Automatic feeding and discharging system and method for machine tool

Abstract

The invention discloses an automatic feeding and discharging system and method for a machine tool. The system comprises a numerical control machine tool used for machining a workpiece to be machined on a workpiece clamping jig to obtain a machined workpiece; the workpiece clamping jig is used for clamping and detecting whether a workpiece to be machined or a machined workpiece exists or not; the moving mechanism is used for driving the six-axis robot and the material table to move; the material table is provided with a material positioning detection jig and a visual identification device; the six-axis robot is used for clamping a workpiece to be machined on the material positioning detection jig to the workpiece clamping jig and clamping a machined workpiece on the workpiece clamping jig to the material positioning detection jig; the robot control cabinet is used for controlling the six-axis robot to execute corresponding actions; and the operation table is used for monitoring the working state of the automatic feeding and discharging system of the machine tool. The automatic feeding and discharging device can realize automatic feeding and discharging and automatic machining of workpieces, and has the advantages of high safety, high efficiency, high reliability, high precision and low cost.

Description

Technical Field

[0001] The present invention relates to the technical field of loading and unloading equipment, and in particular to an automatic loading and unloading system and method for a machine tool. Background Art

[0002] With the development trend of productivity in contemporary society, the requirements for production and processing are getting higher and higher, and the ability to adapt to different environments is put forward. However, the traditional manual loading and unloading working method has problems such as poor reliability, low efficiency, high labor intensity, high cost, and processing machine tools have certain safety threats to operators and are highly dangerous. At present, it has gradually failed to meet the production requirements of industrial automation for enterprise development. Summary of the invention

[0003] The embodiment of the present invention provides a system and method for automatic loading and unloading of machine tools, aiming to solve the problems existing in the loading and unloading working mode of the prior art, such as potential safety hazards, poor reliability, low efficiency, high labor intensity and high cost, and the inability to meet the requirements of industrial automation production.

[0004] In a first aspect, an embodiment of the present invention provides an automatic loading and unloading system for a machine tool, which includes a CNC machine tool, a workpiece clamping fixture, a moving mechanism, a material table, a six-axis robot, a robot control cabinet and an operating table;

[0005] The workpiece clamping fixture is arranged in the CNC machine tool, the moving mechanism is arranged at the front end of the CNC machine tool, the material table and the six-axis robot are arranged on the moving mechanism, the material table is provided with a material positioning detection fixture and a visual recognition device, the operating table is arranged on one side of the moving mechanism, and the robot control cabinet is arranged in the operating table;

[0006] Wherein, the CNC machine tool is used to process the workpiece to be processed on the workpiece clamping fixture to obtain a processed workpiece;

[0007] The workpiece clamping fixture is used for clamping and detecting whether the workpiece to be processed or the processed workpiece exists;

[0008] The moving mechanism is used to drive the six-axis robot and the material table to move;

[0009] The material positioning detection jig is used to store and detect whether there are a plurality of the to-be-processed parts and / or the processed parts;

[0010] The visual recognition device is used to locate and identify the workpiece to be processed on the material positioning detection jig;

[0011] The six-axis robot is used to clamp the workpiece to be processed on the material positioning detection jig to the workpiece clamping jig, and to clamp the processed workpiece on the workpiece clamping jig to the material positioning detection jig;

[0012] The robot control cabinet is used to control the six-axis robot to perform corresponding actions;

[0013] The operating table is used to monitor the working status of the automatic loading and unloading system of the machine tool.

[0014] In a second aspect, an embodiment of the present invention further provides a method for automatic loading and unloading of a machine tool, the method being applied to the automatic loading and unloading system of a machine tool as described in the first aspect above, the method comprising:

[0015] The operating table responds to the start command and controls the moving mechanism to drive the six-axis robot and the material table to move to a preset target processing position;

[0016] The operating table obtains a plurality of workpiece positions according to the signal detected by the material positioning detection jig and the signal recognized by the visual recognition device, and obtains a target workpiece position according to the plurality of workpiece positions;

[0017] The operating platform sends corresponding control instructions to the robot control cabinet according to the target workpiece position;

[0018] The robot control cabinet controls the six-axis robot to clamp the corresponding workpiece to be processed on the material positioning detection fixture according to the control instruction, and determines whether the CNC machine tool enters the first state;

[0019] If the robot control cabinet determines that the operating table monitors that the six-axis robot has clamped the workpiece to be processed and the CNC machine tool has entered the first state, the six-axis robot is controlled to place the workpiece to be processed into the workpiece clamping fixture, and the workpiece clamping fixture is controlled to enter a clamping state;

[0020] The robot control cabinet controls the CNC machine tool to enter the second state, and sends a corresponding processing instruction to the CNC machine tool when it is determined that the operating table monitors that the CNC machine tool has entered the second state and the workpiece clamp has entered the clamping state;

[0021] The CNC machine tool processes the workpiece to be processed on the workpiece clamping fixture according to the processing instruction to obtain a processed workpiece, and sends a processing completion signal to the robot control cabinet when the processing is completed;

[0022] When the robot control cabinet receives the processing completion signal, it controls the CNC machine tool to enter the first state, and controls the workpiece clamp to enter the release state;

[0023] If the robot control cabinet determines that the operating table monitors that the CNC machine tool has entered the first state and the workpiece clamp has entered the release state, the six-axis robot is controlled to clamp the processed workpiece on the workpiece clamp to the target workpiece position;

[0024] The operating platform updates the target workpiece position according to the plurality of workpiece positions, and returns to execute the operating platform to send corresponding control instructions to the robot control cabinet according to the target workpiece position.

[0025] The embodiment of the present invention provides a system and method for automatic loading and unloading of machine tools, which includes a CNC machine tool for processing a workpiece on a workpiece clamping fixture to obtain a processed workpiece; a workpiece clamping fixture for clamping and detecting whether there is a workpiece to be processed or a processed workpiece; a moving mechanism for driving a six-axis robot and a material table to move; a material table provided with a material positioning detection fixture and a visual recognition device; a six-axis robot for clamping the workpiece on the material positioning detection fixture to the workpiece clamping fixture, and clamping the processed workpiece on the workpiece clamping fixture to the material positioning detection fixture; a robot control cabinet for controlling the six-axis robot to perform corresponding actions; and an operating table for monitoring the working status of the automatic loading and unloading system of the machine tool. The present invention can realize automatic loading and unloading and automated processing of workpieces, and has the advantages of high safety, high efficiency, high reliability, high precision and low cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying any creative work.

