the conveying assembly to move, so as to adjust the distance between the conveying assembly and the clamping portion; and / or, a surface of the clamping portion facing the conveying assembly is provided with a roller for supporting workpieces, workpieces being adapted to be in rolling contact with the roller.

[0014] According to some embodiments of the present application, the automatic feeding and discharging system further comprises a third transfer trolley, the third transfer trolley being used to carry workpieces to be processed to the temporary storage rack or carry processed workpieces away from the temporary storage rack.

[0015] According to some embodiments of the present application, the third transfer trolley is an automatic navigation trolley, the temporary storage rack is provided with positioning marks below, and the third transfer trolley moves to a preset position below the temporary storage rack according to the positioning marks. The third transfer trolley comprises a jacking mechanism, and the workpieces are stacked on the jacking mechanism. The jacking mechanism is used to lift the workpieces to transfer the workpieces from the third transfer trolley to the temporary storage rack or from the temporary storage rack to the third transfer trolley.

[0016] According to some embodiments of the present application, the processing equipment further comprises a code scanner located above the inlet and outlet.

[0017] According to some embodiments of the present application, a plurality of processing equipment are arranged along a straight line at intervals, the inlets and outlets of all the processing equipment arranged along the straight line are located on the same side, and the temporary storage rack, the first transfer trolley and the second transfer trolley are located on the side adjacent to the inlets and outlets of the processing equipment.

[0018] According to some embodiments of the present application, the processing equipment comprises a workbench provided with a tool placement area, and the automatic processing production line further comprises a movable tool changing buffer device. The tool changing buffer device comprises a third movable base and a placement table provided on the third movable base. The placement table has a first storage area and a second storage area. The first storage area is used to store tools to be used, and the second storage area is used to store used tools. The tool changing buffer device further comprises a grabbing mechanism provided on the placement table. The grabbing mechanism is used to transfer the tools in the first storage area to the tool placement area and to transfer the used tools in the tool placement area to the second storage area.

[0019] According to some embodiments of the present application, the first storage area is provided with a first conveying assembly used to support and convey tool assemblies to a preset position of the first storage area, and the second storage area is provided with a second conveying assembly used to support and convey the tool assemblies to a preset position of the second storage area. The tool assembly comprises a tool and a tool holder used to accommodate and support the tool. The first conveying assembly comprises a belt conveying mechanism or a roller conveying mechanism, and the second conveying assembly comprises a belt conveying mechanism or a roller conveying mechanism.

[0020] According to some embodiments of the present application, the placement table is provided with a boss, the grabbing mechanism is provided on the boss, and the first storage area and the second storage area are located on opposite sides of the boss in a first direction.

[0021] According to some embodiments of the present application, the automatic machining production line further comprises a fourth transfer trolley, the fourth transfer trolley comprises a moving carrier, a storage rack and a third conveying assembly, the storage rack is arranged on the moving carrier, the third conveying assembly is arranged on the storage rack, the fourth transfer trolley is adapted to be docked with the tool changing buffer device, the third conveying assembly is used for conveying the tool assembly to the first storage area or for conveying the tool assembly in the second storage area to the storage rack, and the third conveying assembly comprises a belt conveying mechanism or a roller conveying mechanism.

[0022] According to some embodiments of the present application, the machining devices are arranged in a straight line, adjacent two machining devices are arranged back to back or opposite to each other, the tool changing buffer device is arranged on the side of the machining device away from the feeding and discharging port, and the temporary storage rack, the first transfer trolley and the second transfer trolley are arranged on the side of the machining device adjacent to the feeding and discharging port.

[0023] Additional aspects and advantages of the present application will be given, partially in the following description, partially become obvious from the following description, or be understood by practice of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 is a structural schematic diagram of an automatic machining production line according to an embodiment of the present application;

[0025] Figure 2 is a schematic diagram of a side of a machining device of an automatic machining production line according to an embodiment of the present application, the machining device is provided with a feeding and discharging port;

[0026] Figure 3 is a structural schematic diagram of a first transfer trolley of an automatic machining production line according to an embodiment of the present application;

[0027] Figure 4 is a structural schematic diagram of a storage conveying mechanism of an automatic machining production line according to an embodiment of the present application;

[0028] Figure 5 is a schematic diagram of the internal structure of a buffer device of an automatic machining production line according to an embodiment of the present application;

[0029] Figure 6 is a schematic diagram of one column of buffer stations of a buffer device of an automatic machining production line according to an embodiment of the present application;

[0030] Figure 7 is a structural schematic diagram of a second transfer trolley of an automatic machining production line according to an embodiment of the present application;

[0031] Figure 8is a structural schematic view of a grabbing and conveying module of an automatic machining production line according to an embodiment of the present application;

[0032] Figure 9 is Figure 8 is an enlarged view of region A in the middle;

[0033] Figure 10 is a schematic view of another perspective of the grabbing and conveying module of the automatic machining production line according to an embodiment of the present application;

[0034] Figure 11 is a schematic view of a third transfer trolley and a temporary storage rack of the automatic machining production line according to an embodiment of the present application;

[0035] Figure 12 is a layout schematic view of the automatic machining production line according to an embodiment of the present application;

[0036] Figure 13 is a schematic view of a side of the machining equipment of the automatic machining production line away from the loading and unloading port according to an embodiment of the present application;

[0037] Figure 14 is a structural schematic view of another side of the automatic machining production line according to an embodiment of the present application;

[0038] Figure 15 is a structural schematic view of a tool changing buffer device of the automatic machining production line according to an embodiment of the present application;

[0039] Figure 16 is a structural schematic view of a fourth transfer trolley of the automatic machining production line according to an embodiment of the present application;

[0040] Figure 17 is a layout schematic view of the automatic machining production line according to another embodiment of the present application.

[0041] Reference signs:

[0042] Automatic machining production line 100; Workpiece 200;

[0043] Machining equipment 1; Loading and unloading port 11; Machining station 12; Workbench 13; Tool placement area 131; Code scanner 14;

[0044] Automatic loading and unloading system 2;

[0045] Temporary storage rack 3; Positioning mark 31;

[0046] First transfer trolley 4; First mobile base 41; Storage conveying device 42; Storage rack 421;

[0047] Storage conveying mechanism 422; Storage conveying position 423; Storage conveying bottom plate 424; Conveying assembly 425;

[0048] guide slot 426; photoelectric sensor 43;

[0049] second transfer trolley 5; second moving base 51; grabbing and transferring device 52; grabbing and transferring mechanism 53;

[0050] mechanical arm 531; grabbing and conveying module 532; mounting plate 533; clamping and feeding assembly 534; clamping assembly 535;

[0051] clamping piece 536; clamping block 5361; clamping portion 5362; roller 537; clamping driving mechanism 538;

[0052] conveying assembly 539; support base 54; CCD camera 55; moving mechanism 56; clamping space 57;

[0053] buffer device 6; support frame 61; buffer mechanism 62; buffer bin 63; buffer station 64; buffer bottom plate 641;

[0054] transmission assembly 642; auxiliary support 643; support block 644; support wheel 645; lifting mechanism 65;

[0055] third transfer trolley 7; jacking mechanism 71;

[0056] tool changing buffer device 8; third moving base 81; placing table 82; first storage area 821; first conveying assembly 822;

[0057] second storage area 823; second conveying assembly 824; boss 83; grabbing mechanism 84;

[0058] fourth transfer trolley 9; moving carrier 91; storage rack 92; third conveying assembly 93;

[0059] belt conveying mechanism 10a; conveying belt 101a; transmission wheel 102a; driven wheel 103a; transmission shaft 104a; driving motor 105a. DETAILED DESCRIPTION

[0060] Embodiments of the present application are described in detail below with reference to the attached drawing figures, wherein the same or like reference numerals and characters throughout the figures denote the same or like components or elements having the same or similar functions. The embodiments described below are exemplary and are intended to provide examples of the present application, and are not intended to limit the present application.

[0061] The disclosure below provides many different embodiments or examples for realizing different structures of the present invention. In order to simplify the disclosure of the present invention, the components and settings of specific examples are described below. Of course, they are merely examples and are not intended to limit the present invention. In addition, the present invention may repeat reference numbers and / or letters in different examples. This repetition is for the purpose of simplicity and clarity and does not in itself indicate the relationship between the various embodiments and / or settings discussed. In addition, the present invention provides examples of various specific processes and materials, but those skilled in the art will appreciate the applicability of other processes and / or the use of other materials.

[0062] The following describes an automatic processing production line 100 according to an embodiment of the present invention with reference to the accompanying drawings.

[0063] like Figures 1-2 As shown, the automatic processing production line 100 according to an embodiment of the present invention includes: processing equipment 1, an automatic loading and unloading system 2 and a control system (not shown in the figure).

