A loading and unloading device for processing small and medium-sized turbine blades suitable for automated processing

Abstract

A loading and unloading device for processing small and medium-sized blades of a steam turbine suitable for automated processing belongs to the technical field of processing small and medium-sized blades of a steam turbine. The device solves the problem of low automation in the existing processing of small and medium-sized blades. The workpiece transport unit includes a transport trolley, which transports the workpiece to be processed to the side of the workpiece processing machine tool; the workpiece loading and unloading unit is located on the side of the workpiece processing machine tool, and is used to take the workpiece from the workpiece transport unit and place it in the workpiece pre-positioning unit; the workpiece pre-positioning unit is used to set the installation angle and posture of the workpiece to be processed, and the workpiece loading and unloading unit installs the pre-positioned workpiece to be processed on the workpiece processing machine tool according to the pre-positioning angle and position. When the workpiece processing is completed, the workpiece loading and unloading unit takes the processed workpiece out of the processing machine tool and places it on the workpiece transport unit; the workpiece transport unit then transports the processed workpiece out. The present invention is suitable for loading and unloading of small and medium-sized blades of a steam turbine.

Description

Technical Field

[0001] The invention belongs to the technical field of processing small and medium-sized blades of steam turbines. Background Art

[0002] The processing of small and medium-sized blades has achieved automation and digitization of single-machine processes. However, the process requires a high degree of technical participation, and the process is not automated or unmanned, resulting in insufficient automation. The flow of materials during processing is carried out manually, and seamless and automatic transfer between processes is not possible. The process flow cannot be automated or highly streamlined. Fluctuations in human factors have a certain impact on quality stability; therefore, the process suffers from low automation and poor connection between and within processes, resulting in low equipment utilization and processing efficiency.

[0003] At present, in order to solve the above problems, a zero-point positioning fixture is installed outside the machine to realize the digital processing of some intermediate processes, but this method cannot realize the digital processing of the entire sequence and process of the blade. Summary of the Invention

[0004] The purpose of the present invention is to solve the problem of low automation in the existing processing of small and medium-sized blades, and proposes a loading and unloading device for processing small and medium-sized blades of steam turbines suitable for automated processing.

[0005] The present invention provides a loading and unloading device for processing small and medium-sized steam turbine blades suitable for automated processing, comprising: a workpiece transport unit, a workpiece loading and unloading unit, and a workpiece pre-positioning unit;

[0006] The workpiece transport unit includes a transport trolley for transporting the workpiece to be processed to the side of the workpiece processing machine tool;

[0007] The workpiece loading and unloading unit is located on the side of the workpiece processing machine tool and is used to take the workpiece from the workpiece transport unit and place it in the workpiece pre-positioning unit;

[0008] The workpiece pre-positioning unit is used to adjust the installation position and posture of the workpiece to be processed; and to preset the posture and position of the workpiece to be processed in the workstation;

[0009] The workpiece loading and unloading unit installs the workpiece to be processed on the workpiece processing machine according to the preset workpiece posture and position. When the workpiece processing is completed, the workpiece loading and unloading unit takes the completed workpiece from the processing machine and places it on the workpiece transport unit;

[0010] The workpiece transport unit then transports the processed workpiece out.

[0011] Furthermore, in the present invention, the workpiece transport unit includes a trolley and a workpiece fixing unit, the workpiece fixing unit is installed on the trolley, the workpiece fixing unit is a flat plate structure, and the upper surface of the flat plate structure is evenly spaced with workpiece clamping structures, and the workpiece clamping structures are used to clamp and fix the workpiece.

[0012] Furthermore, in the present invention, the workpiece clamping structure includes a first slideway, an adjustment bolt and a clamping block;

[0013] The clamping block includes a fixed clamping part and a movable clamping part, the fixed clamping part is located at one end of the first slide, the movable clamping part (1301) slides along the first slide, and the adjusting bolt is used to adjust the tightness between the movable clamping part and the slide to position the movable clamping part on the first slide.

