Automatic knife feeding and discharging machining device, system and method

Abstract

The invention provides an automatic knife feeding and discharging machining device, system and method, and relates to the technical field of robot automation. The automatic knife feeding and discharging machining device comprises a feeding and discharging mechanical arm, a reciprocating driving mechanism, a guide rail, a blank workbench, a finished product workbench and a turnover device. The blank workbench and the finished product workbench are located at the two ends of the guide rail respectively, the turnover device is arranged on the side face of the guide rail, and the feeding and discharging mechanical arm is installed on the guide rail and driven by the reciprocating driving mechanism to reciprocate on the guide rail. A feeding and discharging gripper is rotationally arranged on the feeding and discharging mechanical arm and comprises a flange, a first clamping jaw and a second clamping jaw, the first clamping jaw and the second clamping jaw are used for alternately feeding and discharging blanks, the flange is connected with the feeding and discharging mechanical arm, and the first clamping jaw and the second clamping jaw are symmetrically arranged on the two axial sides of the flange. Full-automatic feeding and discharging of the small knife machining system can be achieved, waste of the labor cost of manual feeding and discharging is reduced, and the production efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the field of robot automation technology, and in particular to an automated knife loading and unloading processing device, system and method. Background Art

[0002] Pocket knives, also known as outdoor knives, are favored by the market for their unique appearance and have become the main product in the tool industry. However, there are many styles and categories of pocket knives, and the order demand for each specification is relatively small. The tool milling fixture needs to be replaced frequently. At the same time, the tool needs to be clamped, loaded, unloaded, flipped, loaded, unloaded and other operation steps, which are difficult to complete with a single device or fixture. In addition, in order to achieve the structural shape required by the tool, the CNC milling processing time of a single tool is relatively long. Using manual loading and unloading will cause a waste of human resources. At the same time, there is an inconsistency in the time required for processing the front and back sides of the tool. Therefore, the tool processing is completed on the same device, or on two devices, which may cause inconsistent processing beats on the front and back sides, resulting in unnecessary downtime and waiting.

[0003] CN201720870603.6 discloses a pick-and-place mechanism for a CNC tool automatic feeder, including a base, a rotating motor installed on the base, an L-shaped rotating plate on the base, two limit blocks on the base, and the two limit blocks are symmetrically arranged, the output shaft of the rotating motor is fixedly connected to the corner of the L-shaped rotating plate, two push rod motors are installed on the L-shaped rotating plate, and the two push rod motors are symmetrically arranged with the corner of the L-shaped rotating plate as the center, and the output end of the push rod motor is fixedly connected to a connecting rod. It solves the problem that the traditional manual loading and unloading of tools takes a long time, reduces the safety and labor utilization rate in the production process, but in the face of the needs of diversified products and precision processing, this patent shows serious deficiencies. CN202010072063.3 discloses a loading and unloading device, including a frame, a carrier circulation device, a fixture manipulator, a tray circulation device and a tool loading and unloading device, wherein the carrier circulation device is installed on the frame and used to circulate the carrier loaded with the fixture back and forth; the fixture manipulator is installed on the frame and used to move the fixture back and forth between the processing equipment and the carrier circulation device; the tray circulation device is installed on the frame and is located on the side of the carrier circulation device and is used to transport the tray from the loading position of the tool on the carrier circulation device to the unloading position of the tool on the carrier circulation device; the tool loading and unloading device is installed on the frame, and the tool loading and unloading device includes a loading manipulator and an unloading manipulator. The equipment realizes the automatic loading and unloading of tools, as well as the automatic circulation of trays and fixtures, reduces labor intensity, has high production efficiency, and is suitable for diverse products, but does not take into account double-sided processing and processing equipment configuration, and is only suitable for a single processing machine.

[0004] How to improve the matching of front and back processing rhythm and the cost of manual loading and unloading during the processing is a problem to be solved in this field.

