Automatic feeding and discharging equipment of plate processing center and production method

Abstract

The application provides an automatic feeding and discharging equipment and production method of a plate processing center, belongs to the technical field of plate processing, and comprises a grabbing and transferring device, a benchmark self-calibration positioning tool, a feeding roller and a discharging roller; wherein the grabbing and transferring device is used for grabbing and transferring materials and is arranged on one side of the processing center; a positioning clamp is arranged on the grabbing and transferring device; the positioning clamp comprises a structural assembly connected with the grabbing and transferring device; the structural assembly is connected with a grabbing assembly used for grabbing materials through an elastic connecting piece; and the relative positions of the structural assembly and the grabbing assembly can be changed through the elastic connecting piece. Through the method and the equipment, automatic feeding and discharging are realized, production safety hazards are eliminated, the problem of low production efficiency caused by personnel efficiency is avoided, product quality problems caused by human factors are eliminated, and the production cost of enterprises is effectively reduced.

Description

Technical Field

[0001] This invention relates to the field of sheet metal processing technology, specifically to an automatic loading and unloading device and production method for a sheet metal processing center. Background Technology

[0002] After the sheet material enters the target station of the machining center, before processing begins, it is necessary to ensure that the process reference edge of the sheet material is completely aligned with the process reference of the target station. Only then can the machining center be started and each required processing step be completed step by step according to the process flow. The process of the sheet material entering the target station of the machining center is called the sheet material loading process.

[0003] After the processing center completes each processing step required for the processed board, the processed board needs to be removed from its current target station. This process of removing the board from the target station of the processing center is called the board blanking process.

[0004] Generally, the board feeding process includes two main steps:

[0005] 1. Transport the sheet metal stacks to the vicinity of the machining center. A batch of sheet metal of the same size and fixed quantity will be transported to the vicinity of the machining center using forklifts within the factory.

[0006] 2. Each board in the stack of boards is sent to the target station of the processing center one by one and the process references are confirmed to be aligned before the processing process begins.

[0007] Generally, the board cutting process includes two main steps:

[0008] 1. After the sheet metal completes its processing at the target workstation in the processing center, it is moved away from that workstation and neatly and orderly stacked on the designated pallets or mats.

[0009] Second, stack the boards to a certain quantity and transport them out of the area using forklifts within the factory to the next process section.

[0010] Currently, in China's timber processing industry and panel furniture industry, the loading and unloading of boards is basically done manually.

[0011] This approach has issues that affect the health of employees and the company's economic benefits, including production safety, production efficiency, product quality, and production costs.

[0012] These problems are:

[0013] First, the operators' workload is extremely high. The monotonous and repetitive labor can easily lead to fatigue and safety accidents. Long-term repetitive loading actions can also cause serious muscle strain, which not only threatens the health and safety of employees, but also increases the production costs of enterprises.

[0014] Second, due to the large size and weight of the boards, operators cannot load them quickly, which makes the efficiency of board loading mainly determined by the operators.

[0015] Third, during the material loading process, operators may fail to confirm the process reference edge, which may cause deviations in the processing of the board material, directly resulting in product quality problems and increasing production costs. Summary of the Invention

[0016] This invention provides an automatic loading and unloading equipment and production method for a sheet metal processing center. The process requires no manual operation and can be matched with front-end and back-end production lines for fully automatic loading and unloading operations. The overall performance is stable and the equipment is compact. Through the dual-station loading and unloading process, it can perform uninterrupted loading and unloading operations on sheet metal.

[0017] To solve the above problems, the automatic loading and unloading equipment for the sheet metal processing center provided by the present invention adopts the following technical solution: including a gripping and transferring device, a reference self-calibration positioning fixture, a loading roller and a discharging roller;

[0018] The gripping and transferring device is used to grip and transfer materials and is located on one side of the machining center. A positioning fixture is installed on the gripping and transferring device. The positioning fixture includes a structural component connected to the gripping and transferring device. The structural component is connected to a gripping component for gripping materials via an elastic connector, which allows the relative position of the structural component and the gripping component to change. When the sheet material moves to the target workstation of the machining center, the gripping and transferring device drives the sheet material to move along the X-axis and Y-axis respectively to perform an alignment action, so that the sheet material is completely in contact with the process reference edge of the target workstation.

[0019] The reference self-calibration positioning fixture is set at one end of the gripping and transferring device and is used to calibrate the reference edge of the board.

[0020] The feeding roller and the discharging roller are arranged side by side, and both are located on the side of the gripping and transferring device away from the processing center. The feeding roller works with the roller connected to the front-end process to receive materials; the discharging roller works with the roller connected to the rear-end process to discharge materials.

[0021] As a further improvement, the gripping and transferring device includes a robot rail and a transfer robot mounted on the robot rail.

[0022] As a further improvement, the structural component includes a clamping structure beam, on which a telescopic component for driving the gripping component to rise and fall is mounted. The telescopic component is connected to the elastic connector. A positioning pin is mounted at the bottom of the clamping structure beam, and the gripping component has a positioning hole that mates with the positioning pin.

[0023] The gripping component has a limit position and a release position on its lifting stroke. When the gripping component is in the limit position, the positioning pin is located in the positioning hole to limit the gripping component's degrees of freedom in the X and Y axes. When the gripping component is in the release position, the positioning pin disengages from the positioning hole and separates from the positioning hole to release the gripping component's degrees of freedom in the X and Y axes.

[0024] As a further improvement, the reference self-calibration positioning fixture includes a base, on which an inclined base frame is installed, and on the base frame a positioning plate is installed. The positioning plate is used to position the back of the board and to allow the board to lean against it to prevent it from tipping over. The board placed on the base is in contact with the positioning plate and slides towards the lower end of the base under the action of gravity. The lower end of the base is provided with a limiting reference plate to prevent the board from falling and to position the side of the board.

[0025] As a further improvement, the base is provided with rollers on top to reduce the resistance to sliding of the sheet metal.

[0026] As a further improvement, the reference self-calibration positioning fixture also includes a proximity switch for detecting whether the plates are aligned, the proximity switch being used to detect whether the bottom edge and side edge of the plates are aligned respectively.

[0027] As a further improvement, the feeding roller and the discharging roller are both liftable rollers. The feeding roller includes a plate feeding roller and a pad feeding roller, and the discharging roller includes a plate discharging roller and a pad discharging roller.

[0028] The sheet material feeding roller includes a first sheet material feeding roller and a second sheet material feeding roller, with a pad discharge roller provided between the first sheet material feeding roller and the second sheet material feeding roller; the sheet material discharge roller includes a first sheet material discharge roller and a second sheet material discharge roller, with a pad feeding roller also provided between the first sheet material discharge roller and the second sheet material discharge roller.