[0014] Furthermore, in the present invention, the workpiece loading and unloading unit includes a robotic arm and a robotic gripper;

[0015] The mechanical gripper is connected to the mechanical arm via a connecting bracket;

[0016] The mechanical gripper includes a pneumatic gripper, a displacement sensor, a tightening gun and a CCD visual camera;

[0017] The connecting bracket is a T-shaped structure, the pneumatic gripper is installed at one end of the horizontal rod of the T-shaped structure, and the free end of the vertical rod of the T-shaped structure is connected to the robotic arm;

[0018] A CCD visual camera is fixed to the other end of the T-shaped crossbar; the tightening gun is an L-shaped structure, one arm of the L-shaped structure is parallel to the T-shaped crossbar and is fixedly connected, and the other arm of the L-shaped structure is perpendicular to the T-shaped crossbar, and the end of the arm is the tightening head of the tightening gun;

[0019] The displacement sensor is used to collect the distance between the tightening head of the tightening gun and an external object.

[0020] Furthermore, in the present invention, the workpiece loading and unloading unit further comprises a cleaning air knife, which is arranged on the lower side of one arm of the L-shaped structure, and the wind direction of the air knife is parallel to the other arm of the L-shaped structure.

[0021] Furthermore, in the present invention, the pneumatic gripper includes two jaws, and the ends of the two jaws are provided with profiling jigs, and the two profiling jigs are provided on opposite surfaces of the two jaws.

[0022] Furthermore, in the present invention, the workpiece pre-positioning unit includes a fine positioning module, a solenoid valve, a coarse positioning module and a support cabinet;

[0023] The fine positioning module, solenoid valve and coarse positioning module are all arranged on the support cabinet.

[0024] The precise positioning module is used to simulate the clamping state in the machine tool and position the workpiece using the ejector hole;

[0025] The coarse positioning module includes a coarse positioning module adjustment part and a coarse positioning module fixing part, which are used to adjust the workpiece posture so that the workpiece axis is perpendicular to the body of the positioning module adjustment part and the coarse positioning module fixing part.

[0026] Furthermore, in the present invention, the workpiece pre-positioning unit further includes a code scanning module for scanning a QR code on the bottom end face of the workpiece to obtain part number and batch number information of the unprocessed workpiece from the QR code.

[0027] Furthermore, in the present invention, the workpiece pre-positioning unit further includes a laser marking module, and the laser marking module is used to print the part number and batch number information of the workpiece onto the processed workpiece by laser.

[0028] Furthermore, the present invention further includes a computer, which is arranged inside the support cabinet, receives the part number and batch number information of the workpiece sent by the code scanning module, determines whether the workpiece information is the same as the internally stored information, and if so, sends the part number and batch number information of the workpiece to the laser marking module, otherwise, an alarm is issued;

[0029] The computer also controls the workpiece pre-positioning unit to adjust the position and posture of the workpiece according to the installation posture of the workpiece in the processing machine tool, and then controls the mechanical arm and the mechanical gripper to install the workpiece with the adjusted position and posture onto the processing station of the processing machine tool;

[0030] The computer also receives the processing completion signal from the processing machine tool, controls the robotic arm and mechanical gripper to take out the processed workpiece and place it on the workpiece transport unit.

[0031] Furthermore, in the present invention, the precision positioning module includes an ejector base, a tightening member, an L-shaped plate, a telescopic rod and an electric cylinder;

[0032] The thimble base is fixed on the table top of the support cabinet, and the thimble hole on the thimble base is perpendicular to the table top of the support cabinet. A tightening piece is provided directly above the thimble hole, and the tightening piece is vertically fixed to the side of the L-shaped plate. One arm of the L-shaped plate is perpendicular to the table top of the support cabinet. The L-shaped plate moves up and down with the extension and contraction of the telescopic rod, and the electric cylinder drives the telescopic rod to extend or retract in the upward direction perpendicular to the support counter surface.

[0033] Furthermore, in the present invention, a second slide is provided between the coarse positioning module adjustment portion and the coarse positioning module fixed portion, and the coarse positioning module adjustment portion slides on the second slide. The coarse positioning module adjustment portion and the coarse positioning module fixed portion have the same structure, including a base, a transverse clamping block), a longitudinal clamping block, a vertical slide and an adjustment cylinder;

[0034] The lower clamping block and the vertical slideway in the longitudinal clamping block are both fixed on the base, and the upper clamping block in the longitudinal clamping block moves up and down in the vertical slideway through the adjustment cylinder; the upper clamping block in the longitudinal clamping block moves downward to clamp the workpiece to be adjusted;

[0035] The horizontal clamping block is moved in a direction perpendicular to the vertical slideway by adjusting the cylinder, and the workpiece to be adjusted is clamped left and right by the relative movement of the left and right clamping blocks.

