A transition mechanism, method and system for transporting between multiple stations

Abstract

The present application relates to a kind of transition mechanism for transporting between multi-station, transition method and system, including clamping mechanism, translation mechanism and fixed seat, the clamping mechanism includes first clamping piece and second clamping piece, the first clamping piece is fixed on the fixed seat, the second clamping piece and the translation mechanism are fixedly connected, the translation mechanism is used to drive the second clamping piece moves between first position and second position, the transition mechanism is used and robot and machining center cooperate to make the robot pick up the upper structure of the workpiece that is placed in the machining center in the first machining position of machining center is placed in the transition mechanism again from the transition mechanism Pick up the lower structure of the workpiece and place it in the second machining position of the machining center.By setting transition mechanism, so that the workpiece is placed in transition mechanism after taking out can be accurately placed on the next machining position to carry out the next process processing, improve production efficiency.

Description

Technical Field

[0001] This invention relates to the field of automated material handling technology, and in particular to a transition mechanism, transition method and system for transporting materials between multiple workstations. Background Technology

[0002] Industrial robots are high-tech automated production equipment that have developed in recent decades. Their accuracy and ability to perform tasks in various environments have led to their increasingly widespread application. An industrial robot mainly consists of three parts: the actuator, the drive mechanism, and the control system. The control system controls the drive mechanism to drive the actuator to complete various rotations, movements, or compound motions to achieve specified actions and change the position and posture of the gripped object. Workpiece processing is generally a multi-stage process, requiring multiple changes in clamping position when performing different processes at different processing stations. However, inaccurate positioning of the clamping device can easily lead to problems when re-clamping after a position change, resulting in inaccurate placement of the workpiece at the next processing station, reducing production efficiency and affecting workpiece quality.

[0003] Therefore, there is a need to provide a transition mechanism that can accurately and smoothly clamp workpieces and switch between processing positions and can be automated to solve the above-mentioned technical problems. Summary of the Invention

[0004] To address the problems in the prior art, the present invention provides a transition mechanism, transition method, and system for transportation between multiple workstations, specifically:

[0005] One aspect provides a transition mechanism for transporting between multiple workstations, including a clamping mechanism, a translation mechanism, and a fixed base. The translation mechanism is movable relative to the fixed base. The clamping mechanism includes a first clamping member and a second clamping member, which are arranged facing each other. The first clamping member is fixed to the fixed base, and the second clamping member is fixedly connected to the translation mechanism. The translation mechanism is used to drive the second clamping member to move between a first position and a second position. A first positioning pin is fixedly provided above both the first and second clamping members. The first positioning pin matches the positioning hole of the workpiece. When the workpiece is placed between the first and second clamping members, the first positioning pin is inserted into the corresponding positioning hole. The transition mechanism is used to cooperate with a robot and a machining center so that the robot can clamp the upper structure of the workpiece that has been processed in the first machining position of the machining center and place it in the transition mechanism, and then clamp the lower structure of the workpiece from the transition mechanism and place it in the second machining position of the machining center.

[0006] On the other hand, a multi-process automated machining system is provided, including a loading and unloading machine, a robot, a machining center, a controller, and the aforementioned transition mechanism for transporting between multiple workstations. The controller is used to control another first fixture holding a workpiece to be processed to switch to a first preset position and place the workpiece to be processed in the first machining position after one of the multiple first fixtures has clamped the processed workpiece from the first machining position of the machining center. Then, the controller controls the first fixture that has clamped the processed workpiece in the first machining position to place the workpiece in the transition mechanism from above and controls the second fixture assembly to clamp the workpiece from below the transition mechanism to the second machining position of the machining center for workpiece exchange.

[0007] On the other hand, a transition method for a multi-stage automated machining system is provided, the method being implemented based on the aforementioned transition mechanism for transporting between multiple workstations, comprising:

[0008] The robot is controlled to grip the upper structure of the finished workpiece from the first machining station of the machining center and place the workpiece in the transition mechanism from above the transition mechanism;

[0009] The robot is controlled to grip the lower structure of the workpiece from below the transition mechanism;

[0010] The control translation mechanism drives the second clamping member to move away from the first clamping member;

[0011] The robot is controlled to place the workpiece in the second processing position of the machining center.

[0012] The present invention provides a transition mechanism, transition method, and system for transportation between multiple workstations, which has the following beneficial effects:

[0013] This invention, by setting up a transition mechanism, enables the second clamping member to move between a first position and a second position via a translation mechanism to clamp and release the workpiece. This allows the robot to place the upper structure of the workpiece, completed in the first processing step, from the first processing position into the transition mechanism. Then, after clamping the lower structure of the workpiece from the transition mechanism, it can be accurately placed in the second processing position of the machining center for the second processing step. This achieves accurate workpiece transport between processing positions, improving production efficiency and quality. It also solves the problem that inaccurate positioning can lead to difficulties in accurately placing the workpiece in the next processing position after changing the clamping position, thus affecting production efficiency. Attached Figure Description

[0014] To more clearly illustrate the technical solutions of the present invention, the accompanying drawings used in the description of the embodiments or prior art will be briefly introduced below. Obviously, the drawings described below are merely some embodiments of the present invention, and those skilled in the art can obtain other drawings based on these drawings without any creative effort.

[0015] Figure 1 This is a schematic diagram of the structure of a transition mechanism for transporting workpieces between multiple workstations, as provided in the embodiments of this specification.

[0016] Figure 2 This is a schematic diagram of the structure of the multi-process workpiece clamping device for clamping a workpiece when the first fixture is in the first preset position, as provided in the embodiments of this specification.

[0017] Figure 3 This is a schematic diagram of the structure of the multi-process workpiece clamping device provided in the embodiments of this specification;

[0018] Figure 4 This is a schematic diagram of the structure of the multi-process workpiece clamping device for clamping a workpiece when the second fixture is in the first preset position, as provided in the embodiments of this specification.

[0019] Figure 5 This is a schematic diagram of the structure of a multi-process automated processing system provided in the embodiments of this specification;

[0020] Figure 6 This is a schematic diagram of the machining center and workpiece mating structure provided in the embodiments of this specification;

[0021] Figure 7 This is a schematic diagram of the machining center provided in the embodiments of this specification;

[0022] Figure 8 This is a structural schematic diagram of the loading and unloading machine provided in the embodiments of this specification;

[0023] Figure 9 This is a schematic diagram of the material storage mechanism provided in the embodiments of this specification, which simultaneously carries the workpiece to be processed and the processed workpiece. Detailed Implementation

[0024] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0025] Example 1:

[0026] like Figure 1 and Figure 5 As shown in the embodiment of this specification, a transition mechanism for transporting between multiple workstations is provided. The multi-process automated machining system includes a transition mechanism 7 and a robot 4. The robot 4 is used to grip the upper structure of a workpiece 5 that has been processed in the first machining station of the machining center 8 and place it in the transition mechanism 7. Then, it grips the lower structure of the workpiece 5 from the transition mechanism 7 and places it in the second machining station of the machining center 8. The transition mechanism 7 includes a clamping mechanism 71, a translation mechanism 72, and a fixed base 73. The translation mechanism 72 is movable relative to the fixed base 73. The clamping mechanism 71 includes a first clamping member 711 and a second clamping member 72. 2. The first clamping member 711 and the second clamping member 712 are arranged facing each other. The first clamping member 711 is fixed on the fixed base 73. The second clamping member 712 is fixedly connected to the translation mechanism 72. The translation mechanism 72 is used to drive the second clamping member 712 to move between the first position and the second position. The first positioning pin 7111 is fixedly provided above the first clamping member 711 and the second clamping member 712. The first positioning pin 7111 matches the positioning hole 51 of the workpiece 5. When the workpiece 5 is placed between the first clamping member 711 and the second clamping member 712, the first positioning pin 7111 is inserted into the corresponding positioning hole 51.