[0064] Specifically, the processing device 1 is used to process a workpiece 200. For example, the processing device 1 may be a drilling device, so that the processing device 1 can be used to perform drilling processing on the workpiece 200. The processing device 1 has an inlet and outlet 11. In other words, the workpiece 200 to be processed can enter the processing device 1 through the inlet and outlet 11 of the processing device 1 for processing; and the workpiece 200 processed by the processing device 1 can be discharged from the processing device 1 through the inlet and outlet 11 of the processing device 1.

[0065] The automatic loading and unloading system 2 includes a temporary storage rack 3, a first transfer trolley 4, a second transfer trolley 5 and a cache device 6. The temporary storage rack 3 is used to store workpieces 200. The cache device 6 is located on the side of the processing equipment 1 with the inlet and outlet 11 and is docked with the processing equipment 1. The cache device 6 is used to cache and transport the workpieces 200. The first transfer trolley 4 and the second transfer trolley 5 can both move on the ground to transfer the workpieces 200. The first transfer trolley 4 and the cache device 6 can be detachably docked. The workpiece 200 to be processed stored on the temporary storage rack 3 is suitable for being grabbed and transferred to the first transfer trolley 4 by the second transfer trolley 5 in sequence, docked with the cache device 6 by the first transfer trolley 4 and transported to the cache device 6, and transported to the processing equipment 1 through the inlet and outlet 11; the processed workpiece 200 is suitable for being output to the cache device 6 through the inlet and outlet 11 in sequence, transported to the first transfer trolley 4 docked with the cache device 6 by the cache device 6, and grabbed and transferred to the temporary storage rack 3 by the second transfer trolley 5.

[0066] That is, the second transfer trolley 5 can be used to transfer the workpiece 200 between the temporary storage rack 3 and the first transfer trolley 4, the first transfer trolley 4 can be used to transfer the workpiece 200 between the second transfer trolley 5 and the buffer device 6, and the buffer device 6 can be used to transfer the workpiece 200 between the first transfer trolley 4 and the machining equipment 1, so that the automatic feeding and discharging of the workpiece 200 can be realized.

[0067] Specifically, when the workpiece 200 to be machined is fed, the second transfer trolley 5 moves to the temporary storage rack 3 storing the workpiece 200 to be machined, the first transfer trolley 4 moves to a position close to the second transfer trolley 5, the second transfer trolley 5 grabs the workpiece 200 to be machined on the temporary storage rack 3 and transfers it to the first transfer trolley 4, the first transfer trolley 4 moves to a position in abutment with the buffer device 6 and abuts with the buffer device 6 to deliver the loaded workpiece 200 to be machined to the buffer device 6, and then the buffer device 6 delivers the workpiece 200 to be machined to the machining equipment 1 through the access opening 11 of the machining equipment 1 for machining processing, so that the automatic feeding and machining of the workpiece 200 to be machined can be realized.

[0068] When the machining equipment 1 finishes machining, i.e., when the machined workpiece 200 is discharged, the machining equipment 1 delivers the machined workpiece 200 to the buffer device 6 through the access opening 11, the first transfer trolley 4 moves to a position in abutment with the buffer device 6 and abuts with the buffer device 6, the buffer device 6 delivers the machined workpiece 200 to the first transfer trolley 4, the first transfer trolley 4 disengages from the abutment with the buffer device 6 and moves to the temporary storage rack 3 for stacking the machined workpiece 200, and then the second transfer trolley 5 moves to the temporary storage rack 3 for stacking the machined workpiece 200, grabs the machined workpiece 200 on the first transfer trolley 4 and transfers it to the temporary storage rack 3, so that the automatic discharging of the machined workpiece 200 can be realized.

[0069] The control system (not shown in the figure) communicates with the machining equipment 1, the first transfer trolley 4, the second transfer trolley 5 and the buffer device 6 to obtain the running states of the machining equipment 1, the first transfer trolley 4, the second transfer trolley 5 and the buffer device 6, and controls the machining equipment 1, the first transfer trolley 4, the second transfer trolley 5 and the buffer device 6, so that the automatic running of the entire automatic machining production line 100 can be realized. The control system can determine whether to control the second transfer trolley 5, the first transfer trolley 4 and the buffer device 6 to transfer the workpiece 200 to be machined on the temporary storage rack 3 to the machining equipment 1 according to whether the machining equipment 1 is idle, and the control system can determine whether to control the second transfer trolley 5, the first transfer trolley 4 and the buffer device 6 to transfer the machined workpiece 200 to the temporary storage rack 3 according to whether the machining equipment 1 has finished machining.

[0070] The operation process of the automatic machining production line 100 according to some embodiments of the present application is described below.

[0071] After receiving the machining feeding instruction, the control system can control the first transfer trolley 4 and the second transfer trolley 5 to move to the temporary storage rack 3 where the workpieces 200 to be machined are stored, control the second transfer trolley 5 to grab the workpieces 200 to be machined on the temporary storage rack 3 and transfer them to the first transfer trolley 4, and when the first transfer trolley 4 is loaded with a set amount of workpieces 200 to be machined, the control system can control the first transfer trolley 4 to move to a position against the buffer device 6 and dock with the buffer device 6, and the first transfer trolley 4 transfers the loaded workpieces 200 to be machined to the buffer device 6 for buffering. When the machining equipment 1 requests feeding, the buffer device 6 transfers the workpieces 200 to be machined to the machining equipment 1 through the feeding and discharging port 11 of the machining equipment 1, and the control system controls the machining equipment 1 to process the workpieces 200 to be machined, so as to realize automatic feeding and machining of the workpieces 200 to be machined.

[0072] When the workpieces 200 to be machined are completed, the control system can control the machining equipment 1 to transfer the machined workpieces 200 to the buffer device 6 through the feeding and discharging port 11, and the machined workpieces 200 are buffered on the buffer device 6. The control system controls the first transfer trolley 4 to move to a position against the buffer device 6 and dock with the buffer device 6, and the buffer device 6 transfers the machined workpieces 200 to the first transfer trolley 4. Then, the control system can control the first transfer trolley 4 to disengage from the buffer device 6 and go to the temporary storage rack 3 where the machined workpieces 200 are stacked. At the same time, the control system can control the second transfer trolley 5 to move to the temporary storage rack 3 where the machined workpieces 200 are stacked, grab the machined workpieces 200 on the first transfer trolley 4 and transfer them to the temporary storage rack 3, so as to realize automatic unloading of the machined workpieces 200.

[0073] According to the automatic machining production line 100 of the embodiments of the present application, by providing the automatic feeding and unloading system 2 and the control system in communication with the machining equipment 1, the first transfer trolley 4, the second transfer trolley 5 and the buffer device 6, the control system can control the first transfer trolley 4, the second transfer trolley 5 and the buffer device 6 to realize automatic feeding and unloading of the workpieces 200 according to machining instructions, reduce the labor intensity of workers during machining of the workpieces 200, improve the production and machining efficiency of the workpieces 200, reduce labor costs, and improve the safety of production to some extent.

[0074] According to some embodiments of the present application, as Figure 3 and Figure 4As shown, the first transfer trolley 4 comprises a first movable base 41 and a storage conveying device 42, the first movable base 41 is movable on the ground, and the storage conveying device 42 is arranged on the first movable base 41 to be moved by the first movable base 41, which facilitates to improve the working range of the first transfer trolley 4. Optionally, the first movable base 41 can be an automatic navigation vehicle (AGV). The storage conveying device 42 comprises a storage rack 421 and a storage conveying mechanism 422 arranged on the storage rack 421, and the storage conveying mechanism 422 comprises a plurality of layers of storage conveying positions 423 arranged in sequence in the up-down direction, each layer of storage conveying positions 423 comprises a storage conveying bottom plate 424 and a conveying assembly 425 arranged on the storage conveying bottom plate 424, and the storage conveying bottom plate 424 is connected with the storage rack 421.

[0075] That is, each layer of storage conveying positions 423 can store and convey workpieces 200, that is, the first transfer trolley 4 can store a plurality of workpieces 200 at the same time, so that the first transfer trolley 4 can transfer a plurality of workpieces 200 at one time, which facilitates to improve the transfer efficiency of the workpieces 200. Specifically, during the feeding process of the workpieces 200 to be processed, the control system can control the second transfer trolley 5 to transfer and convey a set number of workpieces 200 to be processed from the temporary storage rack 3 to the plurality of layers of storage conveying positions 423 according to the processing instructions, the first transfer trolley 4 moves to the position and is connected with the buffer device 6, the conveying assembly 425 on the storage conveying position 423 storing the workpieces 200 to be processed conveys the workpieces 200 to be processed to the buffer device 6, so as to convey the batch of workpieces 200 to be processed to the buffer device 6; during the discharging process of the workpieces 200 processed, the control system can control the first transfer trolley 4 to move to the position and be connected with the buffer device 6, the buffer device 6 conveys a plurality of workpieces 200 processed to the plurality of layers of storage conveying positions 423 respectively, the control system can control the second transfer trolley 5 to be disconnected with the buffer device 6 and move to the temporary storage rack 3 for storing the workpieces 200 processed, and the second transfer trolley 5 can be controlled to transfer the workpieces 200 processed on the plurality of layers of storage conveying positions 423 to the temporary storage rack 3, so as to batchily move the workpieces 200 processed on the buffer device 6, which facilitates to improve the transfer efficiency of the first transfer trolley 4.