[0029] As a further improvement, height sensors for detecting material height are also provided on the sides of the feeding roller and the discharging roller, so that the top of the plate is always kept at the set height.

[0030] As a further improvement, the feeding roller is provided with a positioning structure for positioning the material.

[0031] A production method using the automatic loading and unloading equipment of the above-mentioned sheet metal processing center, characterized by comprising the following steps:

[0032] S1. Initialize the height of the feeding roller and the discharging roller, and make the height of the feeding roller consistent with the height of the roller plane that connects to the front-end process, so that the incoming material in the roller that connects to the front-end process can smoothly enter the feeding roller; make the height of the discharging roller consistent with the height of the roller plane that connects to the rear-end process, so that the material in the discharging roller can smoothly enter the roller that connects to the rear-end process.

[0033] S2, receiving materials and pallet stacks, the materials include pallets and plates on the pallets, the pallet stacks are composed of stacked pallets; after the materials and pallet stacks enter the feeding roller, the positioning structure positions the materials or pallet stacks.

[0034] S3, Place the pad: The transfer robot grabs the pad and places it on the first and second material discharge rollers.

[0035] S4, Material loading by the transfer robot: The transfer robot grabs the board from the first board loading roller and transfers the board to the reference self-calibration positioning fixture for process reference edge calibration. Then, the transfer robot grabs the board from the reference self-calibration positioning fixture and transfers it to the target station of the machining center for processing.

[0036] After the first plate feeding roller has finished picking up the plates, the transfer robot places the remaining pads on the first plate feeding roller onto the pad discharge roller. When the pad discharge roller has accumulated a set number of pads, the pad discharge roller sends the pad stack into the downstream process roller that is connected to the pad discharge roller. After the pad discharge roller is emptied, pads can continue to be stacked.

[0037] After the first plate feeding roller is emptied, the transfer robot grabs a plate from the second plate feeding roller. At this time, the first plate feeding roller receives new material for backup. The first plate feeding roller and the second plate feeding roller serve as backups for each other and work alternately.

[0038] S5, the transfer robot unloads the material. The target workstations of the machining center include the first target workstation and the second target workstation. When the material at the first target workstation is finished, the cutting head of the machining center moves to the second target workstation to make room. The transfer robot grabs the material at the first target workstation and transfers it to the pad of the first material discharge roller.

[0039] When the first sheet material discharge roller has stacked a set number of sheets, the transfer robot places the processed sheets on the pad of the second sheet material discharge roller.

[0040] The first plate discharge roller feeds the material into the downstream process roller that is connected to the first plate discharge roller. After the first plate discharge roller is emptied, the transfer robot grabs a pad from the pad loading roller and places it on the first plate discharge roller for backup. The first plate discharge roller and the second plate discharge roller are backups for each other and work alternately.

[0041] S6, continuous operation, repeating steps S1 to S5 in a loop.

[0042] The beneficial effects of the above-mentioned technical solution of the present invention are as follows:

[0043] 1. By setting up feeding rollers and discharging rollers, which respectively connect to the rollers of the front-end process and the rollers of the back-end process, automatic receiving and discharging of materials is achieved. The feeding rollers are equipped with a positioning structure to ensure that the incoming materials move to the set position so that the transfer robot can accurately grasp them. There are two feeding rollers and two discharging rollers for the sheet metal. The two feeding rollers and the two discharging rollers work alternately to achieve continuous operation, thereby improving production efficiency.

[0044] 2. By setting a reference self-calibration positioning fixture, the reference edge of the board is calibrated to ensure that the board stops accurately on the same reference edge before being gripped, thereby improving the transfer accuracy.

[0045] 3. The positioning fixture, structural components, and gripping components of this invention are flexibly connected through elastic connectors. If the sheet metal has a deviation before gripping (i.e., the side of the sheet metal is not parallel to the reference edge of the target workstation), when the transfer robot grips and transfers it to the target workstation of the machining center, the transfer robot performs an alignment action. That is, the transfer robot drives the positioning fixture to move 2mm in the XY plane along a direction perpendicular to the X-axis (since the positional deviation of the sheet metal generally fluctuates randomly within a 2mm range, a 2mm movement is sufficient). Subsequently, the transfer robot drives the positioning fixture to move another 2mm in the XY plane along a direction perpendicular to the Y-axis. Due to the elastic connectors, the relative position of the sheet metal and the robot changes, causing the sheet metal to fit tightly against the reference edge of the target workstation and be accurately placed at the target workstation.

[0046] 4. The methods and equipment of this invention eliminate potential safety hazards in production, avoid low production efficiency caused by personnel inefficiency, eliminate product quality problems caused by human factors, and effectively reduce the production costs of enterprises. Attached Figure Description

[0047] The above and other objects, features, and advantages of exemplary embodiments of the present invention will become readily apparent upon reading the following detailed description with reference to the accompanying drawings. In the drawings, several embodiments of the invention are illustrated by way of example and not limitation, and like or corresponding reference numerals denote like or corresponding parts, wherein:

[0048] Figure 1 A reference diagram for loading materials into a sheet metal processing center;

[0049] Figure 2 A schematic diagram illustrating potential deviations in material handling during loading at a sheet metal processing center;

[0050] Figure 3 A reference diagram showing deviations in the sheet metal before loading into the sheet metal processing center;

[0051] Figure 4 This is a schematic diagram of the automatic loading and unloading equipment of the sheet metal processing center of the present invention;

[0052] Figure 5 This is a schematic diagram of the sheet metal processing center of the present invention;

[0053] Figure 6 This is a schematic diagram of the gripping and transferring device of the automatic loading and unloading equipment of the sheet metal processing center of the present invention.

[0054] Figure 7 This is an isometric view of the positioning fixture of the automatic loading and unloading equipment of the sheet metal processing center of the present invention;

[0055] Figure 8 This is a partial structural diagram of the positioning fixture of the automatic loading and unloading equipment of the sheet metal processing center of the present invention;

[0056] Figure 9 This is a schematic diagram of the positioning fixture of the automatic loading and unloading equipment of the sheet metal processing center of the present invention;

[0057] Figure 10 This is a schematic diagram of the gripping component of the automatic loading and unloading equipment of the sheet metal processing center of the present invention;

[0058] Figure 11 This is a schematic diagram of the elastic connecting component of the automatic loading and unloading equipment of the sheet metal processing center of the present invention.