[0027] It should be noted that the processing steps of workpiece 5 in this embodiment include two processing steps. The first step is to perform end face processing on the upper end face of workpiece 5. The second step is to perform inner hole processing on the positioning hole 51 on the upper structure of workpiece 5. That is, it is necessary to clamp the upper position of workpiece 5 and place the upper structure of workpiece 5 upward to perform end face processing on the upper end face. After the first processing step is completed, it is necessary to change the clamping position. That is, it is necessary to clamp the lower structure of workpiece 5 and place it in the second processing position. At this time, the upper structure of workpiece 5 is placed downward, and the upper end face of the upper structure is flat against the bearing seat 81 of the machining center 8 to complete the inner hole processing on the positioning hole 51 of the upper structure.

[0028] Since different processing positions require changing clamping positions when performing different processes, the clamping device is prone to inaccurate positioning, making it difficult to accurately place the workpiece at the next processing position after changing the clamping position. This reduces production efficiency and may affect the production quality of the workpiece. Therefore, this application provides a transition mechanism 7, which allows the first positioning pin 7111 to accurately position the workpiece 5 when it is clamped from the first processing position and placed in the transition mechanism 7 after the first processing step is completed. This enables the workpiece 5 to be accurately placed at the second processing position for the second processing step after being clamped again. Furthermore, the second clamping member 712 is movable between the first and second positions, allowing it to move away from the first clamping member 711 when the lower structure of the workpiece 5 is clamped from the transition mechanism 7. This completes the change in clamping position from clamping the upper structure to clamping the lower structure, thereby completing the processing of each step of the workpiece 5 in the order of the processing steps.

[0029] Preferably, a first positioning pin 7111 is fixedly provided above the first clamping member 711 and the second clamping member 712. The first positioning pin 7111 matches the positioning hole 51 of the workpiece 5. When the workpiece 5 is placed between the first clamping member 711 and the second clamping member 712, the first positioning pin 7111 is inserted into the corresponding positioning hole 51.

[0030] Specifically, the fixed base 73 is also provided with a third drive mechanism 76, which is located at the rear end of the translation mechanism 72. The third drive mechanism 76 and the translation mechanism 72 are drivenly connected. A linear guide rail 75 in the X direction is also fixed above the fixed base 73. The translation mechanism 72 can move on the linear guide rail 75 under the drive of the third drive mechanism 76. A limiting mechanism 74 is provided at the front end of the linear guide rail 75. When the translation mechanism 72 slides to the limiting mechanism 74, it stops moving. At this time, the distance between the second clamping member 712 and the first clamping member 711 matches the corresponding clamping position size of the workpiece 5 to be placed. The X direction is the direction from the second clamping member 712 to the first clamping member 711. The direction from the second clamping member 712 to the first clamping member 711 is the direction of the linear guide rail 75 from the rear end to the front end.

[0031] Specifically, the size of the lower end face of the workpiece 5 at the location of the positioning hole 51 is larger than the size of the corresponding clamping position of the workpiece 5 in the clamping mechanism 71, so that when the translation mechanism 72 slides to the limit mechanism 74 and stops moving, when the workpiece 5 is placed in the clamping mechanism 71, after the first positioning pin 7111 is inserted into the positioning hole 51, the lower end face of the location of the positioning hole 51 can be stably locked above the first clamping member 711 and the second clamping member 712.

[0032] After placing the workpiece 5 in the clamping mechanism 71, the robot 4 is controlled to clamp the lower structure of the workpiece 5 from below the clamping mechanism 71. The robot 4 is then controlled to move upward until the positioning hole 51 disengages from the first positioning pin 7111. The third drive mechanism 76 is then controlled to drive the translation mechanism 72 to move away from the first clamping member 711, and simultaneously drive the second clamping member 712 to move away from the first clamping member 711, so that the robot 4 completes the clamping of the lower structure of the workpiece 5 and places it in the second processing position of the machining center 8 for the second processing step.

[0033] Preferably, the first clamping member 711 and the second clamping member 712 are both contour-following structures, and the first clamping member 711 and the second clamping member 712 are matched with the corresponding positions of the workpiece 5 on the side closest to the workpiece 5.

[0034] Preferably, the surfaces of the first clamping member 711 and the second clamping member 712 near the workpiece 5 are covered with a non-metallic material, or the first clamping member 711 and the second clamping member 712 are made of a non-metallic material. The non-metallic material can be a hard material such as hard plastic, preferably MC nylon, to ensure that the surface of the workpiece 5 is not scratched during the process of picking up and placing the workpiece 5 between the first clamping member 711 and the second clamping member 712.

[0035] Preferably, such as Figure 2 , Figure 3 , Figure 4 and Figure 5As shown, robot 4 includes a multi-process workpiece clamping device and a robotic arm 41. The multi-process workpiece clamping device is mounted on the robotic arm 41 and includes multiple first clamps 1, multiple second clamps 2, and a rotating connector 3. The first clamps 1 and second clamps 2 are both fixedly connected to one end of the rotating connector 3, and the other end of the rotating connector 3 is rotatably connected to the robotic arm 41. The rotating connector 3 rotates around its axis to switch between the first clamps 1 and the second clamps 2 in a first preset position. The first preset position is located directly below the axis of the robotic arm 41. When the first clamp 1 is in the first preset position, it is used to clamp the upper structure of the workpiece 5; when the second clamp 2 is in the first preset position, it is used to clamp the lower structure of the workpiece 5. After the first fixture 1 clamps the workpiece 5, which has been processed in the first machining position of the machining center 8, and places it there, the second fixture 2 is switched to the first preset position by rotating the connecting member 3 and clamps the workpiece 5 and places it on the second machining position of the machining center 8. This enables the workpiece 5 to be quickly switched between multiple machining positions, which is convenient to operate and improves production efficiency. It also eliminates the need to configure multiple sets of clamping devices according to different process arrangements, reducing the investment in clamping devices. At the same time, the number of the first fixture 1 and the number of the multiple second fixtures 2 are both multiple. It is possible to use the fixture that is not clamping the workpiece 5 to take it out of the machining center 8 after processing, and then switch the fixture that is clamping the workpiece 5 to the first preset position by rotating the connecting member 3 and place the workpiece 5 in the machining center 8, which improves production efficiency.