[0005] In view of this, the present invention is proposed. Summary of the invention

[0006] The purpose of the present invention includes providing an automated knife loading and unloading processing device, system and method, which can improve the problem of front and back processing rhythm matching and the problem of manual loading and unloading costs.

[0007] The embodiments of the present invention can be implemented as follows:

[0008] In a first aspect, the present invention provides an automated knife loading and unloading processing device, comprising a loading and unloading mechanical arm, a reciprocating drive mechanism, a guide rail, a blank workbench, a finished product workbench and a turning device;

[0009] The blank workbench and the finished product workbench are respectively located at two ends of the guide rail, the flip device is arranged on the side of the guide rail, and the loading and unloading mechanical arm is installed on the guide rail and reciprocates on the guide rail under the drive of the reciprocating drive mechanism;

[0010] A loading and unloading gripper is rotatably arranged on the loading and unloading robot arm, and the loading and unloading gripper includes a flange, a first clamp and a second clamp for alternately loading and unloading the blank, the flange is connected to the loading and unloading robot arm, and the first clamp and the second clamp are symmetrically arranged on both sides of the axial direction of the flange.

[0011] In an optional embodiment, a material tray and a secondary positioning device are provided on the blank workbench, and the loading and unloading gripper also includes a positioning clamp for moving the blank to be processed from the material tray to the secondary positioning device, and the positioning clamp is arranged along the axial direction of the flange.

[0012] In an optional embodiment, the material tray includes a bottom plate and a plurality of contour positioning pins, wherein the contour positioning pins are connected to the bottom, the plurality of contour positioning pins form an interval for placing the blank to be processed, and the height of the contour positioning pins is greater than the thickness of the blank to be processed.

[0013] In an optional embodiment, the secondary positioning device includes a positioning plate, a positioning pin, a transverse clamping mechanism and a longitudinal clamping mechanism, the positioning pins are distributed on two adjacent sides of the positioning plate, the transverse clamping mechanism and the longitudinal clamping mechanism are respectively located on the other two adjacent sides of the positioning plate and are driven by compressed air.

[0014] In an optional embodiment, the positioning clamp is a vacuum suction cup clamp, and the first clamp and the second clamp are both cylinder clamps.

[0015] In an optional embodiment, the flipping device includes a fixed bracket and a rotating frame, the fixed bracket is provided with a rotating motor and a follower motor, the two ends of the rotating frame are rotatably mounted on the fixed bracket by the rotating motor and the follower motor respectively, and the rotating frame is provided with a plurality of pneumatic clamps for clamping the single-sided processed semi-finished blanks conveyed by the loading and unloading grippers.

[0016] In an optional embodiment, the rotating frame is provided with a through opening at a position corresponding to the semi-finished blank for clamping by the loading and unloading grippers.

[0017] In an optional embodiment, the material tray, the secondary positioning device, the positioning jaws, the first jaws, the second jaws and the pneumatic clamps are all arranged in an array.

[0018] In the second aspect, the present invention provides an automated knife loading and unloading processing system, comprising a front side processing machine tool, a back side processing machine tool and an automated knife loading and unloading processing device as described in any one of the aforementioned embodiments, the processing time of the front side processing machine tool is T1, the processing time of the back side processing machine tool is T1, the number ratio of the front side processing machine tools and the back side processing machine tools is 1:N, and N is the maximum integer of the ratio of T2 / T1; the front side processing machine tool and the back side processing machine tool are both installed on the side of the guide rail.