[0059] Figure 12 This is a schematic diagram of the telescopic component of the automatic loading and unloading equipment of the sheet metal processing center of the present invention.

[0060] Figure 13 This is an isometric view of the reference self-calibration positioning fixture of the automatic loading and unloading equipment of the sheet metal processing center of the present invention.

[0061] Figure 14This is a schematic diagram of the positioning plate of the automatic loading and unloading equipment of the sheet metal processing center of the present invention.

[0062] Figure 15 This is a partial structural diagram of the positioning plate of the automatic loading and unloading equipment of the sheet metal processing center of the present invention;

[0063] Figure 16 This is a schematic diagram of the base of the automatic loading and unloading equipment of the sheet metal processing center of the present invention;

[0064] Figure 17 This is a left view of the positioning plate of the automatic loading and unloading equipment of the sheet metal processing center of the present invention;

[0065] Figure 18 This is a top view of the loading roller and unloading roller of the automatic loading and unloading equipment of the sheet metal processing center of the present invention;

[0066] Figure 19 This is a reference diagram showing the usage status of the loading roller in the automatic loading and unloading equipment of the sheet metal processing center of the present invention.

[0067] Figure 20 This is an isometric view of the loading roller of the automatic loading and unloading equipment of the sheet metal processing center of the present invention;

[0068] Figure 21 This is an isometric view of the discharge roller of the automatic loading and unloading equipment of the sheet metal processing center of the present invention;

[0069] Figure 22 This is an isometric view of the sheet sheet separator of the automatic loading and unloading equipment of the sheet material processing center of the present invention;

[0070] Figure 23 This is an isometric view of the height through-beam sensor of the automatic loading and unloading equipment of the sheet metal processing center of the present invention;

[0071] Figure 24 This is an isometric view of the transport positioning sensor of the automatic loading and unloading equipment of the sheet metal processing center of the present invention.

[0072] Explanation of reference numerals in the attached figures:

[0073] 1. Machining center; 1-1. Tool head; 1-2. First target station; 1-3. Second target station; 2. Robot guide rail; 3. Transfer robot; 4. Positioning fixture; 4-1. Structural components; 4-11. Connecting flange; 4-12. Fixture structural beam; 4-13. Pneumatic control unit; 4-14. Linear bearing seat; 4-15. Telescopic positioning pin; 4-2. Telescopic assembly; 4-21. Telescopic cylinder; 4-22. Cylinder connector 4-3. Gripping assembly; 4-31. Sponge suction cup; 4-32. Elastic connector; 4-321. Bottom connector; 4-322. Top connector; 4-323. Silicone rubber block; 4-33. Guide rod; 4-34. Top connecting plate; 4-35. Air pipe connector; 4-36. Suction cup connecting plate; 4-37. Conical hole; 5. Reference self-calibration positioning fixture; 5-1. Positioning plate; 5-11. Limiting reference plate; 5 -12. Inductive proximity switch; 5-13. Black phenolic wood board; 5-14. Roller; 5-15. Base frame; 5-16. Support rod; 5-2. Base; 5-21. Short column; 5-22. Long column; 6. Feeding roller; 61. First plate feeding roller; 62. Second plate feeding roller; 63. Pad plate feeding roller; 6-1. Side stop; 6-2. End stop; 6-3. Inlet through-beam sensor; 6-4. Deceleration pair 6-5. Stop sensor; 7. Discharge roller; 71. Pad plate discharge roller; 72. First sheet material discharge roller; 73. Second sheet material discharge roller; 7-1. Outlet through-beam sensor; 7-2. Presence / absence sensor; 8. Sheet pneumatic separator; 8-1. Compressed air nozzle; 8-2. Pneumatic control assembly; 9. Height through-beam sensor; 9-1. Sensor assembly; 9-2. Reflecting mirror; 10. Transport positioning sensor. Detailed Implementation

[0074] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Those skilled in the art should understand that the embodiments described below are only some, not all, of the embodiments disclosed. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0075] Various non-limiting embodiments of the present invention are described in detail below. Any number of elements in the accompanying drawings is for illustrative purposes only and not for limitation, and any naming is for distinction only and has no limiting meaning.

[0076] The principles and spirit of the present invention will be explained in detail below with reference to several representative embodiments.

[0077] Example 1 of the automatic loading and unloading equipment for the sheet metal processing center provided by the present invention:

[0078] like Figures 1-24 As shown, the automatic loading and unloading equipment of the sheet metal processing center includes a gripping and transferring device, a reference self-calibration positioning fixture 5, a loading roller 6, and a unloading roller 7. In this embodiment, the gripping and transferring device is located on the front side of the processing center 1, and the loading roller 6 and the unloading roller 7 are arranged side by side. Both the loading roller 6 and the unloading roller 7 are located on the front side of the gripping and transferring device, and the reference self-calibration positioning fixture 5 is located on the right end of the gripping and transferring device. This arrangement facilitates the gripping and transferring device to grip the sheet metal from the loading roller 6 on the front side, first place the sheet metal on the reference self-calibration positioning fixture 5 for calibration, then place the sheet metal on the processing center 1 through the gripping and transferring device, and finally place the sheet metal on the unloading roller 7 from the processing center 1.

[0079] like Figure 5 As shown, in this embodiment, the machining center 1 includes a first target station 1-2, a second target station 1-3, and a cutting head 1-1 for machining the sheet metal. Both the first target station 1-2 and the second target station 1-3 are provided with process reference edges 1-4, which are L-shaped. Positioning of the sheet metal is achieved by locating two adjacent edges of the sheet metal. When the gripping and transferring device places the sheet metal at the first target station 1-2, the cutting head 1-1 moves to the first target station 1-2 to machine the sheet metal. When the sheet metal enters the second target station 1-3, the cutting head 1-1 moves to the second target station 1-3 to machine the sheet metal. The first target station 1-2 and the second target station 1-3 can operate alternately in a cycle; that is, when the cutting head 1-1 performs the machining process at the first target station 1-2, the second target station can perform loading and unloading operations, and vice versa.

[0080] like Figure 4 and Figure 6 As shown, the gripping and transfer device is used to grip and transfer materials, transporting the sheet metal from the waiting workstation to the target workstation in machining center 1. The gripping and transfer device includes a robot guide rail 2 and a transfer robot 3 mounted on the robot guide rail 2. The transfer robot 3 is a six-axis robot, and the robot guide rail 2 is a seventh-axis ground rail. The transfer robot 3 can move on the seventh-axis ground rail, which increases its transfer range. The control system controls the transfer robot 3 according to the loading and unloading process, ensuring it moves accurately to the required position. Subsequently, the control system controls the transfer robot 3 according to the loading and unloading process, ensuring it accurately executes the robot postures required for loading and unloading, so that the positioning fixture 4 can accurately move to the target position and complete a series of actions such as gripping, calibrating, and releasing the sheet metal.