[0036] Preferably, the second clamp 2 includes a second drive mechanism 202 and a second gripper assembly 201, which are drivenly connected. The second gripper assembly 201 includes a fourth gripper 2011, a fifth gripper 2012, and a sixth gripper 2013. The fourth gripper 2011, the fifth gripper 2012, and the sixth gripper 2013 are not rotationally symmetrically arranged. The second drive mechanism 202 is used to drive the corresponding fourth gripper 2011, the fifth gripper 2012, and the sixth gripper 2013 to switch synchronously between a third state and a fourth state during the process of clamping the workpiece 5.

[0037] Preferably, the first clamp 1 includes a first drive mechanism 102 and a first gripper assembly 101, which are drivenly connected. The first gripper assembly 101 includes a first gripper 1011, a second gripper 1012, and a third gripper 1013. The first gripper 1011, the second gripper 1012, and the third gripper 1013 are arranged in a rotationally symmetrical manner. The first drive mechanism 102 is used to drive the corresponding first gripper 1011, the second gripper 1012, and the third gripper 1013 to switch synchronously between a first state and a second state during the process of gripping the workpiece 5.

[0038] This specification also provides a transition method for a multi-process automated machining system, which is based on the transition mechanism for transporting between multiple workstations in Embodiment 1, and includes:

[0039] The third drive mechanism 76 drives the translation mechanism 72 to move the second clamping member 712 toward the first clamping member 711. The movement stops when the translation mechanism 72 reaches the limit mechanism 74.

[0040] When the workpiece 5 in the first processing position of the machining center 8 completes the first process, the control robot 4 clamps the upper structure of the workpiece 5 that has completed the first process from the first processing position of the machining center 8 and places it between the first clamping member 711 and the second clamping member 712 from above the clamping mechanism 71. At the same time, the first positioning pin 7111 passes through the positioning hole 51 to limit the workpiece in the horizontal direction.

[0041] The robot 4 is controlled to move upward from the lower structure of the clamping mechanism 71 to the positioning hole 51 and disengage from the first positioning pin 7111.

[0042] The third drive mechanism 76 drives the translation mechanism 72 to move the second clamping member 712 away from the first clamping member 711.

[0043] The robot 4 is controlled to place the workpiece 5 in the second processing position of the machining center 8.

[0044] The transition method for the multi-process automated machining system enables the robot 4 to accurately place the upper structure of the workpiece 5 after the first processing step is completed at the first processing position into the transition mechanism 7, and then place the lower structure of the workpiece 5 into the second processing position of the machining center 8 for the second processing step. This achieves accurate handling of the workpiece 5 between processing positions, improving production efficiency and quality.

[0045] This specification also provides a controller, which includes a transition control module. The transition control module controls the third drive mechanism 76 to drive the translation mechanism 72 to move the second clamping member 712 closer to the first clamping member 711. The movement stops when the translation mechanism 72 reaches the limiting mechanism 74. When the workpiece 5 in the first processing position of the machining center 8 completes the first process, the robot 4 is controlled to clamp the upper structure of the workpiece 5 after the first process is completed from the first processing position of the machining center 8 and place it between the first clamping member 711 and the second clamping member 712 from above the clamping mechanism 71. At the same time, the first positioning pin 7111 passes through the positioning hole 51 to limit the workpiece in the horizontal direction. The robot 4 is controlled to clamp the lower structure of the workpiece 5 from below the clamping mechanism 71 and move it upward until the positioning hole 51 is disengaged from the first positioning pin 7111. The third drive mechanism 76 is controlled to drive the translation mechanism 72 to move the second clamping member 712 away from the first clamping member 711. The robot 4 is controlled to place the workpiece 5 in the second processing position of the machining center 8. The transition control module controls the third drive mechanism 76 to drive the translation mechanism 72 to clamp and release the clamping mechanism 71, thereby accurately positioning the workpiece 5 and enabling the workpiece 5 to be accurately transported between processing positions, thus improving production efficiency.

[0046] Example 2:

[0047] like Figure 5 As shown in the figure, this specification provides a multi-process automated machining system, including a loading and unloading machine 6, a machining center 8, a transition mechanism 7 for transporting between multiple workstations as in embodiment 1, a robot 4, and a controller. The controller is used to control the robot 4 to move the workpiece 5 between the loading and unloading machine 6, the transition mechanism 7, and the machining center 8 through a multi-process workpiece clamping device. The machining center 8 is provided with a first machining position and a second machining position. The first machining position is used to place the workpiece 5 vertically upward to complete the first machining process, and the second machining position is used to place the workpiece 5 vertically downward to complete the second machining process.

[0048] The controller is used to control another first fixture 1 holding the workpiece 5 to be processed to switch to a first preset position and place the workpiece 5 to be processed in the first processing position after one of the multiple first fixtures 1 has clamped the processed workpiece 5 from the first processing position of the machining center 8. Then, the controller controls the first fixture 1 that has clamped the processed workpiece 5 in the first processing position to place the workpiece 5 in the transition mechanism 7 from above and controls the second fixture 2 to clamp the workpiece 5 from below the transition mechanism 7 to the second processing position of the machining center 8 for workpiece 5 exchange. This ensures that the workpiece 5 to be processed completes the first process before the second process is carried out, thereby ensuring the orderly production of workpiece 5 and ensuring the production quality of workpiece 5. At the same time, the use of robot 4 to perform the operation makes the pick-up and put-down time of workpiece 5 fixed, so that the output of workpiece 5 after processing is stable.

[0049] In this embodiment, the upper structure of the workpiece 5 is circular. Therefore, the first gripper 1011, the second gripper 1012, and the third gripper 1013 are 120 degrees apart from each other in three directions to the central axis of the first drive mechanism 102, and the first gripper 1011, the second gripper 1012, and the third gripper 1013 are rotationally symmetrical. The lower structure of the workpiece 5 is an irregular circular structure. The sixth gripper 2013 has an irregular protrusion at the corresponding clamping position on the workpiece 5. The fourth gripper 2011, the fifth gripper 2012, and the sixth gripper 2013 are 120 degrees apart from each other in three directions to the central axis of the second drive mechanism 202. The fourth gripper 2011 and the fifth gripper 2012 are at the same distance from the central axis of the second drive mechanism 202, and the sixth gripper 2013 is at a greater distance from the sixth gripper 2013 than the fourth gripper 2011.

[0050] Specifically, such as Figure 2 , Figure 3 and Figure 4 As shown, there are two first clamps 1 and two second clamps 2. These four clamps are at 90 degrees to each other. The two first clamps 1 are arranged adjacent to each other. By controlling the rotating connector 3, one of the four clamps is rotated to switch to the first preset position.

[0051] Specifically, the multi-process workpiece clamping device also includes a base 10, which has four end faces. The four end faces are arranged at 90 degrees to each other around the axis of the rotating connector 3 and are rotationally symmetrical. The four clamps are fixed on the four end faces respectively.

[0052] Specifically, the first gripper 1011, the second gripper 1012 and the third gripper 1013 have the same structure. The first clamp 1 also includes a first positioning plate. The first positioning plate is provided with three slots around its perimeter. The three slots are matched with the size of the three grippers. The three slots are used to limit the movement of the three grippers in the corresponding slot direction during the clamping process.