[0019] In a third aspect, the present invention provides an automated knife loading and unloading processing method, which comprises using the automated knife loading and unloading processing system as described in any of the aforementioned embodiments, and the automated knife loading and unloading processing method comprises:

[0020] S1, the loading and unloading robot arm moves to the blank workbench, grabs the blank to be processed with the first clamp, and moves to the front processing machine tool, and places the blank to be processed on the front processing machine tool for front processing;

[0021] S2. During the processing, the loading and unloading robot arm moves to the blank workbench, grabs the blank to be processed by the second clamping claw, and moves to the front processing machine tool to wait;

[0022] S3, after the front processing is completed, the first clamp grabs the semi-finished workpiece from the front processing machine tool, rotates 180 degrees, and puts the blank to be processed clamped by the second clamp into the front processing machine tool for front processing;

[0023] S4, during the processing, the loading and unloading robot arm moves to the flipping device, and the first clamping jaw places the semi-finished workpiece on the flipping device. After the flipping device completes the flipping, the first clamping jaw re-grips the semi-finished workpiece;

[0024] S5, the loading and unloading robot arm moves to the first reverse surface processing machine tool, and the first clamping jaw places the flipped semi-finished workpiece into the first reverse surface processing machine tool for reverse surface processing;

[0025] S6, during the processing, the loading and unloading robot arm moves to the blank workbench, and after the first clamping jaw grabs the blank to be processed, it moves to the side of the front processing machine tool to wait. After the above processing is completed, the second clamping jaw grabs the semi-finished workpiece, rotates 180°, and puts the blank to be processed grabbed by the first clamping jaw into the front processing machine tool for front processing;

[0026] S7, during the processing, the loading and unloading robot arm moves to the flipping device, and the second clamping jaw places the semi-finished workpiece on the flipping device. After the flipping device completes the flipping, the second clamping jaw re-grips the semi-finished workpiece;

[0027] S8, the loading and unloading robot arm moves to the second reverse surface processing machine tool, and the second clamping jaw places the flipped semi-finished workpiece into the second reverse surface processing machine tool for reverse surface processing;

[0028] S9, repeating steps S2-S5, the semi-finished workpiece in the first reverse processing machine is processed, the second clamping jaw grabs the processed workpiece, rotates 180 degrees, and uses the first clamping jaw to put the semi-finished workpiece that has been processed on the front side into the first reverse processing machine for reverse processing, and then the loading and unloading robot moves the finished worktable to place the workpiece;

[0029] S10, repeating steps S2-S5, the semi-finished workpiece in the second reverse processing machine is processed, the first clamping jaw grabs the processed workpiece, rotates 180 degrees, and uses the second clamping jaw to put the semi-finished workpiece that has been processed on the front side into the second reverse processing machine for reverse processing, and then the loading and unloading robot moves the finished worktable to place the workpiece;

[0030] S11, repeating steps S10 and S11 until the Nth reverse processing machine tool starts to work, and repeating the above work until all the blanks to be processed are processed.

[0031] In an optional embodiment, a material tray and a secondary positioning device are provided on the blank workbench, and the loading and unloading gripper also includes a positioning jaw for moving the blank to be processed from the material tray to the secondary positioning device, and the positioning jaw is arranged along the axial direction of the flange; before the first jaw or the second jaw grabs the blank to be processed on the blank workbench, it includes first using the positioning jaw to grab the blank to be processed and put it into the secondary positioning device for positioning; the first jaw or the second jaw grabs the blank to be processed in the secondary positioning device.

[0032] The beneficial effects of the automatic knife loading and unloading processing device, system and method provided by the embodiments of the present invention include:

[0033] The automatic knife loading and unloading processing device, system and method provided by the embodiment of the present invention utilizes a loading and unloading mechanical arm to perform reciprocating motion on a guide rail to realize the operation of multiple processes, wherein the loading and unloading gripper on the loading and unloading mechanical arm is provided with a first clamping jaw and a second clamping jaw, the first clamping jaw and the second clamping jaw are symmetrically arranged and can alternately load and unload materials, thus realizing the fully automatic loading and unloading of the knife processing system, reducing the waste of labor costs of manual loading and unloading, and improving production efficiency. At the same time, a material tray, a secondary positioning device, a loading and unloading gripper and a flipping mechanism are separately provided, and when the tool blank is replaced, the corresponding supporting device can be replaced, which is suitable for the diversified processing requirements of the tool. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0035] Figure 1 A schematic diagram of the structure of an automated knife loading and unloading processing device provided in the first embodiment of the present invention;