[0027] Figure 1 A schematic diagram of the structure of an automatic loading and unloading system for a machine tool provided by an embodiment of the present invention;

[0028] Figure 2 A schematic diagram of the structure of a CNC machine tool provided by an embodiment of the present invention;

[0029] Figure 3 A schematic diagram of the structure of a workpiece clamping fixture provided by an embodiment of the present invention;

[0030] Figure 4 A schematic structural diagram of a workpiece clamping fixture provided by another embodiment of the present invention;

[0031] Figure 5 A schematic diagram of the structure of a material table provided in one embodiment of the present invention;

[0032] Figure 6 A schematic diagram of the structure of a moving mechanism, a six-axis robot and a material table provided in one embodiment of the present invention;

[0033] Figure 7 A schematic diagram of the structure of a clamping mechanism and an anti-collision detection device in a six-axis robot provided in one embodiment of the present invention;

[0034] Figure 8 A schematic diagram of the structure of an operating table and a robot control cabinet provided in one embodiment of the present invention;

[0035] Fig. 9 A schematic flow chart of a method for automatic loading and unloading of a machine tool provided in one embodiment of the present invention.

[0036] Wherein, the accompanying drawings are described as follows:

[0037] 1. CNC machine tool; 11. Machine tool body; 111. Processing room; 12. Bed door assembly; 121. Left machine door; 122. Right machine door; 123. Door handle; 124. Buffer strip; 13. Door opening and closing drive assembly; 131. First rodless cylinder; 132. Second rodless cylinder; 133. First slide block; 134. First connecting plate; 135. Protective cover; 14. First sensor assembly; 2. Workpiece clamping fixture; 21. Fixture assembly; 211. Workpiece positioning groove; 2111. Guide groove ; 2112, avoidance hole; 212, fixture bottom plate; 213, fixture top plate; 214, column; 22, top clamping assembly; 221, cylinder support plate; 222, cylinder connecting plate; 223, three-axis cylinder; 224, cylinder top plate; 23, end positioning block; 24, lateral clamping assembly; 241, thin cylinder; 242, protective cover; 243, top block; 25, lateral positioning block; 26, second sensor assembly; 27, first blowing assembly; 3, moving mechanism; 31, robot ground rail ; 32, mounting plate; 4, material table; 5, six-axis robot; 51, robot base; 52, robot body; 53, clamping mechanism; 531, connecting assembly; 532, second blowing assembly; 533, first clamping jaw; 5331, pneumatic finger; 5332, clamping jaw block; a, connecting block; b, clamping block; c, clamping jaw rubber pad; 534, second clamping jaw; 535, third sensor assembly; 536, fourth sensor assembly; 54, anti-collision detection device; 6, robot control cabinet; 7, Operating table; 71. Control button; 72. Display; 73. Indicator light; 74. Input device; 741. Mouse; 742. Keyboard; 8. Material positioning detection fixture; 81. Workpiece positioning detection assembly; 811. Pad; 812. Buffer pad; 813. Limit block assembly; 8131. Left limit block; 8132. Right limit block; 8133. Upper limit block; 814. Sensor; 9. Visual recognition device; 91. 3D visual camera; 92. Camera fixing block; 93. Camera bracket. DETAILED DESCRIPTION

[0038] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are 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 creative work are within the scope of protection of the present invention.

[0039] It should be understood that when used in this specification and the appended claims, the terms "include" and "comprises" indicate the presence of described features, integers, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0040] It should also be understood that the terms used in this specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. As used in the specification of the present invention and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0041] It should be further understood that the term "and / or" used in the present description and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0042] See also Figures 1 to 8 , Figure 1 A schematic diagram of the structure of an automatic loading and unloading system for a machine tool provided by an embodiment of the present invention; Figure 2 A schematic diagram of the structure of a CNC machine tool provided by an embodiment of the present invention; Figure 3 A schematic diagram of the structure of a workpiece clamping fixture provided by an embodiment of the present invention; Figure 4 A schematic structural diagram of a workpiece clamping fixture provided by another embodiment of the present invention; Figure 5 A schematic diagram of the structure of a material table provided in one embodiment of the present invention;

[0043] Figure 6 A schematic diagram of the structure of a moving mechanism, a six-axis robot and a material table provided in one embodiment of the present invention;

[0044] Figure 7 A schematic diagram of the structure of a clamping mechanism and an anti-collision detection device in a six-axis robot provided in one embodiment of the present invention; Figure 8 A schematic structural diagram of an operating table and a robot control cabinet provided in one embodiment of the present invention.

[0045] The automatic loading and unloading system for machine tools provided in an embodiment of the present invention includes: a CNC machine tool 1, a workpiece clamp fixture 2, a moving mechanism 3, a material table 4, a six-axis robot 5, a robot control cabinet 6 and an operating table 7; the workpiece clamp fixture 2 is arranged in the CNC machine tool 1, the moving mechanism 3 is arranged at the front end of the CNC machine tool 1, the material table 4 and the six-axis robot 5 are arranged on the moving mechanism 3, the material table 4 is provided with a material positioning detection fixture 8 and a visual recognition device 9, the operating table 7 is arranged on one side of the moving mechanism 3, and the robot control cabinet 6 is arranged in the operating table 7.

[0046] Among them, the CNC machine tool 1 is used to process the workpiece to be processed on the workpiece clamping fixture 2 to obtain a processed workpiece; the workpiece clamping fixture 2 is used to clamp and detect whether the workpiece to be processed or the processed workpiece exists; the moving mechanism 3 is used to drive the six-axis robot 5 and the material table 4 to move; the material positioning detection fixture 8 is used to store and detect whether there are a number of the workpieces to be processed and / or the processed workpieces; the visual recognition device 9 is used to locate and identify the workpiece to be processed on the material positioning detection fixture 8; the six-axis robot 5 is used to clamp the workpiece to be processed on the material positioning detection fixture 8 to the workpiece clamping fixture 2, and clamp the processed workpiece on the workpiece clamping fixture 2 to the material positioning detection fixture 8; the robot control cabinet 6 is used to control the six-axis robot 5 to perform corresponding actions; the operating table 7 is used to monitor the working status of the automatic loading and unloading system of the machine tool.