[0076] Each layer of the conveying assembly 425 independently conveys the workpiece 200 or synchronously conveys the workpiece 200. That is, each of the multi-layer storage conveying positions 423 can independently convey the workpiece 200 in a single layer, for example, when only one workpiece 200 needs to be conveyed, the conveying assembly 425 of one of the multi-layer storage conveying positions 423 conveys the workpiece 200, and the conveying assemblies 425 of the other multi-layer storage conveying positions 423 are in standby state, so that the energy consumption of the operation of the conveying assembly 425 can be saved, and in addition, the interference between the plurality of conveying assemblies 425 can be reduced, thereby improving the reliability of the first transfer trolley 4; or the conveying assemblies 425 of the multi-layer storage conveying positions 423 can synchronously convey a plurality of workpieces 200, so that the conveying time of the workpiece 200 can be reduced, thereby improving the conveying efficiency of the workpiece 200.

[0077] In some embodiments of the present application, the conveying assembly 425 is two groups of belt conveying mechanisms 10a arranged at intervals in a direction perpendicular to the conveying direction of the conveying assembly 425, each group of belt conveying mechanisms 10a includes a conveying belt 101a and a driving wheel 102a and a driven wheel 103a, the driving wheel 102a and the driven wheel 103a are arranged in the conveying direction of the conveying assembly 425 and are rotatably arranged on the storage conveying bottom plate 424, the conveying belt 101a is arranged around the driving wheel 102a and the driven wheel 103a, the storage conveying bottom plate 424 is provided with a guide groove 426, the guide groove 426 is arranged between the two groups of belt conveying mechanisms 10a, the extension direction of the guide groove 426 is consistent with the conveying direction of the conveying assembly 425, the workpiece 200 is provided with two pins matched with the guide groove 426, the driving wheels 102a of the two groups of belt conveying mechanisms 10a are connected through a transmission shaft 104a, each layer of the conveying assembly 425 is provided with a driving motor 105a corresponding to the transmission shaft 104a, and the transmission shaft 104a is driven to rotate by the driving motor 105a to drive the two belt conveying mechanisms 10a to rotate synchronously.

[0078] In some embodiments of the present application, the conveying assembly 425 is two groups of belt conveying mechanisms 10a arranged at intervals in a direction perpendicular to the conveying direction of the conveying assembly 425, each group of belt conveying mechanisms 10a includes a conveying belt 101a and a driving wheel 102a and a driven wheel 103a, the driving wheel 102a and the driven wheel 103a are arranged in the conveying direction of the conveying assembly 425 and are rotatably arranged on the storage conveying bottom plate 424, the conveying belt 101a is arranged around the driving wheel 102a and the driven wheel 103a, the storage conveying bottom plate 424 is provided with a guide groove 426, the guide groove 426 is arranged between the two groups of belt conveying mechanisms 10a, the extension direction of the guide groove 426 is consistent with the conveying direction of the conveying assembly 425, the workpiece 200 is provided with two pins matched with the guide groove 426, the driving wheels 102a of the two groups of belt conveying mechanisms 10a are connected through a transmission shaft 104a, each layer of the conveying assembly 425 is provided with a driving motor 105a corresponding to the transmission shaft 104a, and the transmission shaft 104a is driven to rotate by the driving motor 105a to drive the two belt conveying mechanisms 10a to rotate synchronously.

[0079] In addition, each of the storage conveying positions 423 is provided with a photoelectric sensor 43, which is used to detect whether the workpiece 200 is placed on the storage conveying position 423. When the photoelectric sensor 43 on the storage conveying position 423 does not detect the workpiece 200, it indicates that the storage conveying position 423 is empty at this time, so that the second transfer trolley 5 directly transfers the workpiece 200 to be processed to the empty storage conveying position 423, and the buffer device 6 can directly convey the processed workpiece 200 to the empty storage conveying position 423. The time for searching the storage conveying position 423 during the transfer of the workpiece 200 can be saved, and the buffer device 6 or the second transfer trolley 5 can avoid conveying the workpiece 200 to the storage conveying position 423 where the workpiece 200 has been stored, which is beneficial to improve the conveying efficiency and safety of the workpiece 200.

[0080] Further, as shown in Figure 5 , the buffer device 6 includes a plurality of buffer bins 63 arranged in the up-down direction in sequence, each of the buffer bins 63 includes a plurality of buffer stations 64 arranged in the horizontal direction, and each of the buffer stations 64 is used to buffer and convey the workpiece 200. Optionally, the number of the buffer bins 63 is the same as and corresponds to the number of the storage conveying positions 423. That is, the buffer device 6 includes a plurality of buffer stations 64 arranged in the horizontal direction and the up-down direction in sequence, so that the buffer device 6 can buffer a plurality of workpieces 200 at the same time.

[0081] Specifically, in the horizontal direction, the first transfer trolley 4 can have a plurality of docking positions with the buffer device 6, each of the docking positions can correspond to a plurality of buffer stations 64 arranged in the up-down direction (as shown in a column of buffer stations 64 in Figure 6 and Figure 7 ), when the first transfer trolley 4 is located at one of the docking positions and docks with the buffer device 6, the plurality of buffer bins 63 can correspond to the plurality of buffer stations 64 corresponding to the current docking position one by one, the plurality of storage conveying positions 423 can simultaneously convey the workpieces 200 to be processed to the plurality of buffer stations 64, and the plurality of buffer stations 64 can also simultaneously convey the processed workpieces 200 to the plurality of storage conveying positions 423, that is, batch conveying of the workpieces 200 is realized, so as to improve the transfer efficiency of the workpieces 200 between the first transfer trolley 4 and the buffer device 6, and improve the production efficiency of the automatic machining production line 100.

[0082] According to some embodiments of the present application, the buffer device 6 comprises a plurality of buffer bins 63 arranged in sequence along the up-down direction, each buffer bin 63 comprises a plurality of buffer stations 64 arranged along the horizontal direction, and each buffer station 64 is used for buffering and transferring the workpiece 200. The processing equipment 1 comprises a plurality of processing stations 12 arranged along the horizontal direction, and optionally, the number of buffer stations 64 of each buffer bin 63 is the same as and corresponds to the number of processing stations 12. That is, when the processing equipment 1 requests feeding, the buffer device 6 can simultaneously transfer the workpieces 200 to be processed on the plurality of buffer stations 64 of one buffer bin 63 to the plurality of processing stations 12 of the processing equipment 1 through the feeding and discharging port 11, so as to improve the feeding efficiency of the workpieces 200 to be processed; after the workpieces 200 are processed, the processing equipment 1 can simultaneously transfer the processed workpieces 200 on the plurality of processing stations 12 to the plurality of buffer stations 64 of one buffer bin 63 through the feeding and discharging port 11, so as to improve the discharging efficiency of the processed workpieces 200. In addition, the processing equipment 1 can simultaneously perform processing operations on a plurality of workpieces 200 on the plurality of processing stations 12, which is beneficial to improving the processing efficiency of the processing equipment 1.

[0083] Optionally, the buffer device 6 comprises a support frame 61, a buffer mechanism 62, and a lifting mechanism 65, the buffer mechanism 62 comprises a plurality of buffer bins 63 arranged in sequence along the up-down direction, the lifting mechanism 65 is arranged on the support frame 61, and the lifting mechanism 65 is connected with the buffer mechanism 62 to drive the buffer mechanism 62 to lift, so that one of the buffer bins 63 is located at the feeding and discharging position, and the workpieces 200 in the buffer bin 63 located at the feeding and discharging position are suitable for being transferred to the processing station 12 of the processing equipment 1. That is, the buffer bin 63 located at the feeding and discharging position is suitable for being aligned with the feeding and discharging port 11 of the processing equipment 1, and the workpieces 200 can be transferred between the processing station 12 and the buffer bin 63 located at the feeding and discharging position through the feeding and discharging port 11.

[0084] Specifically, when the processing equipment 1 requests feeding, the lifting mechanism 65 drives the buffer mechanism 62 to lift, so that the buffer bin 63 buffering the workpieces 200 to be processed is located at the feeding and discharging position, and the plurality of buffer stations 64 of the buffer bin 63 can transfer the workpieces 200 to be processed to the processing station 12 through the feeding and discharging port 11 for processing; after the workpieces 200 are processed, the processed workpieces 200 on the plurality of processing stations 12 can be output to the buffer bin 63 with empty buffer stations 64 through the feeding and discharging port 11, and the lifting mechanism 65 drives the buffer mechanism 62 to lift to control another buffer bin 63 buffering the workpieces 200 to be processed to be located at the feeding and discharging position, and the above process is repeated until all the workpieces 200 to be processed on the buffer device 6 are processed.