[0053] The first drive mechanism 102 is located between the base 10 and the first gripper assembly 101. The initial state of the first gripper assembly 101 is a first state, which is a tightened state. When the first gripper assembly 101 switches to a second state, it is an open state. When the first gripper assembly 101 is in the second state, the range corresponding to the first gripper 1011, the second gripper 1012, and the third gripper 1013 is greater than the width of the workpiece 5 at the corresponding clamping position. This is achieved by the robotic arm 41... The first gripper assembly 101 moves closer to the workpiece 5, which has completed the first process in the first processing position of the machining center 8, so that the first gripper 1011, the second gripper 1012, and the third gripper 1013 are respectively positioned around the structure above the workpiece 5. Then, the first drive mechanism 102 drives the first gripper 1011, the second gripper 1012, and the third gripper 1013 to move inward simultaneously at the same speed. After the first gripper 1011, the second gripper 1012, and the third gripper 1013 clamp the workpiece 5, the first drive mechanism 102 stops working. After the robotic arm 41 completes the gripping of the workpiece 5, which has completed the first process in the first processing position, in the empty first fixture 1, it switches the other first fixture 1 holding the workpiece 5 to be processed to the first preset position and places the workpiece 5 to be processed in the first processing position to continue processing.

[0054] Specifically, the fourth gripper 2011, the fifth gripper 2012 and the sixth gripper 2013 have the same structure. Specifically, the second clamp 2 also includes a second positioning plate. The second positioning plate is provided with three slots around its perimeter. The three slots are matched with the dimensions of the three grippers. The three slots are used to limit the movement of the three grippers in the corresponding slot direction during the clamping process.

[0055] The second drive mechanism 202 is located between the base 10 and the second gripper assembly 201. The initial state of the second gripper assembly 201 is the third state, which is a tightened state. When the second gripper assembly 201 switches to the fourth state, it is an open state. When the second gripper assembly 201 is in the fourth state, the range corresponding to the fourth gripper 2011, the fifth gripper 2012, and the sixth gripper 2013 is greater than the width of the workpiece 5 at the corresponding clamping position. This is achieved by the robotic arm 41... The second gripper assembly 201 moves closer to the workpiece 5, which has completed the second process in the second processing position of the machining center 8, so that the fourth gripper 2011, the fifth gripper 2012, and the sixth gripper 2013 are respectively positioned around the structure below the workpiece 5. Then, the second drive mechanism 202 drives the fourth gripper 2011, the fifth gripper 2012, and the sixth gripper 2013 to move inward at the same speed. After the fourth gripper 2011, the fifth gripper 2012, and the sixth gripper 2013 clamp the workpiece 5, the second drive mechanism 202 stops working. After the robotic arm 41 completes the gripping of the workpiece 5, which has completed the second process in the second processing position, in the empty second fixture 2, it switches the other second fixture 2 holding the workpiece 5, which has completed the first process, to the first preset position, and places the workpiece 5 to be processed in the second processing position to continue processing.

[0056] Preferably, the bottom of the first gripper assembly 101 is provided with a depth detection mechanism 104. The depth detection mechanism 104 includes a depth pin 1041, which matches the positioning hole 51 of the workpiece 5. The depth detection mechanism 104 is configured to detect the rotational misalignment of the workpiece 5 when the depth pin 1041 moves upward.

[0057] Preferably, the depth detection mechanism 104 further includes a linear bearing and a sensor 1043. The linear bearing is fixedly connected to the depth pin 1041, and the sensor 1043 is located on the side of the linear bearing near the rotating connector 3. When the depth pin 1041 moves upward, it drives the linear bearing to move upward to the position of the sensor 1043, and the sensor 1043 detects that the linear bearing is in place.

[0058] Specifically, the controller is also used to control the first drive mechanism 102 to stop driving the first gripper assembly 101 to grip the workpiece 5 when the depth detection mechanism 104 detects that the workpiece 5 has rotated and misaligned.

[0059] Specifically, with Figure 2 and Figure 3Taking the first clamp 1 located in the first preset position as an example, the sensor 1043 is located above the linear bearing. Both the linear bearing and the sensor 1043 are located above the first positioning plate. When the first positioning plate has an opening, the upper end of the depth pin 1041 passes through the opening and is connected to the linear bearing. A spring 1042 is sleeved on the outside of the depth pin 1041. The lower end of the spring 1042 is fixedly connected to the outside of the depth pin 1041, and the upper end of the spring 1042 abuts against the first positioning plate.

[0060] When workpiece 5 rotates and misaligns, the depth pin 1041 and the positioning hole 51 are not aligned vertically. This causes the depth pin 1041 to fail to insert into the positioning hole 51 when the first gripper assembly 101 grips the workpiece downwards, resulting in the workpiece 5 lifting it upwards. At this time, the spring 1042 is compressed, and the upward movement of the depth pin 1041 simultaneously drives the linear bearing upwards to the position of the sensor 1043. The sensor 1043 detects that the linear bearing is in position, thus detecting the rotational misalignment of workpiece 5 and notifying the controller to control the first drive mechanism 102 to stop driving the first gripper assembly 101 to grip workpiece 5. After gripping stops, the first gripper assembly 101 moves upwards, and the spring 1042 recovers its deformation, causing the depth pin 1041 to return to its default position.

[0061] Preferably, a first contour block 1014 is fixedly provided on the side of the first gripper 1011 near the workpiece 5, a second contour block 1015 is fixedly provided on the side of the second gripper 1012 near the workpiece 5, and a third contour block 1016 is fixedly provided on the side of the third gripper 1013 near the workpiece 5. The first contour block 1014, the second contour block 1015, and the third contour block 1016 are located on the same horizontal plane. A fourth contour block 2014 is fixedly provided on the side of the fourth gripper 2011 near the workpiece 5, a fifth contour block 2015 is fixedly provided on the side of the fifth gripper 2012 near the workpiece 5, and a sixth contour block 2016 is fixedly provided on the side of the sixth gripper 2013 near the workpiece 5. The fourth contour block 2014, the fifth contour block 2015, and the sixth contour block 2016 are located on the same horizontal plane. By setting corresponding contour blocks on the first jaw 1011, the second jaw 1012, and the third jaw 1013, the three contour blocks are located on the same horizontal plane, so that the corresponding clamping positions on the workpiece 5 are on the same horizontal plane. At the same time, the three contour blocks are set as a contour structure, so that the three contour blocks and the clamping positions on the workpiece 5 are in close contact during the clamping process, reducing the problem of the workpiece 5 falling off due to improper operation and improving the stability of the clamping performance of the two jaws.

[0062] Preferably, the first contour block 1014, the second contour block 1015, the third contour block 1016, the fourth contour block 2014, the fifth contour block 2015 and the sixth contour block 2016 are made of non-metallic materials or have a non-metallic material covering the surface near the workpiece 5. The non-metallic material can be a hard material such as hard plastic, preferably MC nylon material, to ensure that the gripper will not scratch the surface of the workpiece 5 during the process of picking up and placing the workpiece 5.