[0036] The automated loading and unloading solution described in this invention effectively resolves the pain point of clamping the blade material with the "zero-point" quick-change system, enabling "one-step" grasping of the blade material. This optimizes and reduces the clamping process between off-line materials and the "zero-point" fixture, streamlining the process layout, improving production line processing time and efficiency, and reducing the number of "zero-point" fixtures used, thereby lowering overall production costs. This enables the construction of a full-sequence, full-process digital processing production line for small and medium-sized steam turbine blades. Ultimately, this achieves automated, flexible, and digital blade product processing, enabling full-sequence, full-process digital processing of small and medium-sized steam turbine blades. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 This is a principle block diagram of a loading and unloading device for processing small and medium-sized blades of a steam turbine suitable for automated processing according to the present invention;

[0038] Figure 2 It is a structural schematic diagram of a workpiece clamping structure in a workpiece transport unit;

[0039] Figure 3 It is a schematic diagram of the structure of the mechanical gripper;

[0040] Figure 4 This is a schematic diagram of the three-dimensional structure of one side of the workpiece pre-positioning unit;

[0041] Figure 5 It is a schematic diagram of the three-dimensional structure on the other side of the workpiece pre-positioning unit. DETAILED DESCRIPTION

[0042] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present invention.

[0043] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0044] Specific implementation method 1: Figure 1 This embodiment describes a loading and unloading device for processing small and medium-sized blades of a steam turbine suitable for automated processing, comprising: a workpiece transport unit 1, a workpiece loading and unloading unit 2, and a workpiece pre-positioning unit 3;

[0045] The workpiece transport unit 1 includes a transport trolley for transporting the workpiece to be processed to the side of the workpiece processing machine tool;

[0046] The workpiece loading and unloading unit 2 is located on the side of the workpiece processing machine tool and is used to take the workpiece from the workpiece transport unit 1 and place it in the workpiece pre-positioning unit 3;

[0047] The workpiece pre-positioning unit 3 is used to adjust the installation position and posture of the workpiece to be processed; and to preset the posture and position of the workpiece to be processed in the workstation;

[0048] The workpiece loading and unloading unit 2 installs the workpiece to be processed on the workpiece processing machine according to the preset workpiece posture and position. When the workpiece processing is completed, the workpiece loading and unloading unit 2 takes the processed workpiece from the processing machine and places it on the workpiece transport unit 1;

[0049] The workpiece transport unit 1 then transports the processed workpiece out.

[0050] Furthermore, in this embodiment, the workpiece transport unit 1 includes a trolley and a workpiece fixing unit, the workpiece fixing unit is installed on the trolley, the workpiece fixing unit is a flat plate structure, and the upper surface of the flat plate structure is evenly spaced with workpiece clamping structures, and the workpiece clamping structures are used to clamp and fix the workpiece.

[0051] Further, combined with Figure 2 To illustrate this embodiment, in this embodiment, the workpiece clamping structure includes a first slideway 101, an adjustment bolt 102 and a clamping block 103;

[0052] The clamping block 103 includes a fixed clamping member 1302 and a movable clamping member 1301. The fixed clamping member 1302 is located at one end of the first slide 101, and the movable clamping member 1301 slides along the first slide 101. The adjusting bolt 102 is used to adjust the tightness between the movable clamping member and the slide to position the movable clamping member 1301 on the first slide.

[0053] Further, combined with Figure 3To illustrate this embodiment, in this embodiment, the workpiece loading and unloading unit 2 includes a robotic arm and a robotic gripper;

[0054] The mechanical gripper is connected to the mechanical arm via a connecting bracket 203;

[0055] The mechanical gripper includes a pneumatic gripper 202, a displacement sensor 207, a tightening gun 205 and a CCD visual camera 204;

[0056] The connecting bracket 203 is a T-shaped structure, the pneumatic gripper 202 is installed at one end of the horizontal rod of the T-shaped structure, and the free end of the vertical rod of the T-shaped structure is connected to the robotic arm;

[0057] A CCD visual camera 204 is fixed to the other end of the T-shaped crossbar; the tightening gun 205 is an L-shaped structure, one arm of the L-shaped structure is parallel to the T-shaped crossbar and is fixedly connected, and the other arm of the L-shaped structure is perpendicular to the T-shaped crossbar, and the end of the arm is the tightening head of the tightening gun 205;

[0058] The displacement sensor 207 is used to measure the distance between the tightening head of the tightening gun 205 and an external object.