[0085] In one specific example, reference is made toFigure 3 and Figure 5 The first transfer trolley 4 includes a first mobile base 41 and a storage conveying device 42, the storage conveying device 42 includes nine layers of storage conveying positions 423, the buffer device 6 includes nine layers of buffer storages 63, each layer of buffer storages 63 includes six buffer stations 64, that is, the buffer device 6 includes six columns of buffer positions arranged in the horizontal direction, each column of buffer positions includes nine buffer stations 64, the first transfer trolley 4 loads eight workpieces 200 and goes to a position to be docked with the buffer device 6, the first transfer trolley 4 can simultaneously convey the eight workpieces 200 to be processed to one column of eight buffer stations 64, wherein, when there are processed workpieces 200 in the machining equipment 1, the idle buffer stations 64 in one layer of buffer storages 63 can be used to receive the processed workpieces 200 output by the machining equipment 1. The above process is repeated until all the buffer stations 64 in the buffer device 6 (except for the six buffer stations 64 in the idle layer of buffer storages 63) are filled with workpieces 200 to be processed, and then the first transfer trolley 4 can go to other buffer devices 6 and machining equipment 1 to transfer workpieces 200.

[0086] When the machining equipment 1 requests to be fed, when all the machining stations 12 of the machining equipment 1 have processed workpieces 200, the idle layer of buffer storages 63 can be first controlled to be driven by the lifting mechanism 65 to the feeding and discharging position, and the machining stations 12 convey the processed workpieces 200 to the six buffer stations 64 in the idle layer of buffer storages 63. When feeding, for example, the control system can control the lifting mechanism 65 to drive the first layer of buffer storages 63 from top to bottom to the feeding and discharging position, and the workpieces 200 to be processed stored in the six buffer stations 64 of the first layer of buffer storages 63 can be conveyed to the six machining stations 12 of the machining equipment 1 through the feeding and discharging port 11, and after the machining is completed, the processed workpieces 200 on the machining stations 12 are returned to the first layer of buffer storages 63 through the feeding and discharging port 11, the control system controls the lifting mechanism 65 to drive the buffer mechanism 62 to rise to the second layer of buffer storages 63 from top to bottom to the feeding and discharging position, and the above process is repeated until all the workpieces 200 in the buffer mechanism 62 are processed workpieces 200, and then the control system controls the first transfer trolley 4 to be docked with the buffer device 6, the processed workpieces 200 on one column of nine buffer stations 64 of the buffer device 6 are simultaneously conveyed to the first transfer trolley 4, and the first transfer trolley 4 carries all the processed workpieces 200 on the buffer device 6 for six times.

[0087] Optionally, as Figure 6As shown, each buffer station 64 comprises a buffer base plate 641 and a conveying assembly 642 arranged on the buffer base plate 641 and used for conveying the workpiece 200, and further comprises an auxiliary support 643 arranged on the buffer base plate 641 and located on opposite sides of the conveying assembly 642, the auxiliary support 643 comprises a support block 644 extending along the conveying direction of the conveying assembly 642 and a plurality of support wheels 645 arranged on the support block 644 and spaced along the extension direction of the support block 644. That is, the workpiece 200 buffered in the buffer station 64 is located on the auxiliary support 643 and the conveying assembly 642, the side of the workpiece 200 facing the buffer base plate 641 is in contact with the conveying assembly 642, the workpiece 200 is in rolling contact with the support wheels 645, the conveying assembly 642 conveys the workpiece 200 along the conveying direction, and the auxiliary supports 643 located on both sides of the conveying assembly 642 prevent the workpiece 200 from overturning relative to the conveying direction while the workpiece 200 pushing the support wheels 645 to roll can better reduce the friction in the conveying of the workpiece 200, thereby improving the stability of the conveying of the workpiece 200 and reducing the driving force required for conveying the workpiece 200. The conveying assembly can be a belt conveying mechanism 10a.

[0088] According to some embodiments of the present application, as Figures 7-10 As shown, the second transfer trolley 5 comprises a second mobile base 51 and a grabbing and transferring device 52 arranged on the second mobile base 51, the grabbing and transferring device 52 comprises a grabbing and transferring mechanism 53 used for grabbing or releasing the workpiece 200, and the grabbing and transferring mechanism 53 has a clamping assembly 535 or a suction cup assembly used for grabbing or releasing the workpiece 200. That is, the second mobile base 51 can drive the grabbing and transferring device 52 to move to different workpiece 200 transferring work points, and in some examples of the present application, a plurality of temporary storage racks 3 are arranged, the second mobile base 51 can drive the grabbing and transferring device 52 to move to the positions of the plurality of temporary storage racks 3, and the first transfer trolley 4 is synchronously moved to approach the first transfer trolley 4, so as to grab the workpiece 200 to be processed on the temporary storage rack 3 by the clamping assembly 535 or the suction cup assembly of the grabbing and transferring mechanism 53 and transfer and convey to the first transfer trolley 4, and also can grab the processed workpiece 200 on the first transfer trolley 4 by the clamping assembly 535 or the suction cup assembly of the grabbing and transferring mechanism 53 and transfer to the temporary storage rack 3, thereby improving the work range of the second transfer trolley 5. Optionally, the second mobile base 51 can be an automatic navigation vehicle (AGV).

[0089] The grabbing and transferring device 52 comprises a support base 54, and a grabbing and transferring mechanism 53 arranged on the support base 54. The grabbing and transferring mechanism 53 comprises a mechanical arm 531 and a grabbing and conveying module 532. One end of the mechanical arm 531 is connected to the support base 54, and the grabbing and conveying module 532 is arranged at the other end of the mechanical arm 531. The mechanical arm 531 is used to drive the grabbing and conveying module 532 to move. The grabbing and conveying module 532 comprises a mounting plate 533 and a clamping and conveying assembly 534 arranged on the mounting plate 533. The clamping and conveying assembly 534 comprises a clamping assembly 535 and a conveying assembly 539. The clamping assembly 535 is used to grab the workpiece 200, and the conveying assembly 539 is used to output the workpiece 200 grabbed by the clamping assembly 535 or convey the workpiece 200 to the clamping assembly 535. That is, the clamping and conveying assembly 534 is connected to the mechanical arm 531 through the mounting plate 533, which can better reduce the connection difficulty of the clamping and conveying assembly 534 and the mechanical arm 531, facilitate to reduce the assembly difficulty of the grabbing and transferring mechanism 53, and can reduce the maintenance difficulty of the grabbing and conveying module 532 in the later period. In addition, the position of the grabbing and conveying module 532 can be flexibly adjusted through the mechanical arm 531, so that the grabbing and conveying module 532 can accurately approach the workpiece 200, thereby stably grabbing or placing the workpiece 200.

[0090] Specifically, when the workpiece 200 needs to be transferred, the second mobile base 51 can drive the second transfer trolley 5 to move close to the temporary storage rack 3, control the mechanical arm 531 to drive the grabbing and conveying module 532 to approach the workpiece 200, and convey the workpiece 200 to the clamping assembly 535 through the conveying assembly 539, and then fix and clamp the workpiece 200 through the clamping assembly 535. Then, the second mobile base 51 can drive the second transfer trolley 5 to approach the release position of the workpiece 200, control the mechanical arm 531 to drive the grabbing and conveying module 532 to move, and after the grabbing and conveying module 532 reaches the specified release position of the workpiece 200, the clamping assembly 535 releases the workpiece 200, and the conveying assembly 539 outputs the workpiece 200. That is, the second transfer trolley 5 can automatically pick up the workpiece 200, clamp and fix the workpiece 200, and transfer the workpiece 200. Therefore, the automation level of the second transfer trolley 5 can be improved, and the labor input in the workpiece 200 transferring process can be reduced.

[0091] The second transfer trolley 5 can also perform stacking work of the workpiece 200, that is, stack the workpieces 200 in a certain order, and the like, which is not limited specifically herein. In addition, in some embodiments of the present application, after the second transfer trolley 5 moves to a position close to the temporary storage rack 3, the first transfer trolley 4 moves to within the working radius of the mechanical arm 531, thereby reducing the moving frequency and distance of the second transfer trolley 5 in the process of transferring the workpiece 200.

[0092] Further, the clamping assembly 535 and the conveying assembly 539 are adapted to jointly clamp the workpiece 200. That is, on the basis of the conveying assembly 539 outputting the workpiece 200 on the clamp assembly 534 or conveying the workpiece 200 to the clamp assembly 534, the clamping assembly 535 can jointly cooperate with the conveying assembly 539 to fix and clamp the workpiece 200 on the clamp assembly 534. Thus, while the clamping assembly 535 clamps the workpiece 200, the workpiece 200 is further clamped and fixed by the cooperation of the clamping assembly 535 and the conveying assembly 539, so as to further limit the activity freedom of the workpiece 200, thereby facilitating to ensure the stable transfer of the workpiece 200.