[0047] In this embodiment, see Figure 1The automatic loading and unloading system for machine tools provided in the embodiment of the present invention adopts a grouped modular design, and is composed of a CNC machine tool 1, a workpiece clamping fixture 2, a moving mechanism 3, a material table 4, a six-axis robot 5, a robot control cabinet 6 and an operating table 7. Among them, the workpiece clamping fixture 2 is arranged in the CNC machine tool 1, and the workpiece to be processed is clamped by the workpiece clamping fixture 2 and the existence of the workpiece to be processed is detected, so that when the workpiece clamping fixture 2 detects the existence of the workpiece to be processed, the workpiece to be processed on the workpiece clamping fixture 2 can be processed by the CNC machine tool 1 to obtain the processed workpiece, thereby realizing automated processing. The moving mechanism 3 is arranged at the front end of the CNC machine tool 1, and the material table 4 and the six-axis robot 5 can be driven to move by the moving mechanism 3, so that when the six-axis robot 5 needs to perform automatic loading and unloading work, the material table 4 and the six-axis robot 5 can be driven by the moving mechanism 3 to move to the corresponding workstation of the CNC machine tool 1. The material table 4 is provided with a material positioning detection fixture 8 and a visual recognition device 9. The material positioning detection fixture 8 is used to store and detect whether there are a number of workpieces to be processed and / or processed workpieces. The visual recognition device 9 is used to locate and identify the workpieces to be processed on the material positioning detection fixture 8, so as to provide the six-axis robot 5 with the position characteristics of the workpieces to be processed in space, improve the grasping accuracy of the six-axis robot 5, and thus improve the overall accuracy of the system. The six-axis robot 5 is located between the CNC machine tool 1 and the material table 4 when performing automatic loading and unloading. The six-axis robot 5 can clamp the workpieces to be processed on the material positioning detection fixture 8 to the workpiece clamping fixture 2, and after the workpieces to be processed are processed, that is, after the workpieces to be processed on the workpiece clamping fixture 2 are processed into processed workpieces, the six-axis robot 5 clamps the processed workpieces on the workpiece clamping fixture 2 to the material positioning detection fixture 8, thereby realizing automatic loading and unloading of workpieces. The robot control cabinet 6 is arranged in the operating table 7. The robot control cabinet 6 serves as the control unit of the six-axis robot 5. The six-axis robot 5 can be controlled through the robot control cabinet 6 so that the six-axis robot 5 performs corresponding actions, thereby enabling the six-axis robot 5 to complete the automatic loading and unloading of the workpiece and realize unmanned production. The operating table 7 is arranged on one side of the moving mechanism 3, and the operating table 7 is located outside the working range of the six-axis robot 5 to ensure the safety of the workers during operation, and the working state of the system is monitored through the operating table 7, so that the system completes the automatic loading and unloading and automated processing of the workpiece. In addition, the structure of the workpiece clamping and the workpiece clamping fixture 2 in the six-axis robot 5 can also be replaced to realize the automatic loading and unloading and processing of different workpieces, so as to meet the production of diversified workpieces.

[0048] In the specific implementation, the operation table 7 serves as the master station, the robot control cabinet 6 and the CNC machine tool 1 serve as slave stations, and the operation table 7 monitors the working state of the entire system. For example, the operation table 7 monitors that the material positioning detection fixture 8 is in a state where a number of workpieces to be processed have been stored according to the signal detected by the material positioning detection fixture 8. In addition, the operation table 7 sends corresponding control instructions to the robot control cabinet 6 according to the working state of the system, so that the robot control cabinet 6 controls the six-axis robot 5, the workpiece clamp fixture 2 and the CNC machine tool 1 according to the corresponding control instructions sent by the operation table 7, and then the six-axis robot 5, the workpiece clamp fixture 2 and the CNC machine tool 1 perform corresponding actions, thereby completing the automatic loading and unloading and automated processing of the workpiece.

[0049] In a more specific embodiment, see Figure 2 The CNC machine tool 1 includes a machine tool body 11, a bed door assembly 12, a switch door drive assembly 13 and a first sensor assembly 14; the machine tool body 11 is provided with a processing chamber 111, and the workpiece clamp fixture 2 is arranged in the processing chamber 111; the bed door assembly 12, the switch door drive assembly 13 and the first sensor assembly 14 are all arranged on the machine tool body 11, and the switch door drive assembly 13 is connected to the bed door assembly 12; wherein, the switch door drive assembly 13 is used to drive the bed door assembly 12 to open or close, so as to open or close the processing chamber 111 through the bed door assembly 12; the first sensor assembly 14 is used to detect the switch door state of the bed door assembly 12.

[0050] In this embodiment, see Figure 2The machine tool body 11 is provided with a processing chamber 111, so that the workpiece clamping fixture 2 can be placed in the processing chamber 111, and the machine tool body 11 can process the workpiece to be processed on the workpiece clamping fixture 2. The machine tool body 11 is provided with a bed door assembly 12, a door opening and closing driving assembly 13 and a first sensor assembly 14. The bed door assembly 12 is driven to open or close by the door opening and closing driving assembly 13, and then the processing chamber 111 is opened or closed by the bed door assembly 12, so that the workpiece clamping fixture 2 in the processing chamber 111 is exposed or closed. In addition, the door opening and closing state of the bed door assembly 12 is detected by the first sensor assembly 14. In the specific implementation, the door opening and closing driving assembly 13 is controlled by the corresponding signal sent by the robot control cabinet 6, and the door opening and closing state detected by the first sensor assembly 14 is sent to the operating table 7, so that the operating table 7 can monitor the state of the bed door assembly 12. Specifically, when the robot control cabinet 6 sends a corresponding door opening signal, the door opening and closing drive assembly 13 drives the bed door assembly 12 to move and open the bed door assembly 12, thereby exposing the workpiece clamp 2. At the same time, the first sensor assembly 14 senses the corresponding signal and feeds back to the operating table 7, thereby realizing a door opening action. The operating table 7 will execute subsequent loading and unloading procedures only after it detects that the bed door assembly 12 is in an open state based on the feedback signal of the first sensor assembly 14, so as to avoid the collision between the six-axis robot 5 and the bed door assembly 12, resulting in deformation and other damage to the bed door assembly 12 and the six-axis robot 5. When the robot control cabinet 6 sends a corresponding door closing signal, the door opening and closing drive assembly 13 drives the bed door assembly 12 to move and close the bed door assembly 12, thereby sealing the workpiece clamp 2. At the same time, the first sensor assembly 14 senses the corresponding signal and feeds back to the operating table 7, thereby realizing a door closing action. The operating table 7 detects that the bed door assembly 12 is in a closed state based on the feedback signal of the first sensor assembly 14, and then sends a corresponding processing instruction to the machine tool body 11 through the robot control cabinet 6, so that the machine tool body 11 processes the workpiece to be processed on the workpiece clamp 2.

[0051] Further, see Figure 2The bed door assembly 12 includes a left machine door 121 and a right machine door 122, and a door handle 123 is provided on each of the left machine door 121 and the right machine door 122. The door opening and closing drive assembly 13 includes a first rodless cylinder 131, a second rodless cylinder 132, a first slider 133, a second slider (not shown), a first connecting plate 134 and a second connecting plate (not shown); the first rodless cylinder 131 and the second rodless cylinder 132 are both arranged on the top of the machine tool body 11, the first slider 133 and the second slider are respectively arranged on the piston rods of the first rodless cylinder 131 and the second rodless cylinder 132, the first slider 133 is connected to the left machine door 121 through the first connecting plate 134, and the second slider is connected to the right machine door 122 through the second connecting plate. The first rodless cylinder 131 is used to drive the first slider 133 to move, and then drive the left machine door 121 to move together through the first slider 133; the second rodless cylinder 132 is used to drive the second slider to move, and then drive the right machine door 122 to move together through the second slider, so that the processing room 111 is opened or closed by controlling the positions of the left machine door 121 and the right machine door 122. In addition, the first sensor assembly 14 includes four contact sensors, and a contact sensor is provided at the top of the machine body 11 at the corresponding position of the end of the first rodless cylinder 131 and the second rodless cylinder 132 to detect the position of the first slider 133 and the second slider, and then determine the open and close state of the bed door assembly 12. Furthermore, the bed door assembly 12 also includes a buffer strip 124, which is arranged on the side of the left machine tool door 121, and plays a buffer transition role when the two doors are closed, thereby increasing the service life of the first rodless cylinder 131, the second rodless cylinder 132, the left machine tool door 121 and the right machine tool door 122, and reducing the impact force generated by the collision between the left machine tool door 121 and the right machine tool door 122 when closing the door, which causes the deformation degree of the first rodless cylinder 131, the second rodless cylinder 132, the left machine tool door 121 and the right machine tool door 122.