[0059] The displacement sensor described in the present invention is used to detect the distance from the external environment in the working state to prevent collision. The displacement sensor 207 is arranged on the lower side of one arm of the L-shaped structure, and its collection surface is parallel to the other arm of the L-shaped structure.

[0060] Further, combined with Figure 3 To illustrate this embodiment, in this embodiment, the workpiece loading and unloading unit 2 further includes a cleaning air knife 206, which is arranged on the side of one arm of the L-shaped structure, and the wind direction of the air knife is parallel to the other arm of the L-shaped structure.

[0061] Further, combined with Figure 3 To illustrate this embodiment, in this embodiment, the pneumatic gripper 202 includes two jaws, and the ends of the two jaws are each provided with a profiling jig 201 , and the two profiling jigs 201 are provided on opposite surfaces of the two jaws.

[0062] Further, combined with Figure 4 and Figure 5 To illustrate this embodiment, in this embodiment, the workpiece pre-positioning unit 3 includes a fine positioning module 301, a solenoid valve 303, a coarse positioning module and a support cabinet;

[0063] The coarse positioning module includes a coarse positioning module adjustment portion 304 and a coarse positioning module fixing portion 305;

[0064] The fine positioning module 301, the solenoid valve 303 and the coarse positioning module are all arranged on the support counter surface. The fine positioning module 301 is used to position the workpiece using the ejector hole; and is used to simulate the clamping state in the machine tool;

[0065] The coarse positioning module adjustment part 304 and the coarse positioning module fixing part 305 are used to adjust the workpiece posture so that the workpiece axis is perpendicular to the body of the coarse positioning module adjustment part 304 and the coarse positioning module fixing part 305; the solenoid valve 303 is used to control the adjustment switch of the fine positioning module 301 and the coarse positioning module.

[0066] Further, combined with Figure 4 and Figure 5 To illustrate this embodiment, in this embodiment, the workpiece pre-positioning unit 3 further includes a code scanning module 302, which is used to scan the QR code on the bottom end face of the workpiece and obtain the part number and batch number information of the unprocessed workpiece from the QR code.

[0067] Further, combined with Figure 4 and Figure 5 To illustrate this embodiment, in this embodiment, the workpiece pre-positioning unit 3 further includes a laser marking module 306, and the laser marking module 306 is used to print the part number and batch number information of the workpiece onto the processed workpiece by laser.

[0068] In this embodiment, the position where the part number and the batch number are marked on the processed workpiece is different from the position of the QR code on the unprocessed workpiece.

[0069] Furthermore, in this embodiment, a computer is further included, which is arranged inside the support cabinet and receives the part number and batch number information of the workpiece sent by the code scanning module (302), and determines whether the workpiece information is the same as the internally stored workpiece information. If they are the same, the part number and batch number information of the workpiece are sent to the laser marking module, otherwise an alarm is issued;

[0070] The computer also controls the workpiece pre-positioning unit 3 to adjust the position and posture of the workpiece according to the installation posture of the workpiece in the processing machine tool, and then controls the mechanical arm and the mechanical gripper to install the workpiece with the adjusted position and posture onto the processing station of the processing machine tool;

[0071] The computer also receives a processing completion signal from the processing machine tool, controls the robotic arm and the robotic gripper to take out the processed workpiece and place it on the workpiece transport unit 1 .

[0072] Further, combined with Figure 4 and Figure 5To illustrate this embodiment, in this embodiment, the fine positioning module 301 includes an ejector base 3105, a tightening member 3103, an L-shaped plate 3102, a telescopic rod 3101 and an electric cylinder 3104;

[0073] The thimble base 3105 is fixed on the table top of the support cabinet, and the thimble hole on the thimble base 3105 is perpendicular to the table top of the support cabinet. A tightening piece 3103 is provided directly above the thimble hole. The tightening piece 3103 is vertically fixed to the side of the L-shaped plate 3102. One arm of the L-shaped plate 3102 is perpendicular to the table top of the support cabinet. The L-shaped plate 3102 moves up and down with the extension and retraction of the telescopic rod, and the electric cylinder 3104 drives the telescopic rod 3101 to extend or retract in the upward direction perpendicular to the support counter surface.