[0093] Specifically, when the workpiece 200 is picked up by the grabbing and conveying module 532, the workpiece 200 can be first conveyed to the clamp assembly 534 by the conveying assembly 539, and the workpiece 200 can be clamped by the clamping assembly 535, and then the clamping assembly 535 and the conveying assembly 539 are controlled to further clamp the workpiece 200, and the position of the second transfer trolley 5 is adjusted by the second moving base 51 and the position of the clamp assembly 534 is adjusted by the mechanical arm 531, so that the workpiece 200 reaches the specified release position, and then the clamping assembly 535 and the conveying assembly 539 are controlled to release the clamping action on the workpiece 200, so that the workpiece 200 is movable relative to the clamp assembly 534, and the workpiece 200 is output by the conveying assembly 539. Thus, the functionality of the conveying assembly 539 can be improved, that is, the conveying assembly 539 has the functions of fixing the workpiece 200 and conveying the workpiece 200, thereby facilitating to simplify the structural complexity of the clamp assembly 534, and the production cost of the clamp assembly 534 can be reduced.

[0094] Further, the clamping assembly 535 comprises a clamping piece 536 and a clamping driving mechanism 538, the clamping driving mechanism 538 is arranged on the mounting plate 533, the clamping driving mechanism 538 is connected with the clamping piece 536 to drive the clamping piece 536 to grab the workpiece 200, the clamping piece 536 comprises a clamping block 5361 and a clamping portion 5362 arranged on the clamping block 5361, the conveying assembly 539 is arranged on the clamping block 5361, the conveying assembly 539 is oppositely and spacedly arranged with the clamping portion 5362, and the conveying assembly 539 and the clamping portion 5362 define a clamping space 57 adapted to clamp the workpiece 200. That is, the workpiece 200 can be first grabbed by the clamping piece 536 driven by the clamping driving mechanism 538, and the workpiece 200 is clamped and fixed on the clamping assembly 535, at this time, at least part of the workpiece 200 is located in the clamping space 57, that is, the opposite parts of the conveying assembly 539 and the clamping portion 5362 are respectively located on the opposite sides of the workpiece 200.

[0095] For example, as shown in FIG. 6, the clamping piece 536 comprises a clamping block 5361 and a clamping portion 5362 arranged on the clamping block 5361, the clamping block 5361 is arranged on the mounting plate 533, and the clamping portion 5362 is arranged on the clamping block 5361 and is oppositely and spacedly arranged with the conveying assembly 539. Figure 8 and 9As shown, the clamping part 5362 is located on the side of the clamping block 5361 away from the mounting plate 533, and the conveying assembly 539 is arranged on the inner side of the clamping block 5361 and between the mounting plate 533 and the clamping part 5362, where the inner side refers to the side of the clamping block 5361 clamping the workpiece 200, and the conveying assembly 539 and the clamping part 5362 can be clamped on both sides of the workpiece 200 in the thickness direction, and the clamping blocks 5361 located on both sides of the mounting plate 533 can be clamped on both sides of the workpiece 200, such as both sides of the workpiece 200 in the width direction, so that the pinch roll assembly 534 can better limit the activity freedom of the workpiece 200 in both the thickness direction and the width direction. In addition, when the pinch roll assembly 534 reaches the release position of the workpiece 200, the clamping part 5362 can be driven by the clamping driving mechanism 538 to release the workpiece 200, and the conveying assembly 539 and the clamping part 5362 can be controlled to release the clamping action on the workpiece 200, so that the workpiece 200 can move on the pinch roll assembly 534, and then the workpiece 200 can be output by the conveying assembly 539.

[0096] Further, the grabbing and transferring device 52 further comprises a moving mechanism 56 for driving the conveying assembly 539 to move, and the moving mechanism 56 is arranged on the clamping block 5361 and connected with the conveying assembly 539 for driving the conveying assembly 539 to move, so as to adjust the distance between the conveying assembly 539 and the clamping part 5362. That is, the size of the clamping space 57 can be adjusted.

[0097] Specifically, as shown, Figure 9 when grabbing the workpiece 200, the moving mechanism 56 can drive the conveying assembly 539 to move towards the direction close to the clamping part 5362, so as to reduce the size of the clamping space 57, so that the two sides of the part of the workpiece 200 located in the clamping space 57 can be in full abutment with the opposite side walls of the conveying assembly 539 and the clamping part 5362 respectively, so as to form the limiting and fixing of the conveying assembly 539 and the clamping part 5362 on both sides of the workpiece 200 in the thickness direction. When it is needed to output the workpiece 200 on the pinch roll assembly 534, the moving mechanism 56 can drive the conveying assembly 539 to move away from the clamping part 5362, so as to release the clamping effect of the conveying assembly 539 and the clamping part 5362 on the workpiece 200, so that the conveying assembly 539 can output the workpiece 200. Thus, the stability of the workpiece 200 during the transferring process can be better guaranteed, and the friction between the workpiece 200 and the clamping part 5362 can be reduced to reduce the conveying difficulty of the workpiece 200, which is beneficial to improve the transferring efficiency of the workpiece 200. In addition, the size of the clamping space 57 in the first direction can be flexibly adjusted and adapted according to the different sizes of the workpiece 200 in the first direction, which is beneficial to improve the application range of the clamping assembly 535.

[0098] Optionally, the surface of the clamping portion 5362 facing the conveying assembly 539 is provided with a plurality of rollers 537 for supporting the workpiece 200, and the workpiece 200 is adapted to be in rolling contact with the rollers 537. That is, when the conveying assembly 539 conveys the workpiece 200, the workpiece 200 pushes the rollers 537 to rotate, so that the workpiece 200 can move relative to the clamping portion 5362. Thus, the contact friction between the workpiece 200 and the clamping portion 5362 can be well avoided, so as to ensure smooth conveying of the workpiece 200 and facilitate improvement of the conveying efficiency of the workpiece 200. In one specific example, a plurality of rollers 537 are arranged on the clamping portion 5362 in a spaced manner along the conveying direction of the workpiece 200. Thus, the plurality of rollers 537 can well support the workpiece 200 in the conveying direction of the conveying assembly 539, so as to prevent the workpiece 200 from contacting the surface of the clamping portion 5362 when the workpiece 200 is conveyed in the conveying direction, and ensure stable conveying of the workpiece 200.

[0099] In one specific example, as shown in FIG. 5, the workpiece 200 is conveyed to the machining device 1 by the second transfer trolley 5, and the machining device 1 is provided with a clamping portion 5362 for clamping the workpiece 200. The clamping portion 5362 is provided with a plurality of clamping mechanisms 5361, and the clamping mechanisms 5361 are arranged in a spaced manner along the conveying direction of the workpiece 200. The clamping mechanisms 5361 are adapted to clamp the workpiece 200 in the conveying direction of the workpiece 200, so as to prevent the workpiece 200 from moving in the conveying direction of the workpiece 200 when the workpiece 200 is conveyed by the conveying assembly 539. Figure 10 In one specific example, as shown in FIG. 5, the workpiece 200 is conveyed to the machining device 1 by the second transfer trolley 5, and the machining device 1 is provided with a clamping portion 5362 for clamping the workpiece 200. The clamping portion 5362 is provided with a plurality of clamping mechanisms 5361, and the clamping mechanisms 5361 are arranged in a spaced manner along the conveying direction of the workpiece 200. The clamping mechanisms 5361 are adapted to clamp the workpiece 200 in the conveying direction of the workpiece 200, so as to prevent the workpiece 200 from moving in the conveying direction of the workpiece 200 when the workpiece 200 is conveyed by the conveying assembly 539.

[0100] In addition, the second transfer trolley 5 further comprises a temporary storage table provided on the support base 54. During the machining of the workpiece 200 by the machining device 1, machining records and the like can be entered into the workpiece 200 information. Therefore, when the workpiece 200 is machined with an error, the CCD camera 55 can acquire the error information during the transfer of the workpiece 200 by the second transfer trolley 5, and the second transfer trolley 5 can place the workpiece 200 with the error information on the temporary storage table, so as to distinguish the workpieces 200 machined correctly and with errors, that is, the second transfer trolley 5 can well reject the workpieces 200 machined with errors.

[0101] According to some embodiments of the present application, the mechanical arm 531 is a six-axis mechanical arm, which drives the grabbing and conveying module 532 to move to a preset angle position, so as to adjust the workpiece 200 to the preset angle position. The preset angle position herein refers to the output angle of the workpiece 200.