[0081] like Figures 6-12As shown, a positioning fixture 4 is installed on the gripping and transferring device. The positioning fixture 4 is fixed to the end of the mechanical arm of the transfer robot 3. The positioning fixture 4 includes a structural component 4-1 connected to the gripping and transferring device. The structural component 4-1 is connected to a gripping component 4-3 for gripping materials through an elastic connector 4-32, so that the relative position of the structural component 4-1 and the gripping component 4-3 can be changed.

[0082] like Figure 9 As shown, structural component 4-1 includes a connecting flange 4-11 for connecting the transfer robot 3. A pneumatic control unit 4-13 is mounted above the connecting flange 4-11 to control the start and stop of various functions of the gripping component 4-3. A clamping structure beam 4-12 is mounted below the connecting flange 4-11, providing structural support for the linear bearing seat 4-14, the telescopic component 4-2, and the telescopic positioning pin 4-15. The linear bearing seat 4-14 is mounted above the clamping structure beam 4-12, and its main function is to guide the gripping component 4-3, which has a flexible connection, enabling it to extend and retract in a predetermined direction. The telescopic positioning pin 4-15 has a tapered structure, which facilitates its retraction. Mounted below the clamping structure beam 4-12, its main function is to provide positioning for the gripping component 4-3. The gripping component 4-3 has a tapered hole 4-37 that mates with the telescopic positioning pin 4-15.

[0083] The purpose of setting the telescopic positioning pin 4-15 is to allow the relative position of the transfer robot 3 and the plate to change. The structural component 4-1 and the gripping component 4-3 are connected by the elastic connector 4-32. However, when the transfer robot 3 grips the plate for loading, the plate is prone to shaking during the transfer process due to the setting of the elastic connector 4-32. Therefore, when transferring the plate, the telescopic component 4-2 retracts the telescopic positioning pin 4-15 into the conical hole 4-37 to limit the spatial degree of freedom of the gripping component 4-3, thereby improving the stability of the plate transfer.

[0084] When the gripping component 4-3 extends, the telescopic positioning pin 4-15 disengages from the tapered hole 4-37, as... Figure 8 At this point, the gripping component 4-3 gains one translational degree of freedom along the X-axis and one rotational degree of freedom along the Z-axis (if there is a deviation in the material, that is, the side of the material is not parallel to the process reference edge 1-4, when the transfer robot 3 performs the alignment action, the side of the material is in contact with the process reference edge 1-4, and the material rotates along the Z-axis); when the gripping component 4-3 retracts, the telescopic positioning pin 4-15 is inserted into the conical hole 4-37 to fix the gripping component 4-3. At this point, the gripping component 4-3 loses all degrees of freedom and is completely fixed.

[0085] like Figure 12As shown, the telescopic assembly 4-2 includes a telescopic cylinder 4-21 and a cylinder connector 4-22. In other embodiments, a telescopic electric cylinder or a telescopic hydraulic cylinder may be used instead of the telescopic cylinder 4-21.

[0086] like Figure 10 As shown, the gripping component 4-3 includes a top connecting plate 4-34 connected to the cylinder connector 4-22. A guide rod 4-33, which mates with the linear bearing seat 4-14, is mounted above the top connecting plate 4-34. An elastic connector 4-32 is mounted at the bottom of the top connecting plate 4-34, and a suction cup connecting plate 4-36 is connected to the bottom of the elastic connector 4-32. A sponge suction cup 4-31 is mounted on the bottom plate of the suction cup connecting plate 4-36. The material is gripped by vacuum adsorption. A pneumatic control unit 4-13 is connected to the air pipe connector 4-35 of the sponge suction cup 4-31 via a pipe. When the pneumatic control unit 4-13 opens the air passage, compressed gas creates a vacuum in the sponge suction cup 4-31, thus achieving the function of adsorbing the material. In other embodiments, depending on the characteristics of the material, other types of gripping components such as suction cups, electromagnets, and claws can also be used to grip the material.

[0087] like Figure 11 As shown, the elastic connector 4-32 includes a top connector 4-322 and a bottom connector 4-321. The top connector 4-322 and the bottom connector 4-321 are connected by a silicone rubber block 4-323, making the elastic connector 4-32 a flexible body. Therefore, the relative positions of the top connector 4-322 and the bottom connector 4-321 can change under the action of external force. That is, the relative positions of the top connector 4-322 and the bottom connector 4-321 can translate in the XY plane and rotate along the Z-axis. In other embodiments, a spring can be used instead of the silicone rubber block 4-323.

[0088] The transfer robot 3 moves the positioning fixture 4 to the target station. If the positioning fixture 4 releases the board at this position, theoretically, the two adjacent edges of the board should coincide with the process reference edge 1-4 of the target station. However, due to two factors that may cause deviations (the first is that each board must stop accurately on the same reference edge before being gripped; the second is that the relative position of the board and the fixture must remain completely unchanged during the process of the robot gripping and transferring the board), this invention redesigns the positioning fixture 4, which performs an additional alignment action at the first target station 1-2 or the second target station 1-3 to solve the error caused by the first factor.

[0089] In existing technologies, during the transfer of sheet metal, the gripper only serves to absorb and grasp the material; the relative position between the transfer robot 3 and the sheet metal remains unchanged. Figure 3As shown, if the board's position is deviated before it is picked up, the board will not be fully aligned with the reference edge of the target station when it is transferred to the target station, directly causing quality problems in the board processing. If the second factor fails, the following will occur: Figure 2 The situation is shown.

[0090] The positioning fixture 4 of this invention allows for relative changes in the positions of the structural component 4-1 and the gripping component 4-3 via an elastic connector 4-32. During transport, the telescopic component 4-2 is in a retracted state, and the telescopic positioning pin 4-15 is engaged within the tapered hole 4-37, limiting the X and Y axes of freedom of the gripping component 4-3 and preventing changes in the relative position of the sheet metal and the transport robot 3 (e.g., ...). Figure 2 As shown, when the sheet metal is transferred to the target station, the telescopic component 4-2 extends, the telescopic positioning pin 4-15 separates from the conical hole 4-37, and the gripping component 4-3 obtains one translational degree of freedom along the X-axis and Y-axis respectively. At this time, the transfer robot 3 performs an alignment action. The transfer robot 3 drives the positioning fixture 4 to move 2mm in the XY plane along the direction perpendicular to the X-axis. Then, the transfer robot 3 drives the positioning fixture 4 to move 2mm in the XY plane along the direction perpendicular to the Y-axis. Due to the setting of the elastic connector 4-32, the relative position of the sheet metal and the robot will change, so that the sheet metal is tightly attached to the reference edge of the target station and accurately placed at the target station.