[0074] Further, combined with Figure 4 and Figure 5 This embodiment is described. In this embodiment, a second slide is provided between the coarse positioning module adjustment portion 304 and the coarse positioning module fixing portion 305. The coarse positioning module adjustment portion 304 slides on the second slide. The coarse positioning module adjustment portion 304 and the coarse positioning module fixing portion 305 have the same structure, including a base 3402, a horizontal clamping block 3403, a longitudinal clamping block 3404, a vertical slide 3401 and an adjustment cylinder.

[0075] The lower clamping block and the vertical slide 3401 of the longitudinal clamping block 3404 are both fixed on the base 3402. The upper clamping block of the longitudinal clamping block 3404 moves up and down in the vertical slide 3401 by adjusting the cylinder; the upper clamping block of the longitudinal clamping block 3404 moves downward to clamp the workpiece to be adjusted;

[0076] The horizontal clamping block 3403 is moved in a direction perpendicular to the vertical slideway by adjusting the cylinder, and the workpiece to be adjusted is clamped on the left and right sides by the relative movement of the left and right clamping blocks.

[0077] The workpiece to be adjusted is clamped between a transverse clamp and a longitudinal clamp. The upper clamp of the longitudinal clamp and the left and right clamps of the transverse clamp are both moved by adjustable cylinders, which are opened and closed by solenoid valves. The transverse and longitudinal clamps are pneumatically operated. When the start switch is turned on, the upper clamp moves downward, and the left and right clamps move relative to each other. When the pneumatic switch is turned off, the upper clamp moves upward, and the left and right clamps move in opposite directions.

[0078] Although the present invention is described herein with reference to specific embodiments, it should be understood that these embodiments are merely illustrative of the principles and applications of the invention. It should be understood that many modifications may be made to the illustrative embodiments, and that other arrangements may be devised, without departing from the spirit and scope of the invention as defined by the appended claims. It should be understood that the various dependent claims and features described herein may be combined in ways other than those described in the original claims. It should also be understood that features described in conjunction with individual embodiments may be employed in conjunction with other described embodiments.

Claims

1. A loading and unloading device for processing small and medium-sized blades of steam turbines suitable for automated processing, characterized in that: include: A workpiece transport unit (1), a workpiece loading and unloading unit (2), and a workpiece pre-positioning unit (3); The workpiece transport unit (1) is used to transport the workpiece to be processed to the side of the workpiece processing machine tool; The workpiece transport unit (1) comprises a trolley and a workpiece fixing unit, wherein the workpiece fixing unit is mounted on the trolley, the workpiece fixing unit is a flat plate structure, and workpiece clamping structures are arranged at equal intervals on the upper surface of the flat plate structure, and the workpiece clamping structures are used to clamp and fix the workpiece; The workpiece loading and unloading unit (2) is located on the side of the workpiece processing machine tool and is used to take the workpiece from the workpiece transport unit (1) and place it in the workpiece pre-positioning unit (3); The workpiece loading and unloading unit (2) includes a mechanical arm and a mechanical gripper; The mechanical gripper is connected to the mechanical arm via a connecting bracket (203); The mechanical gripper comprises a pneumatic gripper (202), a displacement sensor (207), a tightening gun (205) and a CCD visual camera (204); The connecting bracket (203) is a T-shaped structure, the pneumatic gripper (202) is mounted on one end of the horizontal rod of the T-shaped structure, and the free end of the vertical rod of the T-shaped structure is connected to the robotic arm; A CCD visual camera (204) is fixed to the other end of the T-shaped structure crossbar; the tightening gun (205) is an L-shaped structure, one arm of the L-shaped structure is parallel to the T-shaped structure crossbar and is fixedly connected, and the other arm of the L-shaped structure is perpendicular to the T-shaped structure crossbar, and the end of the arm is a tightening head of the tightening gun (205); The displacement sensor (207) is used to collect the distance between the tightening head of the tightening gun (205) and an external object; the workpiece pre-positioning unit (3) is used to adjust the installation position and posture of the workpiece to be processed; and to preset the posture and position of the workpiece to be processed in the workstation; The workpiece pre-positioning unit (3) comprises a fine positioning module (301), a solenoid valve (303), a coarse positioning module and a support cabinet; The fine positioning module (301), the solenoid valve (303) and the coarse positioning module are all arranged on the support cabinet, and the fine positioning module (301) is used to simulate the clamping state in the machine tool and position the workpiece using the ejector pin hole; The coarse positioning module comprises a coarse positioning module adjustment portion (304) and a coarse positioning module fixing portion (305); The coarse positioning module adjustment part (304) and the coarse positioning module fixing part (305) are used to adjust the posture of the workpiece so that the axis of the workpiece is perpendicular to the bodies of the coarse positioning module adjustment part (304) and the coarse positioning module fixing part (305); The solenoid valve (303) is used to control the adjustment switches of the fine positioning module (301) and the coarse positioning module; The workpiece loading and unloading unit (2) installs the workpiece to be processed on the workpiece processing machine tool according to a preset posture and position. When the workpiece processing is completed, the workpiece loading and unloading unit (2) takes the processed workpiece out of the processing machine tool and places it on the workpiece transport unit (1); The workpiece transport unit (1) then transports the processed workpiece out.