[0102] According to some embodiments of the present application, as shown in Figure 11 The automatic feeding and discharging system 2 further comprises a third transfer trolley 7, which is used to carry the workpieces 200 to be processed to the temporary storage rack 3 or carry the processed workpieces 200 away from the temporary storage rack 3. Specifically, when the processing equipment 1 requests feeding, the control system can control the third transfer trolley 7 to carry the workpieces 200 to be processed to the temporary storage rack 3 for temporary storage, and then the control system controls the second transfer trolley 5, the first transfer trolley 4 and the buffer device 6 to transport the workpieces 200 to be processed to the processing equipment 1 for processing. In addition, when the number of workpieces 200 to be processed on the temporary storage rack 3 is insufficient, the third transfer trolley 7 can timely supplement the workpieces 200 to be processed to the temporary storage rack 3. With the progress of the processing operation, when the number of processed workpieces 200 stored on the temporary storage rack 3 reaches a certain number, the control system can control the third transfer trolley 7 to carry the processed workpieces 200 away from the temporary storage rack 3 and to the equipment for the next processing procedure.

[0103] Further, as shown in Figure 1 and Figure 11 The third transfer trolley 7 is an automatic navigation trolley, and the lower portion of the temporary storage rack 3 is provided with positioning marks 31. The third transfer trolley 7 moves to a preset position below the temporary storage rack 3 according to the positioning marks 31. The third transfer trolley 7 comprises a jacking mechanism 71, and the workpieces 200 are adapted to be stacked on the jacking mechanism 71 and are lifted or lowered by the jacking mechanism 71 to transfer the workpieces 200 from the third transfer trolley 7 to the temporary storage rack 3 or from the temporary storage rack 3 to the third transfer trolley 7. The preset position here refers to the position at which the jacking mechanism 71 can stably lower or lift the workpieces 200. Specifically, when the workpieces 200 to be processed are carried to the temporary storage rack 3, the third transfer trolley 7 moves to a position close to the temporary storage rack 3, the jacking mechanism 71 is raised so that the workpieces 200 to be processed are higher than the temporary storage rack 3, and the jacking mechanism 71 is accurately adjusted to the preset position by recognizing the positioning marks 31. Then, the jacking mechanism 71 is lowered, the workpieces 200 to be processed stacked on the jacking mechanism 71 are placed on the temporary storage rack 3, and are separated from the jacking mechanism 71, so that the workpieces 200 to be processed can be automatically carried to the temporary storage rack 3. When the processed workpieces 200 are carried away from the temporary storage rack 3, the third transfer trolley 7 moves to the temporary storage rack 3 where the processed workpieces 200 are stacked, the height of the jacking mechanism 71 is lower than the height of the temporary storage rack 3, and the jacking mechanism 71 is accurately adjusted to the preset position by recognizing the positioning marks 31. At this time, the jacking mechanism 71 is located directly below the stacked workpieces 200, the jacking mechanism 71 is raised to lift the processed workpieces 200 away from the temporary storage rack 3, so as to realize the automatic carrying away of the processed workpieces 200 on the temporary storage rack 3.

[0104] According to some embodiments of the present application, as shown in Figure 2 and Figure 10As shown, the processing equipment 1 further comprises a code scanner 14 located above the access port 11. That is, the workpiece 200 information can be acquired by the code scanner 14 during the conveying of the workpiece 200 through the access port 11. The workpiece 200 has a two-dimensional code storing the workpiece 200 information, and the model and processing requirements of the workpiece 200 can be recorded in the two-dimensional code during the production of the workpiece 200. Therefore, when the workpiece 200 to be processed enters the processing equipment 1 through the access port 11, the workpiece 200 information is acquired by the code scanner 14, so that the processing equipment 1 can perform the specified processing operation on the workpiece 200. For example, the processing equipment 1 is a punching device, and the workpiece 200 information can include information such as punching position and punching quantity.

[0105] Secondly, the second transfer trolley 5 comprises a CCD camera 55, which can acquire the workpiece 200 information when the second transfer trolley 5 transfers the workpiece 200. The CCD camera 55 can be fixed on the mounting plate 533. During the loading of the workpiece 200 to be processed, the CCD camera 55 acquires the workpiece 200 information and determines whether the transferred workpiece 200 is consistent with the workpiece 200 required by the processing equipment 1, so that the second transfer trolley 5 only transfers the workpiece 200 meeting the requirements of the processing equipment 1, thereby ensuring the accuracy of the loading.

[0106] According to some embodiments of the present application, as Figure 12 As shown, the processing equipment 1 is arranged in a plurality of lines along a straight line, the access ports 11 of all the processing equipment 1 arranged in a straight line are located on the same side, and the temporary storage rack 3, the first transfer trolley 4 and the second transfer trolley 5 are located on the side adjacent to the access ports 11 of the processing equipment 1. That is, the first transfer trolley 4 and the second transfer trolley 5 can move along the arrangement direction of the processing equipment 1 to transfer the workpiece 200 to be processed on the temporary storage rack 3 to the processing equipment 1, and can transfer the processed workpiece 200 on the processing equipment 1 to the temporary storage rack 3, so that the travel route of the first transfer trolley 4 and the second transfer trolley 5 is simple, and the first transfer trolley 4 and the second transfer trolley 5 can provide the workpiece 200 to be processed to multiple processing equipment 1 at the same time. Meanwhile, the first transfer trolley 4 and the second transfer trolley 5 can simultaneously recover the processed workpiece 200 on multiple processing equipment 1, which is beneficial to reduce the number of the first transfer trolley 4 and the second transfer trolley 5, thereby saving the production cost of the automatic processing production line 100.

[0107] According to some embodiments of the present application, as Figures 13-15As shown, the machining device 1 comprises a workbench 13, and the workbench 13 is provided with a tool placing area 131. The automatic machining production line 100 further comprises a movable tool changing buffer device 8. The tool changing buffer device 8 comprises a third movable base 81, a placing table 82, and a grabbing mechanism 84. The placing table 82 is arranged on the third movable base 81. The placing table 82 comprises a first storage area 821 and a second storage area 823. The first storage area 821 is used for storing tools to be used, and the second storage area 823 is used for storing used tools.

[0108] That is, the third movable base 81 can drive the tool changing buffer device 8 to move on the ground, so as to improve the moving flexibility and movable range of the tool changing buffer device 8. In one specific example, the machining device 1 is provided with a plurality of machining devices 1, and the plurality of machining devices 1 are distributed in a machining site. The third movable base 81 is an automatic navigation vehicle (AGV). Therefore, the tool changing buffer device 8 can be driven by the third movable base 81 to go to the positions of the plurality of machining devices 1, so as to cooperate with the plurality of machining devices 1 to perform tool changing operations. In this way, the working range of the tool changing buffer device 8 is wide, and the number of tool changing buffer devices 8 can be reduced, thereby reducing the investment cost of the automatic machining production line 100.

[0109] Here, the tools to be used are tools that meet the machining requirements, and the used tools are tools that do not meet the machining requirements due to wear and the like. In this way, by partitioning the tools to be used and the used tools, the risk of tool changing errors caused by the confusion between the tools to be used and the used tools can be avoided, and the reliability of the tool changing buffer device 8 can be improved.

[0110] Further, the grabbing mechanism 84 is arranged on the placing table 82. The grabbing mechanism 84 is used for transferring the tools in the first storage area 821 to the machining device 1 and transferring the used tools changed by the machining device 1 to the second storage area 823. That is, the grabbing mechanism 84 can transfer the tools to be used in the first storage area 821 to the machining device 1, so that the machining device 1 can timely replace the used tools with the tools to be used, so as to ensure that the machining device 1 can continuously and effectively perform machining operations. After the machining device 1 changes the used tools, the grabbing mechanism 84 can transfer the used tools changed by the machining device 1 to the second storage area 823, so as to realize the centralized recovery of the used tools and facilitate the subsequent handling operations. In this way, the automation level of the tool changing buffer device 8 can be improved, and the human input during the tool changing process of the machining device 1 can be saved.

[0111] Optionally, the first storage area 821 is provided with a first conveying assembly 822 for supporting and conveying the tool assembly to a preset position of the first storage area 821, and the second storage area 823 is provided with a second conveying assembly 824 for supporting and conveying the tool assembly to a preset position of the second storage area 823, wherein the tool assembly comprises a tool and a tool holder for accommodating the tool, or the tool assembly comprises a tool and a tool box for storing the tool.

[0112] Optionally, the preset position of the first storage area 821 refers to a position convenient for the grabbing mechanism 84 to grab the tool assembly or a position conforming to the close arrangement of multiple tool assemblies, for example, a position close to the grabbing mechanism 84 on the first storage area 821, and the preset position of the second storage area 823 refers to a position away from the grabbing mechanism 84 on the second storage area 823 or a position conforming to the close arrangement of multiple tool assemblies. The tool in the tool assembly can be a tool to be used or a tool that has been used, i.e., the tool assembly can be a tool assembly to be used or a tool assembly that has been used.