[0052] In a more specific embodiment, see Figure 2 The door opening and closing drive component 13 further includes a protective cover 135 ; the protective cover 135 is disposed on the machine tool body 11 , and the protective cover 135 is used to cover the door opening and closing drive component 13 and the first sensor component 14 .

[0053] In this embodiment, see Figure 2 The protective cover 135 can protect the switch door drive component 13 and the first sensor component 14, and prevent debris in the processing environment from splashing into the inside of the switch door drive component 13 and the first sensor component 14, thereby affecting the movement of the switch door drive component 13 and the detection of the first sensor component 14, and ensuring the accuracy of the detection signal of the first sensor component 14.

[0054] In a more specific embodiment, see Figure 3 and Figure 4 The workpiece clamp 2 includes a clamp assembly 21, a top clamp assembly 22, an end positioning block 23, a lateral clamp assembly 24, a lateral positioning block 25, and a second sensor assembly 26; a workpiece positioning groove 211 is arranged on the top of the clamp assembly 21; the top clamp assembly 22 and the end positioning block 23 are arranged on the clamp assembly 21 opposite to each other, and the end positioning block 23 and the top clamp assembly 22 are respectively located on the front and rear sides of the workpiece positioning groove 211; the lateral clamp assembly 24 and the lateral positioning block 25 are arranged on the clamp assembly 21 opposite to each other, and the lateral clamp assembly 24 and the lateral positioning block 25 are respectively located on the left and right sides of the workpiece positioning groove 211; the second sensor assembly 26 is arranged in the workpiece positioning groove 211, and the second sensor assembly 26 is used to detect whether the workpiece to be processed exists in the workpiece positioning groove 211.

[0055] In this embodiment, see Figure 3 and Figure 4 The workpiece positioning groove 211 provided on the top of the fixture assembly 21 is used to place the workpiece to be processed or the processed workpiece, and the freedom of the workpiece is limited by the coordinated use of the top clamping assembly 22, the end positioning block 23, the lateral clamping assembly 24 and the lateral positioning block 25, so as to realize the clamping and releasing of the workpiece. Among them, the robot control cabinet 6 controls the top clamping assembly 22 and the lateral clamping assembly 24 to approach or move away from the workpiece positioning groove 211, so as to realize the clamping or releasing of the workpiece placed in the workpiece positioning groove 211. The second sensor assembly 26 is used to detect whether there is a workpiece to be processed in the workpiece positioning groove 211, and the signal detected by the second sensor assembly 26 will be sent to the operating table 7, so as to detect the position state of the workpiece in the workpiece clamp 2 to ensure the safety of the entire system.

[0056] In a more specific embodiment, see Figure 3 and Figure 4 The workpiece clamping fixture 2 is provided with a first air blowing assembly 27 ; the first air blowing assembly 27 is used to clean the debris accumulated on the workpiece clamping fixture 2 during the processing.

[0057] In this embodiment, see Figure 3 and Figure 4, by using the first blowing assembly 27 to clean the debris accumulated on the workpiece clamp 2 during the processing, the influence of the debris on the workpiece processing accuracy can be reduced. Furthermore, the first blowing assembly 27 includes a universal bamboo tube, which can flexibly adjust the blowing direction and blowing flow rate, and can be adjusted according to the actual processing conditions. Optionally, there are four first blowing assemblies 27, of which two first blowing assemblies 27 are symmetrically fixed on the fixture bottom plate 212, one on the left and one on the right, to clean the debris generated during the processing and ensure the accuracy and size consistency of the workpiece processing. The other two first blowing assemblies 27 are installed on the side of the fixture top plate 213 and on the same side as the top clamping assembly 22, to clean the debris accumulated on the fixture top plate 213 and the top clamping assembly 22 during the processing.

[0058] Further, see Figure 3 and Figure 4 The fixture assembly 21 includes a fixture bottom plate 212, a fixture top plate 213 and four columns 214. The fixture bottom plate 212 is connected to the fixture top plate 213 through the four columns 214. A workpiece positioning groove 211 is provided on the top of the fixture top plate 213. Preferably, a circular shallow groove is provided at each of the four corners of the fixture bottom plate 212, and a groove is provided at each of the four corners of the fixture top plate 213 corresponding to the circular shallow groove on the fixture bottom plate 212 for positioning the column 214. The top clamping assembly 22 includes two cylinder support plates 221, a cylinder connecting plate 222, a three-axis cylinder 223 and a cylinder top plate 224, wherein the cylinder top plate 224 is arranged on one side of the three-axis cylinder 223 close to the workpiece positioning groove 211, the three-axis cylinder 223 is installed on the cylinder connecting plate 222, and two cylinder support plates 221 are symmetrically installed on the cylinder connecting plate 222. The three-axis cylinder 223 and the cylinder top plate 224 are installed on the fixture bottom plate 212 through the cylinder support plate 221 and the cylinder connecting plate 222, and the cylinder top plate 224 is driven by the three-axis cylinder 223 to approach or move away from the workpiece positioning groove 211. The lateral clamping assembly 24 includes a thin cylinder 241, an OK clamp (not shown), a protective cover 242 and a top block 243, wherein the OK clamp is connected to the thin cylinder 241, and the OK clamp is installed on the top of the fixture top plate 213, the thin cylinder 241 is installed on the bottom of the fixture top plate 213, and the top block 243 is installed on the side of the OK clamp close to the workpiece positioning groove 211; the protective cover 242 is installed on the fixture top plate 213 and covers the OK clamp, limits and guides the OK clamp, and the clamping force of the OK clamp can be changed by changing the specifications of the thin cylinder 241. The top block 243 is driven to approach or move away from the workpiece positioning groove 211 by the thin cylinder 241 and the OK clamp, thereby meeting the clamping positioning and release of workpieces of different materials.

[0059] For further information, see Figure 3 and Figure 4The workpiece positioning groove 211 is provided with a guide groove 2111 and an avoidance hole 2112. By cooperating with the first blowing assembly 27, the influence of debris such as iron filings and cutting fluid on batch processing during processing can be effectively reduced. The surface of the workpiece positioning groove 211 that contacts the workpiece is stepped, that is, the surroundings of the workpiece positioning groove 211 are higher than the middle of the workpiece positioning groove 211, which reduces the contact area between the fixture top plate 213 and the workpiece, thereby reducing the influence of fine particles on the processing accuracy. The fixture top plate 213 is provided with a guide groove (not shown) at the OK clamp fixing position, and corresponds to the guide groove on the protective cover 242, so as to improve the clamping accuracy and reduce the influence of the fixture on the workpiece processing accuracy.