[0091] like Figure 13-17 As shown, the reference self-calibration positioning fixture 5 is used to calibrate the reference edge of the plate. The reference self-calibration positioning fixture 5 includes a base 5-2, a base frame 5-15 and a positioning plate 5-1. The base frame 5-15 is tilted and fixed on the top of the base 5-2, and the positioning plate 5-1 is fixed on the base frame 5-15.

[0092] like Figure 16 As shown, short columns 5-21 and long columns 5-22 are installed at both ends of the base 5-2. The height of the long column 5-22 is higher than that of the short column 5-21. The height difference between the long column 5-22 and the short column 5-21 causes the base frame 5-15 to have a certain tilt angle after installation. Figure 13 As shown.

[0093] like Figure 13-15As shown, a positioning plate 5-1 is installed on the base frame 5-15. The positioning plate 5-1 includes an inclined black plywood board 5-13, a support rod (5-16), an inductive proximity switch 5-12, a limit reference plate 5-11, and a roller 5-14. One end of the support rod 5-16 is fixed to the base frame 5-15, and the other end of the support rod 5-16 is connected to the black plywood board 5-13. The support rod 5-16 is used to support the black plywood board 5-13. The base frame 5-15, the black plywood board 5-13, and the support rod 5-16 form an acute-angled triangular structure, which has good stability.

[0094] The surface of the phenolic resin board 5-13 is very smooth and wear-resistant, a characteristic that provides highly favorable conditions for the board to slide on its surface due to its own weight. The surface of the phenolic resin board 5-13 that contacts the substrate is defined as the front side of the phenolic resin board 5-13, and the angle between the back side of the phenolic resin board 5-13 and the base frame 5-15 is an acute angle. Figure 17 As shown. When the board is placed on the reference self-calibration positioning fixture 5, the board will rest against the black plywood board 5-13, and the surface of the board and the surface of the black plywood board 5-13 can achieve a good fit.

[0095] like Figure 14 and Figure 15 As shown, the base frame 5-15 is also evenly distributed with several rollers 5-14 to reduce the sliding resistance of the plate. The common tangent surface of the top of the rollers 5-14 forms the reference edge X-axis. The rollers 5-14 include a rotating shaft and a rubber-coated bearing. The rollers 5-14 can rotate freely with very low rotational resistance. This characteristic provides very favorable conditions for the plate to move along the reference edge X-axis.

[0096] like Figure 13-15 As shown, a limiting reference plate 5-11 is provided at the lower end of the positioning plate 5-1. The limiting reference plate 5-11 is perpendicular to the base frame and forms the reference edge Y-axis. In this embodiment, the limiting reference plate 5-11 is connected to the black plywood board 5-13. In other embodiments, the limiting reference plate 5-11 can also be installed on the base frame.

[0097] Inductive proximity switches 5-12 can detect the presence or absence of metallic or non-metallic materials within a set distance range, such as... Figure 14 and Figure 15As shown, in this embodiment, there are three inductive proximity switches 5-12. One of the inductive proximity switches 5-12 is located outside the limiting reference plate 5-11, and its probe is completely in contact with the working plane of the limiting reference plate 5-11. When the left side of the plate is completely in contact with the working plane of the limiting reference plate 5-11, the left side of the plate will enter the detection range of the inductive proximity switch 5-12. At that time, the inductive proximity switch 5-12 will send a signal "present" to the control system. At this time, the system considers that the left side of the plate has been completely aligned with the limiting reference plate 5-11. The other two inductive proximity switches 5-12 are installed in the gap between the rollers 5-14. Their probes are completely flush with the working plane formed by the common tangent surface above the rollers 5-14. When the lower edge of the plate is completely in contact with the common tangent surface of the rollers 5-14, the lower edge of the plate will enter the detection range of the inductive proximity switch 5-12. At this time, the two inductive proximity switches 5-12 will send a signal "present" to the control system. At this time, the system considers that the lower edge of the plate has been completely aligned with the reference edge X-axis.

[0098] Both the black plywood board 5-13 and the base 5-2 have a certain tilt angle. These two angles provide very favorable conditions for the board to be positioned by its own weight alone and to fit perfectly against the process reference edge 1-4.

[0099] like Figure 4 , Figure 18 , Figure 19 and Figure 20 As shown, the feeding roller 6 cooperates with the roller connected to the front-end process and is used to receive materials; the feeding roller 6 includes a plate feeding roller and a pad feeding roller 63. Figure 4 In the diagram, A represents the first plate feeding roller 61, C represents the second plate feeding roller 62, and E represents the pad feeding roller 63. The plate feeding roller is used to receive materials (materials include pads and plates placed on the pads, with the plates neatly stacked on top of the pads). The pad feeding roller 63 is used to receive stacks of pads. The plate feeding roller and the pad feeding roller 63 have the same structure. The following description uses the first plate feeding roller 61 as an example. The first plate feeding roller 61 has lifting and conveying functions, which are existing technologies and will not be described in detail here. The first plate feeding roller 61 is hydraulically driven to lift and lower to ensure the stability of the lifting. The first plate feeding roller 61 is equipped with a positioning structure, an inlet through-beam sensor 6-3, a deceleration through-beam sensor 6-4, and a stop sensor 6-5.

[0100] like Figure 19 and 20As shown, the positioning structure includes a side stop 6-1 and an end stop 6-2. The side stop 6-1 is located on the side of the first plate feeding roller 61 and has a certain angle (the first plate feeding roller 61 has baffles on both sides, and the side stop 6-1 is installed on the inner side of one of the baffles of the first plate feeding roller 61. The end of the side stop 6-1 near the outlet of the first plate feeding roller 61 is in contact with the baffle, and the other end of the side stop 6-1 is spaced 2-5cm from the baffle, so that the side stop 6-1 and the baffle of the first plate feeding roller 61 form a certain angle). The side stop 6-1 plays a guiding role. The end stop 6-2 is installed at the end of the first plate feeding roller 61 and is set perpendicular to the side stop 6-1.