[0063] Preferably, both the first clamp 1 and the second clamp 2 further include a pusher 103. The pusher 103 is disposed at the bottom of the corresponding gripper assembly. The pusher 103 is driven and connected to the corresponding drive mechanism. The pusher 103 on the first clamp 1 can move up and down relative to the first positioning plate, and the pusher 103 on the second clamp 2 can move up and down relative to the second positioning plate. The pusher 103 is used to push the workpiece 5 downward under the drive of the corresponding drive mechanism when the workpiece 5 is placed to complete the placement of the workpiece 5.

[0064] Specifically, the sides of the first clamp 1 and the second clamp 2 are both fixedly provided with tubes 9. The tubes 9 are parallel to the axis of the corresponding first clamp 1 or the second clamp 2. The tubes 9 are used to blow air on the corresponding machining position on the bearing seat 81 before the first clamp 1 or the second clamp 2 clamps the machined workpiece 5 in the machining center 8, to ensure that no debris remains on the surface after the workpiece 5 is machined. After another workpiece 5 is placed, air is blown again on the corresponding machining position on the bearing seat 81 to prevent debris in the machining center 8 from sticking to the position of the bearing seat 81 in the machining center 8 and affecting the accuracy of the machining.

[0065] This specification also provides a multi-process workpiece clamping method in its embodiments. The method is based on the multi-process workpiece clamping device in Embodiment 2 and includes:

[0066] When the machined workpiece 5 located at the second machining position in the machining center 8 is clamped, the control robot arm 41 drives the multi-process workpiece clamping device to move above the workpiece 5 to be processed.

[0067] Control the rotation of the rotating connector 3 to switch the first clamp 1 to the first preset position;

[0068] The first drive mechanism 102 of the first clamp 1 drives the first gripper assembly 101 to switch from the first state to the second state.

[0069] Control the first gripper assembly 101 to grip the upper structure of the workpiece 5 to be processed;

[0070] The second fixture 2, which controls the gripping of the finished workpiece 5 located at the second processing position in the machining center 8, places the finished workpiece 5 in the empty position after the workpiece 5 to be processed is taken away.

[0071] The robotic arm 41 is controlled to move the first clamp 1, which has gripped the workpiece 5 to be processed, to the position above the first processing station of the machining center 8.

[0072] When the first process of the workpiece 5 located at the first processing position in the machining center 8 is completed, the multi-process workpiece clamping device is controlled to rotate to switch another first fixture 1 to the first preset position and take out the workpiece 5 that has been processed in the first process.

[0073] The multi-process workpiece clamping device rotates to switch the first clamp 1, which has clamped the workpiece 5 to be processed, to the first preset position and place the workpiece 5 to be processed in the first processing position in the machining center 8;

[0074] The control robot arm 41 drives the multi-process workpiece clamping device to move above the transition mechanism 7 and places the workpiece 5, which has been processed in the first process, into the transition mechanism 7;

[0075] Control the second clamp 2 to move to the lower part of the transition mechanism 7 to clamp the structure below the workpiece 5 in the transition mechanism 7;

[0076] When the second process of the workpiece 5 located at the second processing position in the machining center 8 is completed, the multi-process workpiece clamping device is controlled to rotate to switch another second fixture 2 to the first preset position and take out the workpiece 5 that has been processed in the second process.

[0077] The second fixture 2, which controls the gripping of the workpiece 5 that has been processed in the first operation, places the workpiece 5 in the second processing position of the machining center 8.

[0078] The multi-process workpiece clamping method allows the first clamp 1 to hold the workpiece 5, which has been processed in the first process, at the first processing position of the machining center 8. Then, the second clamp 2 is switched to the first preset position by rotating the connecting piece and holds the workpiece 5 at the second processing position of the machining center 8. This enables the workpiece 5 to be quickly switched between multiple processing positions, which is convenient for operation and improves production efficiency.

[0079] The controller in this embodiment further includes a multi-process workpiece clamping control module. This module is used to: control the robotic arm 41 to move the multi-process workpiece clamping device above the workpiece 5 to be processed when it clamps the completed workpiece 5 located at the second processing position in the machining center 8; control the first clamp 1 to switch to a first preset position; control the first drive mechanism 102 of the first clamp 1 to drive the first gripper assembly 101 to switch from a first state to a second state; control the first gripper assembly 101 to clamp the upper structure of the workpiece 5 to be processed; control the second clamp 2, which has clamped the completed workpiece 5 located at the second processing position in the machining center 8, to place the completed workpiece 5 in the empty position after the workpiece 5 to be processed is removed; control the robotic arm 41 to move the first clamp 1, which has clamped the workpiece 5, above the first processing position in the machining center 8; and control the multi-process... The workpiece clamping device rotates to switch another first clamp 1 to a first preset position and removes the workpiece 5 that has been processed in the first step. The multi-step workpiece clamping device rotates to switch the first clamp 1 holding the workpiece 5 to the first preset position and places the workpiece 5 in the first processing position of the machining center 8. The robotic arm 41 is controlled to move the multi-step workpiece clamping device to the top of the transition mechanism 7 and place the workpiece 5 that has been processed in the first step into the transition mechanism 7. The second clamp 2 is controlled to move to the bottom of the transition mechanism 7 to clamp the lower structure of the workpiece 5 in the transition mechanism 7. When the second step of the workpiece 5 in the second processing position of the machining center 8 is completed, the multi-step workpiece clamping device is controlled to rotate to switch another second clamp 2 to the first preset position and remove the workpiece 5 that has been processed in the second step. The second clamp 2 holding the workpiece 5 placed in the second processing position of the machining center 8. By controlling the switching of the first clamp 1 and the second clamp 2 to the first preset position through the multi-step workpiece clamping control module, the rapid transport of the workpiece 5 between multiple processing positions is realized, improving production efficiency.

[0080] In this embodiment, the machining center 8 is used to perform multi-process machining on the workpiece 5. The robot 4 is used to use the first clamp 1 to clamp the upper structure of the workpiece 5 that has been processed in the first processing position of the machining center 8 after the first process is completed, and to switch the other first clamp 1 holding the workpiece 5 to be processed to the first preset position to place the corresponding workpiece 5 in the first processing position. Then, the workpiece 5 that has been processed in the first process is placed in the transition mechanism 7. Then, the robot 4 uses the second clamp 2 to clamp the lower structure of the workpiece 5 in the transition mechanism 7, and switches the other second clamp 2 to the first preset position to clamp the lower structure of the workpiece 5 that has been processed in the second processing position of the machining center 8 after the second process is completed. Then, the workpiece 5 clamped from the transition mechanism 7 is placed in the second processing position.

[0081] It should be noted that the processing steps of workpiece 5 in this embodiment include two processing steps. The first step is to perform end face processing on the upper end face of workpiece 5. The second step is to perform inner hole processing on the positioning hole 51 on the upper structure of workpiece 5. That is, it is necessary to clamp the upper position of workpiece 5 and place the upper structure of workpiece 5 upward to perform end face processing on the upper end face. After the first processing step is completed, it is necessary to change the clamping position. That is, it is necessary to clamp the lower structure of workpiece 5 and place it in the second processing position. At this time, the upper structure of workpiece 5 is placed downward, and the upper end face of the upper structure is flat against the bearing seat 81 of the machining center 8 to complete the inner hole processing on the positioning hole 51 of the upper structure.