[0060] In a more specific embodiment, see Figure 5 The material positioning detection fixture 8 includes a plurality of workpiece positioning detection components 81; each workpiece positioning detection component 81 includes a pad 811, a buffer pad 812, a limit block component 813 and a sensor 814; the pad 811 is arranged on the material table 4; the buffer pad 812 is arranged on the pad 811; the limit block component 813 is located on the buffer pad 812, and the limit block component 813 is connected to the material table 4; the sensor 814 is arranged on the material table 4, and the sensing end of the sensor 814 is flush with the upper surface of the buffer pad 812; wherein, the limit block component 813 is used to limit the workpiece to be processed or the processed workpiece; the sensor 814 is used to detect whether the workpiece to be processed or the processed workpiece exists in the limit block component 813.

[0061] In this embodiment, see Figure 5 Each workpiece positioning detection assembly 81 includes a pad 811, a buffer pad 812 and a limit block assembly 813 arranged in sequence from bottom to top. Preferably, the buffer pad 812 is a rubber pad, which is used to prevent the finished material (i.e., the processed part) from directly contacting the pad 811 to produce scratches, pressure / marks and other defects, thereby reducing the defect rate of the finished material. At the same time, it can play a buffering role when the six-axis robot 5 grabs the workpiece to be processed, reducing the adverse effects caused by the rigid collision between the six-axis robot 5 and the workpiece positioning detection assembly 81, thereby improving the service life of the equipment. Furthermore, the limit block assembly 813 includes a left limit block 8131, a right limit block 8132 and an upper limit block 8133, which form a workpiece fixing position to limit the workpiece to be processed or the processed workpiece, wherein the left limit block 8131 and the right limit block 8132 are both L-shaped structures, which can be adjusted left and right according to the actual size of the workpiece to be processed.

[0062] See also Figure 5Each workpiece positioning detection component 81 also includes a sensor 814, which is used to detect whether there is a workpiece in the limit block component 813. When the sensing end of the sensor 814 detects the presence of a workpiece, it will send a corresponding detection signal to the robot control cabinet 6, and then the robot control cabinet 6 will send the detection signal to the operating table 7. In one embodiment, when the motion program of the six-axis robot 5 is executed to the position corresponding to the workpiece positioning detection component 81, if the robot control cabinet 6 receives the detection signal of the sensor 814 in the workpiece positioning detection component 81, it indicates that there are workpieces to be processed in the workpiece positioning detection component 81, and the robot control cabinet 6 controls the six-axis robot 5 to execute a grasping command to obtain the workpieces to be processed stored in the workpiece positioning detection component 81; if the robot control cabinet 6 does not receive the detection signal of the sensor 814 in the workpiece positioning detection component 81, it indicates that there are no workpieces to be processed in the workpiece positioning detection component 81, and the robot control cabinet 6 controls the six-axis robot 5 to stop the grasping command and run to the position of the next workpiece positioning detection component 81 to wait and prepare to execute the grasping command. At the same time, the robot control cabinet 6 will send an alarm signal to the operating table 7 to remind the workers to check the operating status and replenish the workpieces to be processed in time.

[0063] In a more specific embodiment, see Figure 6 and Figure 7 The six-axis robot 5 includes a robot base 51, a robot body 52 and a clamping mechanism 53; the robot base 51 is arranged on the moving mechanism 3; the robot body 52 is arranged on the robot base 51; the clamping mechanism 53 is arranged on the end of the robot body 52; wherein, the robot body 52 is used to drive the clamping mechanism 53 to move and flip; the clamping mechanism 53 is used to clamp the workpiece to be processed and / or the processed workpiece, and detect whether the workpiece to be processed and / or the processed workpiece is clamped correctly; the clamping mechanism 53 is also used to clean the processed workpiece on the workpiece clamp 2.

[0064] In this embodiment, see Figure 6 and Figure 7The six-axis robot 5 is composed of a robot base 51, a robot body 52 and a clamping mechanism 53, wherein the robot body 52 is fixed on the moving mechanism 3 by the robot base 51, and the clamping mechanism 53 is installed on the end of the robot body 52. ​​In the specific implementation, the clamping mechanism 53 clamps the workpiece and detects whether the workpiece is clamped correctly. If the clamping mechanism 53 detects that the workpiece has been clamped correctly, that is, the clamping mechanism 53 has clamped the workpiece, it will feedback the corresponding grasping signal to the operating table 7. The robot control cabinet 6 will control the robot body 52 to perform subsequent actions only after receiving the grasping signal sent by the operating table 7, so as to drive the clamping mechanism 53 to move and flip through the robot body 52, thereby realizing automatic loading and unloading of the workpiece. If the clamping mechanism 53 does not detect that the workpiece has been clamped correctly, the robot control cabinet 6 will determine that the grasping has failed and control the six-axis robot 5 to grasp again, so as to ensure the logical safety of each workpiece grasping. In addition, before the clamping mechanism 53 clamps the processed workpiece on the workpiece clamping fixture 2 for material replacement, it can also clean the processed workpiece on the workpiece clamping fixture 2, such as cleaning the metal chips left over from processing, to ensure that the processing environment of the next workpiece to be processed is met.

[0065] In a more specific embodiment, see Figure 6 and Figure 7 The six-axis robot 5 also includes an anti-collision detection device 54; the anti-collision detection device 54 is arranged between the robot body 52 and the clamping mechanism 53, and the anti-collision detection device 54 is used to detect the collision signal of the robot body 52 during the movement.

[0066] In this embodiment, an anti-collision detection device 54 is added between the robot body 52 and the clamping mechanism 53. The anti-collision detection device 54 can capture the collision signal in time during the movement of the robot body 52, so as to stop the movement of the six-axis robot 5 in time and minimize the risk of collision. Specifically, after the anti-collision device captures the collision signal, it will directly send the collision signal to the robot control cabinet 6. After receiving the collision signal, the robot control cabinet 6 will immediately control the six-axis robot 5 to stop moving and feed back the current state to the operating table 7.

[0067] In a more specific embodiment, see Figure 7The clamping mechanism 53 includes a connecting component 531, a second blowing component 532, a first clamp 533, a second clamp 534, a third sensor component 535 and a fourth sensor component 536; one end of the connecting component 531 is connected to the end of the robot body 52, and the other end of the connecting component 531 is connected to the second blowing component 532, the first clamp 533 and the second clamp 534, and the first clamp 533 and the second clamp 534 are symmetrically arranged relative to the end axis of the robot body 52; the third sensor component 535 is arranged on the first clamp 533, and the fourth sensor component 536 is arranged on the second clamp 534.