2. A loading and unloading device for processing small and medium-sized blades of a steam turbine suitable for automated processing according to claim 1, characterized in that: The workpiece clamping structure comprises a first slideway (101), an adjustment bolt (102) and a clamping block (103); The clamping block (103) includes a fixed clamping member (1302) and a movable clamping member (1301), wherein the fixed clamping member (1302) is located at one end of the first slideway (101), and the movable clamping member (1301) slides along the first slideway (101), and the adjusting bolt (102) is used to adjust the tightness between the movable clamping member and the slideway, thereby positioning the movable clamping member (1301) on the first slideway.

3. The loading and unloading device for processing small and medium-sized steam turbine blades suitable for automated processing according to claim 1, characterized in that: The workpiece loading and unloading unit (2) further comprises a cleaning air knife (206), wherein the cleaning air knife (206) is arranged on the side of one arm of the L-shaped structure, and the wind direction of the air knife is parallel to the other arm of the L-shaped structure.

4. The loading and unloading device for processing small and medium-sized blades of a steam turbine suitable for automated processing according to claim 1 is characterized in that: The workpiece pre-positioning unit (3) further comprises a code scanning module (302) for scanning a two-dimensional code on the bottom end surface of the workpiece and obtaining part number and batch number information of the unprocessed workpiece from the two-dimensional code.

5. The loading and unloading device for processing small and medium-sized steam turbine blades suitable for automated processing according to claim 1, characterized in that: The workpiece pre-positioning unit (3) further comprises a laser marking module (306), wherein the laser marking module (306) is used to print the part number and batch number information of the workpiece onto the processed workpiece by laser.

6. The loading and unloading device for processing small and medium-sized steam turbine blades suitable for automated processing according to claim 5, characterized in that: The fine positioning module (301) comprises a thimble base (3105), a tightening member (3103), an L-shaped plate (3102), a telescopic rod (3101) and an electric cylinder (3104); The thimble base (3105) is fixed on the table top of the support cabinet, the thimble hole on the thimble base (3105) is perpendicular to the table top of the support cabinet, and a tightening member (3103) is provided directly above the thimble hole. The tightening member (3103) is vertically fixed to the side of the L-shaped plate (3102), and one arm of the L-shaped plate (3102) is perpendicular to the table top of the support cabinet. The L-shaped plate (3102) moves up and down with the extension and contraction of the telescopic rod, and the electric cylinder (3104) drives the telescopic rod (3101) to extend or retract in the direction vertical to the upward direction of the support cabinet.

7. A loading and unloading device for processing small and medium-sized blades of steam turbines suitable for automated processing according to claim 5 or 6, characterized in that: A second slideway is provided between the coarse positioning module adjustment portion (304) and the coarse positioning module fixing portion (305), and the coarse positioning module adjustment portion (304) slides on the second slideway. The coarse positioning module adjustment portion (304) and the coarse positioning module fixing portion (305) have the same structure, including a base (3402), a transverse clamping block (3403), a longitudinal clamping block (3404), a vertical slideway (3401) and an adjustment cylinder; The lower clamping block and the vertical slideway (3401) in the longitudinal clamping block (3404) are both fixed on the base (3402), and the upper clamping block in the longitudinal clamping block (3404) moves up and down in the vertical slideway (3401) by adjusting the cylinder; the upper clamping block in the longitudinal clamping block (3404) moves downward to clamp the workpiece to be adjusted; The horizontal clamping block (3403) is moved in a direction perpendicular to the vertical slideway by adjusting the cylinder, and the workpiece to be adjusted is clamped left and right by the relative movement of the left and right clamping blocks.

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