[0082] Preferably, the machining center 8 includes a support 81, a first positioning mechanism 82, a first swing arm pressing mechanism 83, a second positioning mechanism 84, and a second swing arm pressing mechanism 85. The first positioning mechanism 82 and the second positioning mechanism 84 are both fixedly mounted on the support 81. When the workpiece 5 is placed vertically upward at the first machining position of the support 81, it is positioned by the first positioning mechanism 82. When the workpiece 5 is placed vertically downward at the second machining position of the support 81, it is positioned by the second positioning mechanism 84. The first swing arm pressing mechanism 83 and the second swing arm pressing mechanism 85 are both rotatably connected to the support 81. The plane containing the rotation range of the first swing arm pressing mechanism 83 and the plane containing the rotation range of the second swing arm pressing mechanism 85 are both perpendicular to the plane containing the support 81. The first swing arm pressing mechanism 83 and the second swing arm pressing mechanism 85 are both used to press the workpiece 5 into the corresponding position on the support 81.

[0083] Preferably, both the first positioning mechanism 82 and the second positioning mechanism 84 include a plurality of third positioning pins 821, the third positioning pins 821 and the positioning holes 51 of the workpiece 5 are matched, and the length of the third positioning pins 821 is less than the length of the positioning holes 51.

[0084] Specifically, there is one first swing arm pressing mechanism 83, and the first positioning mechanism 82 and the first swing arm pressing mechanism 83 are located at the first processing position on the bearing seat 81. There are three second swing arm pressing mechanisms 85, and the second positioning mechanism 84 and the second swing arm pressing mechanism 85 are located at the second processing position on the bearing seat 81.

[0085] In this embodiment, the upper structure of the workpiece 5 is provided with a slot 52. When the workpiece 5 is placed on the first processing position of the bearing seat 81, the first swing arm pressing mechanism 83 is controlled to rotate downward to the horizontal direction to press the workpiece 5 on the first processing position. At this time, the first swing arm pressing mechanism 83 passes through the slot 52 and the highest position of the first swing arm pressing mechanism 83 in the vertical direction is lower than the plane where the upper end surface of the workpiece 5 is located.

[0086] At the same time, such as Figure 6 and Figure 7As shown, since the horizontal dimension of the upper structure of workpiece 5 is larger than that of the lower structure of workpiece 5, in order to position workpiece 5 at the first processing position through the positioning hole 51 located in the upper structure, three first support columns 86 are fixedly provided at the corresponding position of the first processing position on the support seat 81. Each first support column 86 is fixedly provided with a third positioning pin 821 on its upper part. When workpiece 5 is placed vertically upward on the first processing position of the support seat 81, the positioning hole 51 passes through the corresponding third positioning pin 821, and the first support column 86 supports workpiece 5 through the lower end face of the structure where the positioning hole 51 is located, thereby realizing the positioning of workpiece 5 at the first processing position.

[0087] like Figure 7 As shown, the second positioning mechanism 84 includes three third positioning pins 821. The three third positioning pins 821 are all fixedly mounted on the second processing position on the bearing seat 81. The lower end face of the structure where the positioning hole 51 is located is a plane in the horizontal direction. When the workpiece 5 is placed vertically downward on the second processing position, the third positioning pins 821 pass through the three positioning holes 51 of the workpiece 5 respectively. Then, the second swing arm pressing mechanism 85 is controlled to rotate downward to the horizontal direction and press on the lower end face corresponding to the positioning hole 51 to press the workpiece 5 tightly on the second processing position.

[0088] Specifically, in this embodiment, since the processing time of the machining center 8 is more than twice the switching time of the upper and lower structure clamping of the workpiece 5 in the transition mechanism 7, the number of machining centers 8 is set to two to increase the production output of workpiece 5, and the robot 4 is placed between the two machining centers 8 to realize the operation of the two machining centers 8.

[0089] In this embodiment, the loading and unloading machine 6 is used to place the workpiece 5 to be processed and the workpiece 5 that has been processed. The controller is used to control the multi-process workpiece clamping device to clamp the workpiece 5 to be processed on the loading and unloading machine 6 and then place the workpiece 5 that has been processed in the machining center 8 in the empty position after the workpiece 5 to be processed is taken away.

[0090] Preferably, the loading / unloading machine 6 is provided with a detachable third positioning mechanism 61, and a second positioning pin 611 is fixedly provided on the third positioning mechanism 61. The second positioning pin 611 matches the positioning hole 51 of the workpiece 5. When the workpiece 5 is placed on the loading / unloading machine 6, the second positioning pin 611 passes into the positioning hole 51.

[0091] Specifically, the third positioning mechanism 61 is fixedly provided with three second support columns 612, and each support column 612 is fixedly provided with a second positioning pin 611. When the manual loading and unloading machine 6 is loading, that is, when the workpiece 5 to be processed is placed in the corresponding third positioning mechanism 61, the second positioning pin 611 passes through the corresponding positioning hole 51 on the workpiece 5 to be processed, so as to achieve accurate positioning of the workpiece 5 to be processed in the loading and unloading machine 6, so that the robot 4 can accurately place the workpiece 5 to be processed in the first processing position for processing after gripping the workpiece 5.

[0092] Meanwhile, after the second process is completed, the finished workpiece 5 is placed in the empty position after the workpiece 5 to be processed is taken away. At this time, the positioning hole 51 is not fitted with the second positioning pin 611.

[0093] Preferably, the loading and unloading machine 6 is a circulating loading and unloading machine, which includes multiple horizontally placed storage mechanisms 62 at different heights, multiple translation conveying mechanisms 63, and a lifting mechanism 64. A third positioning mechanism 61 is provided on the storage mechanism 62. The storage mechanism 62 at the highest position is located close to the robot 4. The lifting mechanism 64 is located below the storage mechanism 62 and is driven to be connected to the storage mechanism 62. The lifting mechanism 64 is used to lift the storage mechanism 62 to move in the Z direction. The storage mechanisms 62 at other heights are driven to be connected to the translation conveying mechanisms 63 one by one. The translation conveying mechanism 63 is used to drive the corresponding storage mechanism 62 to move in the Y direction. Figure 5 In the horizontal direction, the direction perpendicular to the X-direction is the Y-direction, and the Z-direction is perpendicular to both the X and Y directions. For example... Figure 8 As shown, in this embodiment, the circulating loading and unloading machine includes two horizontally placed storage mechanisms 62 located at different heights, namely a first storage mechanism 621 and a second storage mechanism 622. The first storage mechanism 621 and the second storage mechanism 622 correspond to the first translational conveying mechanism 631 and the second translational conveying mechanism 632, respectively. The first translational conveying mechanism 631 is used to drive the first storage mechanism 621 to move along the Y direction on the Y-guide rail located on the plane of the first translational conveying mechanism 631. The second translational conveying mechanism 632 is used to drive the second storage mechanism 622 to move along the Y direction on the Y-guide rail located on the plane of the second translational conveying mechanism 632. The height of the plane where the first translational conveying mechanism 631 is located is lower than the height of the plane where the second translational conveying mechanism 632 is located.