[0068] In this embodiment, see Figure 7 The clamping mechanism 53 is composed of a connecting component 531, a second blowing component 532, a first clamping jaw 533, a second clamping jaw 534, a third sensor component 535 and a fourth sensor component 536, wherein the second blowing component 532, the first clamping jaw 533 and the second clamping jaw 534 are installed at the end of the robot body 52 through the connecting component 531, the third sensor component 535 and the fourth sensor component 536 are respectively arranged on the first clamping jaw 533 and the second clamping jaw 534, the first clamping jaw 533 and the second clamping jaw 534 are both used to clamp the workpiece to be processed or the processed workpiece, the third sensor component 535 is used to detect whether the first clamping jaw 533 correctly clamps the workpiece to be processed or the processed workpiece, and the fourth sensor component 536 is used to detect whether the second clamping jaw 534 correctly clamps the workpiece to be processed or the processed workpiece. Furthermore, the first clamping jaw 533 and the second clamping jaw 534 are symmetrically arranged relative to the end axis of the robot body 52, so as to ensure the consistency of the material taking and placing actions of the six-axis robot 5 each time, and by arranging these two clamping jaws, one clamping jaw can be used to clamp the workpiece to be processed, and the other clamping jaw can be used to clamp the processed workpiece. In addition, the clamping of workpieces of different shapes can be achieved by replacing the structures of the first clamping jaw 533 and the second clamping jaw 534.

[0069] Further, see Figure 7The first clamping jaw 533 includes a pneumatic finger 5331 and two clamping jaw blocks 5332. The pneumatic finger 5331 drives the two clamping jaw blocks 5332 to move closer or farther from each other to achieve the clamping and releasing of the workpiece. Each clamping jaw block 5332 includes a connecting block a, a clamping block b and a clamping jaw rubber pad c. The clamping jaw rubber pad c is clamped on the clamping block b through a slot, and the clamping block b is movably arranged on the pneumatic finger 5331 through the connecting block a. Furthermore, the third sensor assembly 535 includes two contact sensors, which are fixedly arranged on the clamping block b, and the sensing end face of the contact sensor is flush with the workpiece contact surface of the clamping jaw rubber pad c. Since the sensing distance of the contact sensor is short, it is necessary to make the sensing end face of the contact sensor as close to the surface to be detected as possible when using it to reduce the interference of impurities in the environment on the detection signal. Therefore, it is necessary to prevent the sensing end of the contact sensor from protruding or sinking when clamping the workpiece, thereby affecting the accuracy of workpiece grasping, while ensuring that the sensing end face of the contact sensor is flush with the workpiece contact surface of the clamping jaw rubber pad c, which can effectively reduce the wear of the sensing end face of the contact sensor, greatly improve the service life of the sensor 814, and save maintenance costs. Similarly, the structure of the second clamping jaw 534 is the same as that of the first clamping jaw 533.

[0070] In a more specific embodiment, see Figure 1 , Figure 5 and Figure 6 The visual recognition device 9 includes a 3D vision camera 91, a camera fixing block 92 and a camera bracket 93. The 3D vision camera 91 is installed on the camera fixing block 92, the camera fixing block 92 is fixed on the camera bracket 93, and the camera bracket 93 is installed on the material table 4. The image of the workpiece to be processed on the material positioning detection fixture 8 is obtained by the 3D vision camera 91, and sent to the recognition unit set in the operating table 7 to locate and identify the workpiece to be processed on the material positioning detection fixture 8.

[0071] In a more specific embodiment, see Figure 1, the moving mechanism 3 includes a robot rail 31 and a mounting plate 32; the mounting plate 32 is arranged on the robot rail 31, and the material table 4 and the six-axis robot 5 are arranged on the mounting plate 32. The material table 4 and the six-axis robot 5 are translated through the robot rail 31, and the requirements of automatic loading and unloading of multiple stations can be met by increasing or decreasing the length of the robot rail 31. At the same time, the use of the robot rail 31 can effectively improve the utilization rate of the CNC machine tool 1. For example, if the number of workpieces to be processed is not enough to support the continuous processing of the CNC machine tool 1, considering the situation that the CNC machine tool 1 needs to be used irregularly by manual labor, the working position of the six-axis robot 5 will occupy the operating space of the CNC machine tool 1, causing inconvenience to the workers and the risk of collision. Therefore, the use of the robot rail 31 to control the position of the six-axis robot 5 can maximize the utilization rate of the CNC machine tool 1. The open area on one side of the CNC machine tool 1 can be set as the starting standby point of the six-axis robot 5. When the six-axis robot 5 finishes its work, it will automatically return to the program starting standby point. Therefore, when the six-axis robot 5 is not needed to perform automatic loading and unloading work, sufficient operating space can be freed up for manual processing work, thereby improving the utilization rate of the CNC machine tool 1.

[0072] In a more specific embodiment, see Figure 1 and Figure 8 The operation console 7 includes a control device (not shown), and a control button 71, a display 72, an indicator light 73 and an input device 74 that are connected to the control device. The control device is used to monitor the working state of the system and integrate the working state of the system and send it to the display 72 for display, so that the workers can judge the current working state of the system. At the same time, the control button 71 and the input device 74 can send corresponding instructions to the control device to operate the system. The control device is also used to warn the corresponding working state through the indicator light 73, and to provide information prompts through the visual indicator light 73, so that the workers can judge the current working state of the system and prevent the workers from accidentally entering the working area and causing danger. Further, the control button 71 includes two start buttons, two reset buttons and an emergency stop button. When in use, the two start buttons must be pressed at the same time so that the system can start normally, preventing the workers from misoperating or touching by mistake, and ensuring that the system works when the environment is ready and safe. The emergency stop button is used to stop all the work of the system in an emergency to prevent accidents. In addition, the input device 74 includes a mouse 741 and a keyboard 742, which can be set according to actual needs.

[0073] The automatic loading and unloading system for machine tools provided in the embodiment of the present invention adopts a grouped modular design, which can realize automatic loading and unloading and automated processing of workpieces, and has the advantages of high safety, high efficiency, high reliability, high precision and low cost.

[0074] like Fig. 9 As shown, Fig. 9The flowchart of the automatic loading and unloading method for machine tools provided by an embodiment of the present invention is shown in FIG. The automatic loading and unloading method for machine tools provided by an embodiment of the present invention is applied to any embodiment of the automatic loading and unloading system for machine tools described above, and the method includes steps S11 to S20.

[0075] S11, the operating table responds to the start instruction and controls the moving mechanism to drive the six-axis robot and the material table to move to a preset target processing position.

[0076] In this embodiment, the start command is input by relevant personnel. For example, after the system is powered on and the operating table does not receive the fault signal fed back by the CNC machine tool and the six-axis robot, the relevant personnel simultaneously presses two start buttons set on the operating table to enable the operating table to obtain the start command. The operating table responds to the start command and controls the moving mechanism to drive the six-axis robot and the material table to move to the preset target processing position, which is the position corresponding to the loading and unloading of the workpiece fixture in the CNC machine by the six-axis robot.