[0113] That is, the tool assembly to be used can be placed on the first conveying assembly 822, and the first conveying assembly 822 conveys the tool assembly to be used towards the direction close to the grabbing mechanism 84, so as to facilitate the grabbing mechanism 84 to transfer the tool assembly to be used to the machining equipment 1, thereby reducing the difficulty of the grabbing mechanism 84 to transfer the tool assembly to be used. In addition, the grabbing mechanism 84 can transfer the tool assembly that has been used on the machining equipment 1 to the second conveying assembly 824 of the second storage area 823, and the second conveying assembly 824 conveys the tool assembly that has been used away from the grabbing mechanism 84, so as to avoid the accumulation of the tool assembly that has been used in the area close to the grabbing mechanism 84, and the grabbing mechanism 84 can place the tool assembly that has been used in the area close to the grabbing mechanism 84 on the second storage area 823, thereby reducing the difficulty of the grabbing mechanism 84 to release the tool assembly that has been used. In addition, the first conveying assembly 822 and the second conveying assembly 824 can automatically convey the tool assembly to the arrangement position, so that multiple tool assemblies are arranged neatly and closely in the first storage area 821 or the second storage area 823.

[0114] Therefore, the difficulty of the grabbing mechanism 84 in transferring the tool assembly can be reduced, and the working radius of the grabbing mechanism 84 can be shortened, so that the interference risk of the grabbing mechanism 84 in the transferring process can be reduced. In addition, the tool seat can accommodate the tool, which can improve the safety of the tool in the transferring process. In a specific example, referring to the drawings, a plurality of tool boxes are arranged on the tool seat in sequence, and each tool box contains a specified number and type of tools. Therefore, the tool assembly can be customized to arrange the tools according to the tool requirements of the machining equipment 1, which can improve the application range of the tool assembly. Secondly, the first conveying assembly 822 and the second conveying assembly 824 can simultaneously convey the tool seat to simultaneously convey a plurality of tool boxes, and the grabbing mechanism 84 can simultaneously transfer a plurality of tool boxes by transferring the tool seat, which can improve the transfer efficiency of the tool. Alternatively, the tool boxes are directly placed on the first conveying assembly 822 and the second conveying assembly 824, and the grabbing mechanism 84 places the tool boxes in the corresponding tool seat.

[0115] The first conveying assembly 822 includes a belt conveying mechanism 10a or a roller conveying mechanism, and the second conveying assembly 824 includes a belt conveying mechanism 10a or a roller conveying mechanism. That is, the first conveying assembly 822 and the second conveying assembly 824 can include a belt conveying mechanism 10a, and then convey the tool assembly through the belt conveying mechanism 10a. Of course, the first conveying assembly 822 and the second conveying assembly 824 can also include a roller conveying mechanism, so as to convey the tool assembly through the roller conveying mechanism. Therefore, the stability of the tool seat conveying can be ensured.

[0116] Optionally, the placing table 82 is provided with a boss 83, the grabbing mechanism 84 is arranged on the boss 83, and the first storage area 821 and the second storage area 823 are located on opposite sides of the boss 83 along the first direction. That is, the first storage area 821, the boss 83 and the second storage area 823 are arranged along the first direction, the first storage area 821 is located on one side of the boss 83 in the first direction, and the second storage area 823 is located on the other side of the boss 83 away from the first storage area 821 in the first direction. The boss 83 is located between the first storage area 821 and the second storage area 823.

[0117] Therefore, the interference between the first storage area 821 and the second storage area 823 can be avoided, the tool changing error caused by the confusion between the tool to be used and the tool used can be avoided, the grabbing mechanism 84 on the boss 83 is located between the first storage area 821 and the second storage area 823, so that the working range of the grabbing mechanism 84 can cover the first storage area 821 and the second storage area 823 at the same time, the number of the grabbing mechanism 84 can be saved, and the production cost of the tool changing buffer device 8 is reduced. In addition, the grabbing mechanism 84 is located at a higher position compared with the first storage area 821 and the second storage area 823, so that the interference to the movement of the grabbing mechanism 84 can be avoided, and the reliability of the tool changing buffer device 8 is improved.

[0118] Optionally, as shown in Figure 14 and Figure 16 , the automatic machining production line 100 further comprises a fourth transfer trolley 9, the fourth transfer trolley 9 comprises a moving carrier 9, a storage rack 92 and a third conveying assembly 93, the storage rack 92 is arranged on the moving carrier 9, the third conveying assembly 93 is arranged on the storage rack 92, the fourth transfer trolley 9 is adapted to be docked with the tool changing buffer device 8, the third conveying assembly 93 is used for conveying the tool assembly to the first storage area 821 or conveying the tool assembly in the second storage area 823 to the storage rack 92, and the third conveying assembly 93 comprises a belt conveying mechanism 10a or a roller conveying mechanism.

[0119] Therefore, the fourth transfer trolley 9 can better convey the tool to be used to the tool changing buffer device 8 and move the tool used on the tool changing buffer device 8 away, so that the automation level of the tool changing buffer system can be improved, and the labor input during the tool changing process of the machining equipment 1 is saved.

[0120] Specifically, the moving carrier 9 can drive the fourth transfer trolley 9 to move on the ground, so that the moving flexibility and the movable range of the tool changing buffer device 8 are improved. The tool assembly can be better supported by the storage rack 92 and the third conveying assembly 93, so that the fourth transfer trolley 9 can be moved to the tool changing buffer device 8 after loading the tool to be used and docked with the first storage area 821, so that the loaded tool to be used can be transmitted to the first storage area 821 under the drive of the third conveying assembly 93, so that the tool to be used can be transferred to the machining equipment 1 by the grabbing mechanism 84 for the machining equipment 1 to change. When the tool used on the second storage area 823 needs to be transported, the fourth transfer trolley 9 is moved to the side of the second storage area 823 of the tool changing buffer device 8 and is docked with the tool changing buffer device 8, and then the tool used on the second storage area 823 is conveyed to the storage rack 92 by the third conveying assembly 93, and the fourth transfer trolley 9 is driven by the moving carrier 9 to a tool recycling point.

[0121] The third conveying assembly 93 includes a belt conveying mechanism 10a or a roller conveying mechanism, so that the stability of the cutter disc conveying can be ensured. In a specific example, the conveying direction of the third conveying assembly 93 is parallel to the first direction, and the third conveying assembly 93 includes a plurality of belt conveying mechanisms 10a arranged along the second direction, and the second direction is perpendicular to the first direction. Thus, the conveying capacity of the third conveying assembly 93 can be improved, i.e., the third conveying assembly 93 can convey a plurality of cutters at the same time, and the driving force of the third conveying assembly 93 is stronger, which is beneficial to improve the conveying efficiency of the cutters. In addition, the plurality of belt conveying mechanisms 10a can be synchronously driven. Thus, the stability and efficiency of the third conveying assembly 93 for conveying the workpiece 200 can be improved.

[0122] Optionally, as shown in Figure 17 The machining devices 1 are arranged along a straight line, the in-out ports 11 of adjacent two machining devices 1 are arranged to face away from each other or are arranged to face each other, the tool changing and buffering device 8 is located on the side of the machining device 1 away from the out port, and the temporary storage rack 3, the first transfer trolley 4 and the second transfer trolley 5 are located on the side of the machining device 1 close to the in-out port 11. That is, the tool placing area 131 and the in-out port 11 are located on opposite sides of the machining device 1, and the tool changing and buffering device 8 is located on the side of the adjacent two machining devices 1 close to the tool placing area 131. The tool changing and buffering device 8 can be arranged to correspond to the machining device 1 as shown in Figure 17 In addition, the tool changing and buffering device 8 can be shared by two machining devices 1 on both sides, so that the tool changing and buffering device 8 can simultaneously convey the to-be-used cutters to the tool placing areas 131 of the machining devices 1 on both sides and can recover the used cutters from the machining devices 1 on both sides, thereby reducing the number of tool changing and buffering devices 8 and reducing the production cost of the automatic machining production line 100. In addition, the interference risk between the tool changing and buffering device 8 and the automatic feeding and discharging system 2 can be avoided, and the safety of the tool changing process and the feeding and discharging process can be improved.

[0123] In the present application, unless specifically defined and limited otherwise, the terms "mounting", "connection", "connecting", "fixing" and the like should be interpreted broadly, for example, can be fixed connection, can also be detachable connection, or can be integrated; can be directly connected, or indirectly connected through an intermediate medium; can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0124] In the description of the specification, the description using the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" etc. means that the particular feature, structure, material or characteristic being described is included in at least one embodiment or example of the present application. The illustrative appearances of the above-mentioned terms in various places in the specification are not necessarily referred to the same embodiment or example. Moreover, the particular features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples. Furthermore, the description herein of certain examples does not necessarily exclude these examples from the scope of the application, and these examples can be combined with each other for the purpose of patentable inventions.