[0101] When the material enters the first plate feeding roller 61, due to the certain angle of the side stop 6-1, as the material moves forward in the area of ​​the first plate feeding roller 61, the pad will gradually contact the side stop 6-1 and gradually change the direction of the material's movement. Finally, the side of the pad and the side stop 6-1 are completely in contact, and the end of the pad is also in contact with the end stop 6-2, thus completing the positioning.

[0102] The inlet through-beam sensor 6-3 is used to detect whether material has entered. When the front end of the pad enters and triggers the inlet through-beam sensor 6-3, the system considers that the material has begun to enter the area of ​​the first plate feeding roller 61.

[0103] When the pad passes by and triggers the deceleration sensor 6-4, the system will control the first plate feeding roller 61 to decelerate and convey the plate.

[0104] Stop sensor 6-5: When the pad passes by and triggers the stop sensor 6-5, the system will control the first plate feeding roller 61 to decelerate again and maintain a constant speed for a short period of time to ensure that the front end of the pad and the end stop 6-2 are completely in contact.

[0105] Since the structure and principle of the pad plate feeding roller 63 are the same as those of the first plate feeding roller 61, the pad plate feeding roller 63 will not be described in detail here.

[0106] In addition, such as Figure 4 and Figure 22As shown, both the first and second plate feeding rollers 61 and 62 are equipped with pneumatic plate separators 8. The pneumatic plate separator 8 is located on the rear side of either the first or second plate feeding roller 61. The pneumatic plate separator 8 includes a compressed air nozzle 8-1 and a pneumatic control assembly 8-2. Because the plates are tightly bonded together, when the topmost plate is lifted by the positioning clamp 4 of the transfer robot 3, it often also lifts and adheres to the second or even third plate below it. This is an uncontrolled situation in production and should be completely prevented; otherwise, the production process will be randomly interrupted, and production efficiency will be severely affected.

[0107] The compressed air nozzle 8-1 of the pneumatic sheet separator 8 always targets the position between the first and second sheets at the top of the material. Whenever the positioning clamp 4 of the transfer robot 3 is about to lift the first sheet, the compressed air nozzle 8-1 will continuously spray compressed air, which will make the first sheet and the second sheet easily separate, thus avoiding the problem of sheet adhesion.

[0108] like Figure 4 and Figure 21 As shown, the discharge roller 7 cooperates with the roller connected to the downstream process and is used to discharge materials; the discharge roller 7 includes a plate discharge roller and a pad plate discharge roller 71. Figure 4 In the diagram, B is the pad plate discharge roller 71, D is the first plate material discharge roller 72, and F is the second plate material discharge roller 73. The plate material discharge roller and the pad plate discharge roller 71 have the same structure. The following description uses the first plate material discharge roller 72 as an example.

[0109] The first plate discharge roller 72 has lifting and conveying functions. The first plate discharge roller 72 is equipped with an outlet through-beam sensor 7-1 and an presence / absence sensor 7-2. The outlet through-beam sensor 7-1 is installed at the outlet end of the first plate discharge roller 72. When the end of the pad leaves and triggers the outlet through-beam sensor 7-1, the system considers that the material has left the area of ​​the first plate discharge roller 72 and the area of ​​the first plate discharge roller 72 is empty. The presence / absence sensor 7-2 is installed at the end of the first plate discharge roller 72 away from the outlet through-beam sensor 7-1. When the pad is placed on the first plate discharge roller 72 by the transfer robot 3 and triggers the presence / absence sensor 7-2, the system considers that the area of ​​the first plate discharge roller 72 has been occupied.

[0110] like Figure 4 and Figure 23As shown, both the feeding roller 6 and the discharging roller 7 are equipped with height-sensing sensors 9. The height-sensing sensor 9 includes a sensor assembly 9-1 and a reflective lens 9-2. In this embodiment, the height-sensing sensor 9 can take various forms, but their working principle is completely the same. Its main function is to provide feedback signals to the control system, assisting the control system in controlling the lifting and lowering of the feeding roller 6 and the discharging roller 7, maintaining the top layer of material on the feeding roller 6 and the discharging roller 7 at a fixed height, such as 1 meter. In this way, the transfer robot 3 can grab (or release) the sheet material at a fixed height, simplifying the system's control of the transfer robot 3, shortening the robot's movement path, and improving the grabbing (or releasing) efficiency.

[0111] like Figure 4 and Figure 24 As shown, both the feeding roller 6 and the discharging roller 7 are equipped with transport positioning sensors 10. The transport positioning sensor 10 on the feeding roller 6 is installed at its inlet end, and the transport positioning sensor 10 on the discharging roller 7 is installed at its outlet end. The main function of the transport positioning sensor 10 is to provide feedback signals to the control system and assist the control system in controlling the lifting and lowering of the feeding roller 6 and the discharging roller 7, so that the height of the roller plane on the feeding roller 6 and the discharging roller 7 is always kept at a fixed height, such as 0.3 meters.

[0112] In this way, the height of the feeding roller 6 is kept consistent with the height of the roller plane that connects to the front-end process, so that the incoming material in the roller that connects to the front-end process can smoothly enter the feeding roller 6; the height of the discharging roller 7 is kept consistent with the height of the roller plane that connects to the rear-end process, so that the material in the discharging roller 7 can smoothly enter the roller that connects to the rear-end process. The transport positioning sensor 10 is existing technology and will not be described in detail here.

[0113] The production method of the automatic loading and unloading equipment of the above-mentioned sheet metal processing center 1 includes the following steps:

[0114] S1. Initialize the height of the feeding roller 6 and the discharging roller 7. Using the transport positioning sensor 10, keep the height of the feeding roller 6 consistent with the height of the roller plane that is connected to the front-end process, so that the incoming material in the roller connected to the front-end process can smoothly enter the feeding roller 6; keep the height of the discharging roller 7 consistent with the height of the roller plane that is connected to the rear-end process, so that the material in the discharging roller 7 can smoothly enter the roller that is connected to the rear-end process.

[0115] S2, receiving materials and pallet stacks, the materials including pallets and plates on the pallets, the pallet stacks consisting of stacked pallets.

[0116] When the material or pallet stack enters the plate feeding roller or pallet feeding roller 63, the front end of the pallet enters and triggers the corresponding inlet through-beam sensor 6-3, and the system considers that the material has begun to enter the area of ​​the plate feeding roller or pallet feeding roller 63.

[0117] When the pad passes by and triggers the corresponding deceleration photoelectric sensor 6-4, the system will control the plate feeding roller or the pad feeding roller 63 to decelerate and convey the material.