[0077] S12, the operating table obtains a plurality of workpiece positions according to the signal detected by the material positioning detection fixture and the signal recognized by the visual recognition device, and obtains a target workpiece position according to the plurality of workpiece positions.

[0078] In this embodiment, the material positioning detection jig is used to detect whether there are several workpieces to be processed, and the visual recognition device is used to locate and identify the workpieces to be processed on the material positioning detection jig. The operating table receives and analyzes the signals detected by the material positioning detection jig and the signals recognized by the visual recognition device to obtain several workpiece positions, and then obtains the target workpiece position based on the several workpiece positions, so as to facilitate the subsequent clamping of the corresponding workpiece to be processed according to the target workpiece position.

[0079] S13, the operating platform sends corresponding control instructions to the robot control cabinet according to the target workpiece position.

[0080] S14, the robot control cabinet controls the six-axis robot to clamp the corresponding workpiece to be processed on the material positioning detection fixture according to the control instruction, and determines whether the CNC machine tool enters the first state.

[0081] In this embodiment, the robot control cabinet controls the six-axis robot to perform corresponding actions according to the control instructions sent by the operating console, so that the six-axis robot clamps the corresponding workpiece to be processed on the material positioning detection fixture. At the same time, the robot control cabinet will determine whether the CNC machine tool has entered the first state, wherein the first state is used to indicate that the CNC machine tool is in a state where the workpiece clamp fixture is exposed. More specifically, the first state refers to the bed door assembly of the CNC machine tool being in an open state.

[0082] S15. If the robot control cabinet determines that the operating table monitors that the six-axis robot has clamped the workpiece to be processed and the CNC machine tool has entered the first state, it controls the six-axis robot to place the workpiece to be processed into the workpiece clamp and controls the workpiece clamp to enter the clamping state.

[0083] In this embodiment, if the operating table detects that the six-axis robot has clamped the workpiece to be processed and the CNC machine tool has entered the first state, the corresponding signal is sent to the robot control cabinet so that the robot control cabinet can determine the working state of the six-axis robot and the CNC machine tool. The robot control cabinet will control the six-axis robot to place the workpiece to be processed into the workpiece clamping fixture and control the workpiece clamping fixture to enter the clamping state so that the workpiece clamping fixture clamps the workpiece to be processed when it determines that the six-axis robot has clamped the workpiece to be processed and the CNC machine tool has entered the first state.

[0084] In one embodiment, after step S14, if the operating console detects that the six-axis robot has not clamped the workpiece to be processed, an alarm signal is issued to prompt relevant personnel to intervene and reset, so that the six-axis robot re-clamps the workpiece to be processed. In addition, if the operating console detects that the CNC machine tool has not entered the first state, an alarm signal is issued to prompt relevant personnel to intervene and reset, thereby sending relevant instructions to the robot control cabinet, and the robot control cabinet controls the CNC machine tool to enter the first state.

[0085] S16. The robot control cabinet controls the CNC machine tool to enter the second state, and when it is determined that the operating table monitors that the CNC machine tool has entered the second state and the workpiece clamp has entered the clamping state, sends a corresponding processing instruction to the CNC machine tool.

[0086] In this embodiment, the robot control cabinet controls the CNC machine tool to enter the second state, and the second state is used to indicate that the CNC machine tool is in a state of closing the workpiece clamping fixture. More specifically, the second state refers to the door assembly of the CNC machine tool being in a closed state. When the operating table detects that the CNC machine tool has entered the second state and the workpiece clamping fixture has entered a clamping state, the robot control cabinet will send a corresponding processing instruction to the CNC machine tool to control the CNC machine tool to start processing the workpiece to be processed on the workpiece clamping fixture.

[0087] In one embodiment, after the robot control cabinet controls the CNC machine tool to enter the second state, if the operating table does not detect that the CNC machine tool has entered the second state, that is, the CNC machine tool is still in the first state, an alarm signal is executed to prompt relevant personnel to intervene to reset it, thereby sending relevant instructions to the robot control cabinet, and controlling the CNC machine tool to enter the second state through the robot control cabinet.

[0088] S17, the CNC machine tool processes the workpiece to be processed on the workpiece clamp according to the processing instruction to obtain a processed workpiece, and sends a processing completion signal to the robot control cabinet when the processing is completed.

[0089] In this embodiment, the CNC machine tool receives the processing instruction sent by the robot control cabinet, and then processes the workpiece to be processed on the workpiece fixture according to the processing instruction, so that the workpiece to be processed becomes a processed workpiece. In addition, when the CNC machine tool completes the processing of the workpiece to be processed, it will send a processing completion signal to the robot control cabinet, so that the robot control cabinet can subsequently control the six-axis robot to perform unloading operations.

[0090] S18: When the robot control cabinet receives the processing completion signal, it controls the CNC machine tool to enter the first state, and controls the workpiece clamp to enter a released state.

[0091] S19. If the robot control cabinet determines that the operating table monitors that the CNC machine tool has entered the first state and the workpiece clamp has entered the released state, it controls the six-axis robot to clamp the processed workpiece on the workpiece clamp to the target workpiece position.

[0092] In this embodiment, after the CNC machine tool completes processing of the workpiece, the robot control cabinet first controls the CNC machine tool to enter the first state and controls the workpiece clamp fixture to enter the released state. Then, when it is determined that the CNC machine tool has entered the first state and the workpiece clamp fixture has entered the released state, the six-axis robot is controlled to clamp the processed workpiece on the workpiece clamp fixture to the target workpiece position, that is, to the corresponding position of the material positioning detection fixture on the material table, thereby completing the automatic loading and unloading and automatic processing of the workpiece corresponding to the target workpiece position.

[0093] S20, the operating platform updates the target workpiece position according to the plurality of workpiece positions, and returns to execute the operating platform sending a corresponding control instruction to the robot control cabinet according to the target workpiece position.

[0094] In this embodiment, the operating table obtains the next workpiece position based on several workpiece positions to update the current target workpiece position, and returns to execute step S13 to start the automatic loading and unloading and automatic processing of the next workpiece to be processed, thereby completing the automatic loading and unloading and automatic processing of several workpieces to be processed stored in the material positioning detection fixture.

[0095] The automatic loading and unloading method for machine tools provided in an embodiment of the present invention is applied to any embodiment of the aforementioned automatic loading and unloading system for machine tools, and can realize automatic loading and unloading and automated processing of workpieces, and has the advantages of high safety, high efficiency, high reliability, high precision and low cost.