[0094] Specifically, the robot 4 and the manual material changing positions are located at... Figure 8 At the left and right ends of the medium-circulation loading and unloading machine, when the first storage mechanism 621 or the second storage mechanism 622 approaches the manual material changing position, the operator takes out the workpiece 5 processed by the first storage mechanism 621 or the second storage mechanism 622 and puts the workpiece 5 to be processed into the first storage mechanism 621 or the second storage mechanism 622 to complete the manual material changing.

[0095] Specifically, a corresponding lifting mechanism 64 is provided below the first storage mechanism 621. The lifting mechanism 64 and the first storage mechanism 621 are driven to connect. The plane of the lifting mechanism 64 is located below the plane of the first translational conveying mechanism 631. When the first storage mechanism 621 is fully loaded, that is, when all the processed workpieces 5 in the first storage mechanism 621 near the manual material changing position are replaced with workpieces 5 to be processed, the first storage mechanism 621 is driven by the first translational conveying mechanism 631 to slide towards the robot 4 and stop moving when it is directly above the lifting mechanism 64. When all the workpieces 5 to be processed in the second storage mechanism 622 near the robot 4 are fully processed, the second storage mechanism 622 is driven by the second translational conveying mechanism 632 to move away from the robot 4 and towards the manual material changing position. Then, the first storage mechanism 621 is lifted by the lifting mechanism 64 to the highest preset position and stops lifting. The height of the highest preset position is higher than the height of the plane of the second storage mechanism 622.

[0096] When all workpieces 5 to be processed in the first storage mechanism 621 at the highest preset position are completed, the lifting mechanism 64 lowers the first storage mechanism 621 to the plane of the first translational conveying mechanism 631, and stops the descent. Then, the second translational conveying mechanism 632 drives the second storage mechanism 622 to move closer to the robot 4 and stops. At the same time, the first translational conveying mechanism 631 drives the first storage mechanism 621 to slide closer to the manual material changing position and stops, so that the manual can change the material in the first storage mechanism 621 for the next time. By setting up a cyclic loading and unloading machine, the first storage mechanism 621 and the second storage mechanism 622 are switched alternately to the position closer to the robot 4, which facilitates the robot 4 to quickly pick up and place the workpieces 5 to be processed, saves loading and unloading time, and improves the loading and unloading speed.

[0097] This specification provides a control method for a cyclic loading and unloading machine, which is based on the loading and unloading machine 6 in embodiment 2, and includes:

[0098] When all the workpieces 5 to be processed in the second storage mechanism 622 near the robot 4 are processed, the second translation conveying mechanism 632 is controlled to drive the second storage mechanism 622 to move away from the robot 4 until it stops moving near the manual material changing position.

[0099] The first translational conveying mechanism 631 drives the first storage mechanism 621 to slide towards the robot 4 until it stops moving directly above the lifting mechanism 64;

[0100] The lifting mechanism 64 is controlled to lift the first storage mechanism 621 to the highest preset position and stop lifting. The height of the highest preset position is higher than the height of the plane where the second storage mechanism 622 is located.

[0101] When all the workpieces 5 to be processed in the first storage mechanism 621 at the highest preset position are processed, the lifting mechanism 64 controls the first storage mechanism 621 to descend to the plane where the first translation conveying mechanism 631 is located and stops the descent.

[0102] The first translational conveying mechanism 631 is controlled to drive the first material storage mechanism 621 to slide towards the manual material changing position until it stops moving.

[0103] The second translational conveying mechanism 632 is controlled to drive the second storage mechanism 622 to move towards the robot 4 until it stops moving near the robot 4, so that the robot 4 can easily pick up the workpiece 5 to be processed in the second storage mechanism 622.

[0104] By using the control method of the cyclic loading and unloading machine, the first storage mechanism 621 and the second storage mechanism 622 are alternately switched to positions close to the robot 4, realizing the cyclic loading process of the loading and unloading machine 6, and completing the loading and unloading of the loading and unloading machine 6 simultaneously, saving loading and unloading time, and at the same time facilitating the robot 4 to clamp and place the workpiece 5 to be processed, thus speeding up the workpiece processing production cycle.

[0105] The controller in this embodiment also includes a cyclic loading and unloading machine control module. This module is used to control the second translational conveying mechanism 632 to drive the second storage mechanism 622 away from the robot 4 and stop it near the manual material changing position when all workpieces 5 in the second storage mechanism 622 near the robot 4 have been processed; to control the first translational conveying mechanism 631 to drive the first storage mechanism 621 to slide towards the robot 4 and stop it when it is directly above the lifting mechanism 64; and to control the lifting mechanism 64 to lift the first storage mechanism 621 to a highest preset position and stop lifting. The height of the highest preset position is higher than that of the second storage mechanism 622. The height of the plane where the material storage mechanism 622 is located; when all the workpieces 5 to be processed in the first material storage mechanism 621 located at the highest preset position are processed, the lifting mechanism 64 is controlled to drive the first material storage mechanism 621 to descend to the plane where the first translation conveying mechanism 631 is located and then stops the descent; the first translation conveying mechanism 631 is controlled to drive the first material storage mechanism 621 to slide towards the direction of the manual material changing position until it stops moving near the manual material changing position; the second translation conveying mechanism 632 is controlled to drive the second material storage mechanism 622 to move towards the direction of the robot 4 until it stops moving near the robot 4, so that the robot 4 can easily pick up the workpieces 5 to be processed in the second material storage mechanism 622.

[0106] The working principle (automatic control method) of a multi-process automated machining system is as follows:

[0107] When the multi-process workpiece clamping device picks up the finished workpiece 5 located in the second processing position in the machining center 8, the control robot arm 41 drives the multi-process workpiece clamping device to move to the vicinity of the loading and unloading machine 6.

[0108] Control the first clamp 1 to switch to the first preset position;

[0109] Control the first clamp 1 to grip the upper structure of the workpiece 5 to be processed placed on the loading and unloading machine 6;

[0110] The second clamp 2, which is controlled to pick up the finished workpiece 5 located at the second processing position in the machining center 8, switches to the first preset position and places the finished workpiece 5 in the empty position after the workpiece 5 to be processed is picked up;

[0111] The robotic arm 41 is controlled to move the first clamp 1, which has gripped the workpiece 5 to be processed, to the position above the first processing station of the machining center 8.

[0112] When the first process of the workpiece 5 located at the first processing position in the machining center 8 is completed, the multi-process workpiece clamping device is controlled to rotate to switch another first fixture 1 to the first preset position and take out the workpiece 5 that has been processed in the first process.

[0113] The multi-process workpiece clamping device is rotated to switch the first clamp 1, which has clamped the workpiece 5 to be processed, to the first preset position and place the workpiece 5 to be processed in the first processing position in the machining center 8;

[0114] The control robot arm 41 drives the multi-process workpiece clamping device to move above the transition mechanism 7 and places the workpiece 5, which has been processed in the first process, into the transition mechanism 7;

[0115] Control the second clamp 2 to move to the lower part of the transition mechanism 7 to clamp the structure below the workpiece 5 in the transition mechanism 7;

[0116] When the second process of the workpiece 5 located at the second processing position in the machining center 8 is completed, the multi-process workpiece clamping device is controlled to rotate to switch another second fixture 2 to the first preset position and clamp out the workpiece 5 that has been processed in the second process.