[0118] When the pad passes by and triggers the stop sensor 6-5, the system will control the plate feeding roller or the pad feeding roller 63 to decelerate again and maintain a constant speed for a short period of time to ensure that the front end of the pad and the end stop 6-2 are completely in contact.

[0119] As the material or pallet stack moves forward, due to the angle of the side stop 6-1, as the material or pallet stack moves forward in the area of ​​the plate feeding roller or pallet feeding roller 63, the pallet will gradually come into contact with the side stop 6-1. The direction of material movement will gradually change along the side stop 6-1, and finally the side of the pallet will be completely in contact with the side stop 6-1, and the end of the pallet will also be in contact with the end stop 6-2, thus completing the positioning.

[0120] S3, place the pad, and the transfer robot 3 grabs the pad and places it on the first plate discharge roller 72 and the second plate discharge roller 73.

[0121] S4, material loading by transfer robot 3;

[0122] The transfer robot 3 uses the positioning clamp 4 to grab the first plate feeding roller 61. The compressed air nozzle 8-1 of the plate pneumatic separator 8 continuously sprays compressed air, making it easy to separate the first plate from the second plate, thus avoiding the problem of plate sticking.

[0123] First, the board is transferred to the self-calibrating positioning fixture 5 for calibration of the process reference edge 1-4. Regardless of whether the board is aligned with the process reference edge 1-4 at the waiting station, the board will be automatically calibrated on the self-calibrating positioning fixture 5. The calibration is powered by the weight of the board itself. The principle is as follows: when the board is placed on the self-calibrating positioning fixture 5, because the base frame 5-15 is tilted and the base frame 5-15 is equipped with rollers 5-14, the board will rest against the black plywood board 5-13 and adhere to the surface of the black plywood board 5-13. At the same time, under the action of gravity, the board will move towards... The lower end of the base 5-2 slides until the plate is in contact with the limit reference edge. At this time, the left side and bottom of the plate are within the detection range of the inductive proximity switch 5-12. The inductive proximity switch 5-12 will send a signal "yes" to the control system. The system believes that the left side of the plate is completely aligned with the reference edge Y-axis and the bottom edge of the plate is completely aligned with the reference edge X-axis. Then the control system believes that the plate has completed the calibration of the process reference edge 1-4 on the reference self-calibration positioning fixture 5. The system sends an instruction to the six-axis robot, requesting the transfer robot 3 to take away the plate.

[0124] Subsequently, the transfer robot 3 picks up the sheet metal from the reference self-calibration positioning fixture 5. The machining center 1 has a first target station 1-2 and a second target station 1-3. The calibrated sheet metal is transferred to the first target station 1-2 of the machining center 1. The telescopic component 4-2 extends, and the telescopic positioning pin 4-15 separates from the conical hole 4-37. The gripping component 4-3 obtains one translational degree of freedom along the X-axis and Y-axis. At this time, the transfer robot 3 performs an alignment action. The transfer robot 3 drives the positioning fixture 4 to move 2mm in the XY plane along the direction perpendicular to the X-axis. Then, the transfer robot 3 drives the positioning fixture 4 to move 2mm in the XY plane again along the direction perpendicular to the Y-axis. Due to the setting of the elastic connector 4-32, the relative position of the sheet metal and the robot will change, so that the sheet metal is tightly attached to the process reference edge 1-4 of the first target station 1-2.

[0125] After the first plate feeding roller 61 has finished picking up the plates, the transfer robot 3 places the remaining pads on the first plate feeding roller 61 onto the pad discharge roller 71. When the pad discharge roller 71 has accumulated a set number of pads, the pad discharge roller 71 sends the pad stack into the downstream process roller that is connected to the pad discharge roller 71. After the pad discharge roller 71 is emptied, pads can continue to be stacked.

[0126] After the first plate feeding roller 61 is emptied, the transfer robot 3 grabs a plate from the second plate feeding roller 62. At this time, the first plate feeding roller 61 receives new material for backup. The first plate feeding roller 61 and the second plate feeding roller 62 serve as backups for each other and work alternately.

[0127] S5, the transfer robot 3 unloads the material. The target stations of the machining center 1 include the first target station 1-2 and the second target station 1-3. When the material at the first target station 1-2 is finished, the cutter head 1-1 of the machining center 1 moves to the second target station 1-3 to make room and processes the material at the second target station 1-3. The transfer robot 3 picks up the material at the first target station 1-2 and transfers it to the pad of the first material discharge roller 72. The first target station 1-2 and the second target station 1-3 can be operated alternately in a cycle.

[0128] When the first plate discharge roller 72 stacks the set number of plates, the transfer robot 3 places the processed plates on the pad of the second plate discharge roller 73.

[0129] The first plate discharge roller 72 feeds the material into the downstream process roller that is connected to the first plate discharge roller 72. When the end of the pad leaves and triggers the outlet through-beam sensor 7-1, the system considers that the material has left the area of ​​the first plate discharge roller 72 and the area of ​​the first plate discharge roller 72 is empty. After the first plate discharge roller 72 is empty, the transfer robot 3 grabs a pad from the pad loading roller 63 and places it on the first plate discharge roller 72 for backup. The first plate discharge roller 72 and the second plate discharge roller 73 are backups for each other and work alternately.

[0130] S6, continuous operation, repeating steps S1 to S5 in a loop.

[0131] While various embodiments of the invention have been shown and described herein, it will be apparent to those skilled in the art that such embodiments are provided by way of example only. Many modifications, alterations, and alternatives will occur to those skilled in the art without departing from the spirit and essence of the invention. It should be understood that various alternatives to the embodiments of the invention described herein may be employed in the practice of the invention. The appended claims are intended to define the scope of the invention and therefore cover any modular compositions, equivalents, or alternatives within the scope of these claims.