[0096] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A machine tool automatic loading and unloading system, characterized in that: include: CNC machine tools, workpiece fixtures, mobile mechanisms, material tables, six-axis robots, robot control cabinets and operating tables; The workpiece clamping fixture is arranged in the CNC machine tool, the moving mechanism is arranged at the front end of the CNC machine tool, the material table and the six-axis robot are arranged on the moving mechanism, the material table is provided with a material positioning detection fixture and a visual recognition device, the operating table is arranged on one side of the moving mechanism, and the robot control cabinet is arranged in the operating table; Wherein, the CNC machine tool is used to process the workpiece to be processed on the workpiece clamping fixture to obtain a processed workpiece; The workpiece clamping fixture is used for clamping and detecting whether the workpiece to be processed or the processed workpiece exists; The moving mechanism is used to drive the six-axis robot and the material table to move; The material positioning detection jig is used to store and detect whether there are a plurality of the to-be-processed parts and / or the processed parts; The visual recognition device is used to locate and identify the workpiece to be processed on the material positioning detection jig; The six-axis robot is used to clamp the workpiece to be processed on the material positioning detection jig to the workpiece clamping jig, and to clamp the processed workpiece on the workpiece clamping jig to the material positioning detection jig; The robot control cabinet is used to control the six-axis robot to perform corresponding actions; The operating table is used to monitor the working status of the automatic loading and unloading system of the machine tool.

2. The automatic loading and unloading system for machine tools according to claim 1, characterized in that: The CNC machine tool comprises a machine tool body, a bed door assembly, a door opening and closing drive assembly and a first sensor assembly; The machine tool body is provided with a processing room, and the workpiece clamping fixture is arranged in the processing room; the bed door assembly, the door opening and closing driving assembly and the first sensor assembly are all arranged on the machine tool body, and the door opening and closing driving assembly is connected to the bed door assembly; Wherein, the door opening and closing driving assembly is used to drive the bed door assembly to open or close, so as to open or close the processing chamber through the bed door assembly; The first sensor assembly is used to detect the open / closed state of the bed door assembly.

3. The automatic loading and unloading system for machine tools according to claim 2 is characterized in that: The switch door drive assembly also includes a protective cover; The protective cover is arranged on the machine tool body, and is used for covering the switch door driving component and the first sensor component.

4. The automatic loading and unloading system for machine tools according to claim 1, characterized in that: The workpiece clamping fixture comprises a clamping assembly, a top clamping assembly, an end positioning block, a lateral clamping assembly, a lateral positioning block, and a second sensor assembly; A workpiece positioning groove is provided on the top of the clamp assembly; the top clamp assembly and the end positioning block are arranged on the clamp assembly in a relative manner, and the end positioning block and the top clamp assembly are respectively located on the front and rear sides of the workpiece positioning groove; the lateral clamp assembly and the lateral positioning block are arranged on the clamp assembly in a relative manner, and the lateral clamp assembly and the lateral positioning block are respectively located on the left and right sides of the workpiece positioning groove; The second sensor component is disposed in the workpiece positioning groove, and the second sensor component is used to detect whether the workpiece to be processed exists in the workpiece positioning groove.

5. The automatic loading and unloading system for machine tools according to claim 1 or 3, characterized in that: The workpiece clamping fixture is provided with a first air blowing component; The first air blowing assembly is used to clean the debris accumulated on the workpiece clamping fixture during the machining process.

6. The automatic loading and unloading system for machine tools according to claim 1, characterized in that: The material positioning detection fixture includes a plurality of workpiece positioning detection components; Each workpiece positioning detection assembly includes a pad, a buffer pad, a limit block assembly and a sensor; the pad is arranged on the material table; the buffer pad is arranged on the pad; the limit block assembly is located on the buffer pad, and the limit block assembly is connected to the material table; the sensor is arranged on the material table, and the sensing end of the sensor is flush with the upper surface of the buffer pad; The limit block assembly is used to limit the workpiece to be processed or the processed workpiece; and the sensor is used to detect whether the workpiece to be processed or the processed workpiece exists in the limit block assembly.

7. The automatic loading and unloading system for machine tools according to claim 1, characterized in that: The six-axis robot comprises a robot base, a robot body and a clamping mechanism; The robot base is arranged on the moving mechanism; the robot body is arranged on the robot base; the clamping mechanism is arranged on the end of the robot body; Among them, the robot body is used to drive the clamping mechanism to move and flip; the clamping mechanism is used to clamp the workpiece to be processed and / or the processed workpiece, and detect whether the workpiece to be processed and / or the processed workpiece is clamped correctly; the clamping mechanism is also used to clean the processed workpiece on the workpiece clamp.

8. The automatic loading and unloading system for machine tools according to claim 7, characterized in that: The six-axis robot also includes an anti-collision detection device; the anti-collision detection device is arranged between the robot body and the clamping mechanism, and the anti-collision detection device is used to detect collision signals of the robot body during movement.

9. The automatic loading and unloading system for machine tools according to claim 7, characterized in that: The clamping mechanism includes a connecting assembly, a second blowing assembly, a first clamping jaw, a second clamping jaw, a third sensor assembly and a fourth sensor assembly; One end of the connecting component is connected to the end of the robot body, and the other end of the connecting component is connected to the second blowing component, the first clamp and the second clamp, and the first clamp and the second clamp are symmetrically arranged relative to the end axis of the robot body; the third sensor component is arranged on the first clamp, and the fourth sensor component is arranged on the second clamp.

10. A method for automatic loading and unloading of machine tools, applied to the automatic loading and unloading system of machine tools as claimed in any one of claims 1 to 9, characterized in that: The method comprises: The operating table responds to the start command and controls the moving mechanism to drive the six-axis robot and the material table to move to a preset target processing position; The operating table obtains a plurality of workpiece positions according to the signal detected by the material positioning detection jig and the signal recognized by the visual recognition device, and obtains a target workpiece position according to the plurality of workpiece positions; The operating platform sends corresponding control instructions to the robot control cabinet according to the target workpiece position; The robot control cabinet controls the six-axis robot to clamp the corresponding workpiece to be processed on the material positioning detection fixture according to the control instruction, and determines whether the CNC machine tool enters the first state; If the robot control cabinet determines that the operating table monitors that the six-axis robot has clamped the workpiece to be processed and the CNC machine tool has entered the first state, the six-axis robot is controlled to place the workpiece to be processed into the workpiece clamping fixture, and the workpiece clamping fixture is controlled to enter a clamping state; The robot control cabinet controls the CNC machine tool to enter the second state, and sends a corresponding processing instruction to the CNC machine tool when it is determined that the operating table monitors that the CNC machine tool has entered the second state and the workpiece clamp has entered the clamping state; The CNC machine tool processes the workpiece to be processed on the workpiece clamping fixture according to the processing instruction to obtain a processed workpiece, and sends a processing completion signal to the robot control cabinet when the processing is completed; When the robot control cabinet receives the processing completion signal, it controls the CNC machine tool to enter the first state, and controls the workpiece clamp to enter the release state; If the robot control cabinet determines that the operating table monitors that the CNC machine tool has entered the first state and the workpiece clamp has entered the release state, the six-axis robot is controlled to clamp the processed workpiece on the workpiece clamp to the target workpiece position; The operating platform updates the target workpiece position according to the plurality of workpiece positions, and returns to execute the operating platform to send corresponding control instructions to the robot control cabinet according to the target workpiece position.

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