[0125] Although the embodiments of the present application have been shown and described, it would be appreciated by those skilled in the art that changes, modifications, alternatives and variations to these embodiments could be made without departing from the principles and spirit of the application, and the scope of the application is defined by the claims and their equivalents.

Claims

1. An automatic machining production line, characterized in that, The application relates to a processing device for processing workpieces, the processing device having an inlet and outlet; an automatic feeding and discharging system, the automatic feeding and discharging system comprising a temporary storage rack for storing workpieces, a first transfer trolley, a second transfer trolley and a buffer device, the buffer device being located on one side of the processing device having the inlet and outlet and being connected to the processing device, the buffer device being used for buffering and transferring workpieces, the first transfer trolley and the second transfer trolley being movable on the ground to transfer workpieces, the first transfer trolley being detachably connected to the buffer device; and a control system, the control system being connected to the processing device, the first transfer trolley, the second transfer trolley and the buffer device to obtain the running states of the processing device, the first transfer trolley, the second transfer trolley and the buffer device and to control the processing device, the first transfer trolley, the second transfer trolley and the buffer device. The workpieces to be processed stored in the temporary storage rack are adapted to be sequentially transferred to the first transfer trolley by the second transfer trolley, to be connected to the buffer device by the first transfer trolley and to be delivered to the buffer device, to be delivered to the processing device through the inlet and outlet by the buffer device; and the processed workpieces are adapted to be sequentially output to the buffer device through the inlet and outlet, to be delivered to the first transfer trolley connected to the buffer device by the buffer device, and to be transferred to the temporary storage rack by the second transfer trolley. The first transfer trolley comprises a first movable base, a storage and conveying device provided on the first movable base, the storage and conveying device comprising a storage rack and a storage and conveying mechanism provided on the storage rack, the storage and conveying mechanism comprising a plurality of layers of storage and conveying positions arranged in a vertical direction, each layer of the storage and conveying positions comprising a storage and conveying bottom plate and a conveying assembly provided on the storage and conveying bottom plate, the storage and conveying bottom plate being connected to the storage rack, and each layer of the conveying assembly independently conveying workpieces or synchronously conveying workpieces. The buffer device comprises a plurality of layers of buffer storage bins arranged in a vertical direction, each layer of the buffer storage bins comprising a plurality of buffer stations arranged in a horizontal direction, and each buffer station being used for buffering and transferring workpieces. The buffer device comprises a support frame, a buffer mechanism and a lifting mechanism, the buffer mechanism comprising a plurality of layers of buffer storage bins arranged in a vertical direction, the lifting mechanism being provided on the support frame and being connected to the buffer mechanism to drive the buffer mechanism to lift and lower, so that any layer of the buffer storage bins is located at an inlet and outlet position, and workpieces in the buffer storage bin located at the inlet and outlet position are adapted to be delivered to a processing station of the processing device.

2. The automatic machining line according to claim 1, characterized in that, ​ ​ ​ 3. The automated machining line of claim 1, wherein, ​ 4. The automated machining line according to claim 3, characterized in that, ​ 5. The automated machining line according to claim 3, characterized in that, Each of the buffer stations comprises a buffer base plate and a conveying assembly arranged on the buffer base plate and configured to convey workpieces, and further comprises auxiliary support members arranged on the buffer base plate and located on opposite sides of the conveying assembly, the auxiliary support members comprising a support block extending along a conveying direction of the conveying assembly and a plurality of support wheels arranged on the support block and spaced apart along an extension direction of the support block.

6. The automated machining line of claim 1, wherein, The second transfer trolley comprises: a second movable base; a grabbing and transferring device arranged on the second movable base, the grabbing and transferring device comprising a grabbing and transferring mechanism configured to grab or release workpieces, the grabbing and transferring mechanism having a clamping assembly or a suction cup assembly configured to grab or release workpieces.

7. The automated machining line according to claim 6, characterized in that, The grabbing and transferring device comprises a support seat, and the grabbing and transferring mechanism is arranged on the support seat. The grabbing and transferring mechanism comprises a mechanical arm and a grabbing and conveying module. One end of the mechanical arm is connected to the support seat, and the grabbing and conveying module is arranged at the other end of the mechanical arm. The mechanical arm is configured to drive the grabbing and conveying module to move. The grabbing and conveying module comprises a mounting plate and a clamping and conveying assembly arranged on the mounting plate. The clamping and conveying assembly comprises the clamping assembly and a conveying assembly. The clamping assembly is configured to grab workpieces, and the conveying assembly is configured to output workpieces grabbed by the clamping assembly or convey workpieces to the clamping assembly.

8. The automated machining line according to claim 7, characterized in that, The clamping assembly and the conveying assembly are adapted to jointly clamp workpieces. The clamping assembly comprises a clamping member and a clamping driving mechanism arranged on the mounting plate. The clamping driving mechanism is connected to the clamping member to drive the clamping member to grab workpieces. The clamping member comprises a clamping block and a clamping portion arranged on the clamping block. The conveying assembly is arranged opposite to and spaced apart from the clamping portion. The conveying assembly and the clamping portion define a clamping space adapted to clamp workpieces therebetween.

9. The automated machining line according to claim 8, characterized in that, The grabbing and transferring device further comprises a moving mechanism configured to drive the conveying assembly to move. The moving mechanism is arranged on the clamping block and connected to the conveying assembly to drive the conveying assembly to move, so as to adjust the distance between the conveying assembly and the clamping portion. In addition, a surface of the clamping portion facing the conveying assembly is provided with a roller configured to support workpieces. Workpieces are adapted to be in rolling contact with the roller.

10. The automated machining line of claim 1, wherein, The automatic loading and unloading system further comprises a third transfer trolley configured to carry workpieces to be processed to the temporary storage rack or carry processed workpieces away from the temporary storage rack.

11. The automated machining line according to claim 10, characterized in that, The third transfer trolley is an automatic navigation trolley. A positioning marker is arranged below the temporary storage rack. The third transfer trolley moves to a preset position below the temporary storage rack according to the positioning marker. The third transfer trolley comprises a jacking mechanism. Workpieces are adapted to be stacked on the jacking mechanism. The jacking mechanism is configured to lift workpieces to transfer the workpieces from the third transfer trolley to the temporary storage rack or transfer the workpieces from the temporary storage rack to the third transfer trolley.

12. The automated machining production line of claim 1, wherein, The processing equipment further comprises a code scanner located above the inlet and outlet.

13. The automatic machining line according to any one of claims 1-12, characterized in that, The processing equipment is arranged in a plurality of lines, and the inlets and outlets of all the processing equipment are located on the same side, and the temporary storage rack, the first transfer trolley and the second transfer trolley are located on the side adjacent to the inlet and outlet of the processing equipment.

14. The automated machining line according to any one of claims 1-12, characterized in that, The processing equipment comprises a workbench, and the workbench is provided with a tool placing area. A third mobile base; A placing table is arranged on the third mobile base, and the placing table has a first storage area and a second storage area. A grabbing mechanism is arranged on the placing table, and the grabbing mechanism is used for transferring the tools in the first storage area to the tool placing area and transferring the used tools in the tool placing area to the second storage area.

15. The automated machining line according to claim 14, characterized in that, The first storage area is provided with a first conveying assembly for supporting and conveying a tool assembly to a predetermined position in the first storage area; the second storage area is provided with a second conveying assembly for supporting and conveying the tool assembly to a predetermined position in the second storage area; wherein the tool assembly comprises a tool and a tool holder for accommodating and supporting the tool, and the first conveying assembly comprises a belt conveying mechanism or a roller conveying mechanism; the second conveying assembly comprises a belt conveying mechanism or a roller conveying mechanism.

16. The automated machining production line of claim 14, wherein, The placing table is provided with a boss, and the grabbing mechanism is arranged on the boss, and the first storage area and the second storage area are located on opposite sides of the boss in a first direction.

17. The automated machining production line of claim 14, wherein, Further comprising: A fourth transfer trolley is movably arranged, and the fourth transfer trolley comprises a mobile carrier, a storage rack and a third conveying assembly, the storage rack is arranged on the mobile carrier, and the third conveying assembly is arranged on the storage rack, the fourth transfer trolley is adapted to be connected with the tool changing buffer device, the third conveying assembly is used for conveying a tool assembly to the first storage area or conveying a tool assembly in the second storage area to the storage rack, and the third conveying assembly comprises a belt conveying mechanism or a roller conveying mechanism.

18. The automated machining production line of claim 14, wherein, The processing equipment is arranged in a plurality of lines, and the inlets and outlets of adjacent two processing equipment are arranged back to back or oppositely, the tool changing buffer device is located on the side of the processing equipment away from the inlet and outlet, and the temporary storage rack, the first transfer trolley and the second transfer trolley are located on the side adjacent to the inlet and outlet of the processing equipment.

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