Claims

1. An automatic loading and unloading device for a sheet metal processing center, characterized in that, It includes a gripping and transferring device, a reference self-calibration positioning fixture (5), a feeding roller (6), and a discharging roller (7); The gripping and transferring device is used to grip and transfer materials, and it is set on one side of the machining center (1). The gripping and transferring device is equipped with a positioning fixture (4). The positioning fixture (4) includes a structural component (4-1) connected to the gripping and transferring device. The structural component (4-1) is connected to a gripping component (4-3) for gripping materials through an elastic connector (4-32). The elastic connector (4-32) causes the relative position of the structural component (4-1) and the gripping component (4-3) to change as the plate moves to the target station of the machining center (1) and aligns with the process reference edge (1-4) of the target station. The reference self-calibration positioning fixture (5) is set at one end of the gripping and transfer device for calibrating the reference edge of the plate. The feeding roller (6) and the discharging roller (7) are arranged side by side. Both the feeding roller (6) and the discharging roller (7) are located on the side of the gripping and transfer device away from the processing center. The feeding roller (6) is connected to the roller of the front-end process and is used to receive materials. The discharging roller (7) is connected to the roller of the rear-end process and is used to discharge materials. The structural component (4-1) includes a clamping structural beam (4-12), on which a telescopic component (4-2) for driving the gripping component (4-3) to rise and fall is installed. The telescopic component (4-2) is connected to the elastic connector (4-32). A positioning pin is installed at the bottom of the clamping structural beam (4-12), and the gripping component (4-3) has a positioning hole that cooperates with the positioning pin. The gripping component (4-3) has a limiting position and a releasing position on its lifting stroke. When the gripping component (4-3) is in the limiting position, the positioning pin is located in the positioning hole to limit the degree of freedom of the gripping component (4-3) in the X and Y axes. When the gripping component (4-3) is in the releasing position, the positioning pin disengages from the positioning hole and separates from the positioning hole to release the degree of freedom of the gripping component (4-3) in the X and Y axes.

2. The automatic loading and unloading equipment for a sheet metal processing center according to claim 1, characterized in that: The gripping and transfer device includes a robot rail (2) and a transfer robot (3) mounted on the robot rail (2), with a positioning fixture (4) fixed to the end of the robotic arm of the transfer robot (3).

3. The automatic loading and unloading equipment for a sheet metal processing center according to claim 1, characterized in that: The reference self-calibration positioning fixture (5) includes a base (5-2), an inclined base frame (5-15) is installed on the base (5-2), and a positioning plate (5-1) is installed on the base frame (5-15). The positioning plate (5-1) is used to position the back of the plate and to allow the plate to lean against it to prevent it from tipping over. The plate placed on the base (5-2) is in contact with the positioning plate (5-1) and slides towards the lower end of the base (5-2) under the action of gravity. The lower end of the base (5-2) is provided with a limiting reference plate (5-11) to prevent the plate from falling and to position the side of the plate.

4. The automatic loading and unloading equipment for a sheet metal processing center according to claim 3, characterized in that: The base frame (5-15) is equipped with rollers (5-14) to reduce the resistance of the plate sliding.

5. The automatic loading and unloading equipment for a sheet metal processing center according to claim 4, characterized in that: The reference self-calibration positioning fixture (5) also includes a proximity switch for detecting whether the plate is aligned. The proximity switch is used to detect whether the bottom edge and side edge of the plate are aligned respectively.

6. The automatic loading and unloading equipment for a sheet metal processing center according to claim 1, characterized in that: The feeding roller (6) and the discharging roller (7) are both lifting rollers that can be raised and lowered. The feeding roller (6) includes a plate feeding roller and a pad feeding roller (63), and the discharging roller (7) includes a plate discharging roller and a pad discharging roller (71). The plate feeding roller includes a first plate feeding roller (61) and a second plate feeding roller (62), and a pad discharge roller (71) is provided between the first plate feeding roller (61) and the second plate feeding roller (62); the plate discharge roller includes a first plate discharge roller (72) and a second plate discharge roller (73), and a pad feeding roller (63) is also provided between the first plate discharge roller (72) and the second plate discharge roller (73).

7. The automatic loading and unloading equipment for a sheet metal processing center according to claim 6, characterized in that: The feeding roller (6) and discharging roller (7) are also provided with height-detecting sensors (9) for detecting the height of the material, so that the top of the plate is always kept at the set height.

8. The automatic loading and unloading equipment for a sheet metal processing center according to claim 7, characterized in that: The feeding roller (6) is provided with a positioning structure for positioning the material.

9. A production method for an automatic loading and unloading device for a sheet metal processing center according to any one of claims 6-8, characterized in that, Includes the following steps: S1, initialize the height of the feeding roller (6) and the discharging roller (7), keep the height of the feeding roller (6) consistent with the height of the roller plane of the front-end process docking, so that the incoming material in the roller of the front-end process docking can smoothly enter the feeding roller (6); keep the height of the discharging roller (7) consistent with the height of the roller plane of the rear-end process docking, so that the material in the discharging roller (7) can smoothly enter the roller of the rear-end process docking. S2, receiving materials and pallet stacks, the materials include pallets and plates on the pallets, the pallet stacks are composed of stacked pallets; after the materials and pallet stacks enter the feeding roller (6), the materials or pallet stacks are positioned by the positioning structure; S3, place the pad, and use the transfer robot (3) to grab the pad and place it on the first plate discharge roller (72) and the second plate discharge roller (73). S4, the transfer robot (3) loads the material. The transfer robot (3) grabs the plate on the first plate loading roller (61) and transfers the plate to the reference self-calibration positioning fixture (5) for process reference edge (1-4) calibration. Then the transfer robot (3) grabs the plate from the reference self-calibration positioning fixture (5) and transfers it to the target station of the machining center (1) for processing. After the first plate feeding roller (61) has finished picking up the plates, the transfer robot (3) places the remaining pads on the first plate feeding roller (61) onto the pad discharge roller (71). When the pad discharge roller (71) has accumulated a set number of pads, the pad discharge roller (71) sends the pad stack into the rear process roller that is connected to the pad discharge roller (71). After the pad discharge roller (71) is emptied, pads can continue to be stacked. After the first plate feeding roller (61) is emptied, the transfer robot (3) grabs the plate from the second plate feeding roller (62). At this time, the first plate feeding roller (61) receives new material for backup. The first plate feeding roller (61) and the second plate feeding roller (62) are backups for each other and work alternately. S5, the transfer robot (3) unloads the material. The target station of the machining center (1) includes the first target station (1-2) and the second target station (1-3). When the plate of the first target station (1-2) is finished, the cutter head (1-1) of the machining center (1) moves to the second target station (1-3) to make room. The transfer robot (3) grabs the plate of the first target station (1-2) and transfers it to the pad of the first plate discharge roller (72). When the first plate discharge roller (72) stacks the set number of plates, the transfer robot (3) places the processed plates on the pad of the second plate discharge roller (73); The first plate discharge roller (72) feeds the material into the rear process roller that is connected to the first plate discharge roller (72). After the first plate discharge roller (72) is emptied, the transfer robot (3) grabs a pad from the pad loading roller (63) and places it on the first plate discharge roller (72) for backup. The first plate discharge roller (72) and the second plate discharge roller (73) are backups for each other and work alternately. S6, continuous operation, repeating steps S1 to S5 in a loop.

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