[0117] The second fixture 2, which controls the clamping of the workpiece 5 that has been processed in the first operation, places the workpiece 5 in the second processing position of the machining center 8 for the second operation.

[0118] In this embodiment, all actions in the working principle of the multi-process automated processing system are implemented through the controller.

[0119] In the embodiments of this specification, the controller includes a processor and a memory. The memory stores at least one instruction, at least one program, code set, or instruction set. The at least one instruction, the at least one program, the code set, or the instruction set is loaded and executed by the processor to implement the automatic control method of the multi-process automated machining system as described above.

[0120] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A transition mechanism for transporting goods between multiple workstations, characterized in that, The device includes a clamping mechanism (71), a translation mechanism (72), and a fixed base (73). The translation mechanism (72) is movable relative to the fixed base (73). The clamping mechanism (71) includes a first clamping member (711) and a second clamping member (712). The first clamping member (711) and the second clamping member (712) are arranged facing each other. The first clamping member (711) is fixed on the fixed base (73). The second clamping member (712) is fixedly connected to the translation mechanism (72). The translation mechanism (72) is used to drive the second clamping member (712) to move between a first position and a second position. A first positioning pin (7111) is fixedly provided above both the first clamping member (711) and the second clamping member (712). The first positioning pin (7111) matches the positioning hole (51) of the workpiece (5). When the workpiece (5) is placed in the fixed base, the positioning pin can be adjusted to the position of the workpiece. When the first clamping member (711) and the second clamping member (712) are in contact, the first positioning pin (7111) is inserted into the corresponding positioning hole (51). The transition mechanism (7) is used to cooperate with the robot (4) and the machining center (8) so that the robot (4) can clamp the upper structure of the workpiece (5) that has been processed in the first machining position of the machining center (8) and place it in the transition mechanism (7). Then, the robot (4) can clamp the lower structure of the workpiece (5) from the transition mechanism (7) and place it in the second machining position of the machining center (8). The transition mechanism (7) is also used to drive the second clamping member (712) to move away from the first clamping member (711) after the robot (4) clamps the lower structure of the workpiece (5) so that the robot (4) can flip the workpiece (5) and place it in the second machining position of the machining center (8).

2. The transition mechanism for transporting goods between multiple workstations according to claim 1, characterized in that, Both the first clamping member (711) and the second clamping member (712) are contour-following structures. The first clamping member (711) and the second clamping member (712) are matched with the corresponding positions of the workpiece (5) on the side close to the workpiece (5).

3. The transition mechanism for transporting between multiple workstations according to claim 2, characterized in that, The first clamping member (711) and the second clamping member (712) are covered with non-metallic material on the side of the workpiece (5) or the first clamping member (711) and the second clamping member (712) are made of non-metallic material.

4. The transition mechanism for transporting between multiple workstations according to claim 1, characterized in that, The robot (4) includes a multi-process workpiece clamping device and a robotic arm (41). The multi-process workpiece clamping device includes multiple first clamps (1), multiple second clamps (2), and a rotating connector (3). The first clamps (1) and the second clamps (2) are fixedly connected to one end of the rotating connector (3). The other end of the rotating connector (3) is rotatably connected to the robotic arm (41). The rotating connector (3) rotates around its axis to switch between the first clamp (1) and the second clamp (2) in a first preset position. When the first clamp (1) is in the first preset position, it is used to clamp the upper structure of the workpiece (5). When the second clamp (2) is in the first preset position, it is used to clamp the lower structure of the workpiece (5).

5. The transition mechanism for transporting between multiple workstations according to claim 4, characterized in that, The second clamp (2) includes a second drive mechanism (202) and a second gripper assembly (201). The second drive mechanism (202) and the second gripper assembly (201) are drivenly connected. The second gripper assembly (201) includes a fourth gripper (2011), a fifth gripper (2012), and a sixth gripper (2013). The fourth gripper (2011), the fifth gripper (2012), and the sixth gripper (2013) are not rotationally symmetrically arranged. The second drive mechanism (202) is used to drive the corresponding fourth gripper (2011), the fifth gripper (2012), and the sixth gripper (2013) to switch synchronously between a third state and a fourth state during the process of clamping the workpiece (5).

6. The transition mechanism for transporting between multiple workstations according to claim 5, characterized in that, The first clamp (1) includes a first drive mechanism (102) and a first gripper assembly (101). The first drive mechanism (102) and the first gripper assembly (101) are drivenly connected. The first gripper assembly (101) includes a first gripper (1011), a second gripper (1012), and a third gripper (1013). The first gripper (1011), the second gripper (1012), and the third gripper (1013) are arranged in a rotationally symmetrical manner. The first drive mechanism (102) is used to drive the corresponding first gripper (1011), the second gripper (1012), and the third gripper (1013) to switch synchronously between a first state and a second state during the process of gripping the workpiece (5).

7. A transition method for a multi-stage automated machining system, said method being implemented based on a transition mechanism for transporting between multiple workstations as described in any one of claims 1-6, characterized in that, include: The robot (4) grips the upper structure of the finished workpiece (5) from the first processing position of the machining center (8) and places the workpiece (5) in the transition mechanism (7) from above the transition mechanism (7); The robot (4) is controlled to grip the lower structure of the workpiece (5) from below the transition mechanism (7); The control translation mechanism (72) drives the second clamping member (712) to move away from the first clamping member (711); The robot (4) controls the placement of the workpiece (5) in the second processing position of the machining center (8).

8. A multi-process automated processing system, characterized in that, The system includes a loading / unloading machine (6), a robot (4), a machining center (8), a controller, and a transition mechanism for transporting between multiple workstations as described in any one of claims 4-6. The controller is configured to control another first fixture (1) holding the workpiece (5) to be processed to switch to a first preset position and place the workpiece (5) to be processed in the first machining position after one of the plurality of first fixtures (1) has gripped the processed workpiece (5) in the first machining position. Then, the controller controls the first fixture (1) that has gripped the processed workpiece (5) in the first machining position to place the workpiece (5) in the transition mechanism (7) from above and controls the second fixture (2) to grip the workpiece (5) from below the transition mechanism (7) to reach the second machining position of the machining center (8) for workpiece (5) exchange.

9. The multi-process automated processing system according to claim 8, characterized in that, The loading and unloading machine (6) is used to place the workpiece to be processed (5) and the workpiece to be processed (5). The controller is used to control the multi-process workpiece clamping device to clamp the workpiece to be processed (5) on the loading and unloading machine (6) and then place the workpiece to be processed (5) in the machining center (8) in the empty position after the workpiece to be processed (5) is taken away.

10. The multi-process automated processing system according to claim 9, characterized in that, The loading and unloading machine (6) is provided with a detachable third positioning mechanism (61). The third positioning mechanism (61) is fixedly provided with a second positioning pin (611). The second positioning pin (611) matches the positioning hole (51) of the workpiece (5). When the workpiece (5) to be processed is placed on the loading and unloading machine (6), the second positioning pin (611) passes into the positioning hole (51).

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