[0036] Figure 2 A schematic diagram of the structure of a loading and unloading gripper in an automated knife loading and unloading processing device provided in the first embodiment of the present invention;

[0037] Figure 3 A schematic diagram of the structure of a material tray in an automated knife loading and unloading processing device provided in the first embodiment of the present invention;

[0038] Figure 4 A schematic diagram of the structure of a secondary positioning device in an automated knife loading and unloading processing device provided by the first embodiment of the present invention;

[0039] Figure 5 A schematic diagram of the structure of a turning device in an automated knife loading and unloading processing device provided in the first embodiment of the present invention;

[0040] Figure 6 A schematic structural diagram of an automated knife loading and unloading processing system provided in accordance with the second embodiment of the present invention.

[0041] Icons: 100-automatic knife loading and unloading processing device; 110-loading and unloading mechanical arm; 111-reciprocating drive mechanism; 112-guide rail; 113-loading and unloading gripper; 114-flange; 115-first clamping jaw; 116-second clamping jaw; 117-positioning clamping jaw; 120-blank workbench; 121-material tray; 1211-bottom plate; 1212-contour positioning pin; 122-secondary positioning device; 1221-positioning plate; 1222-positioning pin; 1223-lateral tightening mechanism; 1224-longitudinal tightening mechanism; 130 finished product workbench; 140-turning device; 141-fixed bracket; 142-rotating frame; 143-rotating motor; 144-follow-up motor; 145-pneumatic clamping;

[0042] 200-Automatic knife loading and unloading processing system; 210-Front processing machine tool; 220-Back processing machine tool. DETAILED DESCRIPTION

[0043] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings 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. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0044] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. 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.

[0045] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0046] In the description of the present invention, it should be noted that if the terms "upper", "lower", "inside", "outside", etc. appear to indicate an orientation or position relationship, they are based on the orientation or position relationship shown in the accompanying drawings, or are the orientation or position relationship in which the product of the invention is usually placed when used. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0047] In addition, the terms “first”, “second”, etc., if used, are merely used to distinguish between the descriptions and should not be understood as indicating or implying relative importance.

[0048] It should be noted that, in the absence of conflict, the features in the embodiments of the present invention may be combined with each other.

[0049] The following describes in detail the overall structure, working principle and technical effects of the automated knife loading and unloading processing device 100 and system provided by the present invention, as well as the detailed steps, implementation principle and technical effects of the matching automated knife loading and unloading processing method through embodiments and in combination with the accompanying drawings.

[0050] First embodiment

[0051] See also Figure 1 The present invention provides an automated knife loading and unloading processing device 100, comprising a loading and unloading mechanical arm 110, a reciprocating drive mechanism 111, a guide rail 112, a blank workbench 120, a finished product workbench and a turning device 140.

[0052] Please refer to Figure 1 and Figure 2 The blank workbench 120 and the finished product workbench are respectively located at the two ends of the guide rail 112. A front processing machine tool 210, a back processing machine tool 220 and a turning device 140 are arranged on the side of the guide rail 112. The loading and unloading robot arm 110 is installed on the guide rail 112 and reciprocates on the guide rail 112 driven by the reciprocating drive mechanism 111; a loading and unloading gripper 113 is rotatably arranged on the loading and unloading robot arm 110, and the loading and unloading gripper 113 includes a flange 114, a first clamping jaw 115 and a second clamping jaw 116 for loading and unloading the blank. The flange 114 is connected to the loading and unloading robot arm 110, and the first clamping jaw 115 and the second clamping jaw 116 are symmetrically arranged on both sides of the axial direction of the flange 114.

[0053] In this embodiment, the loading and unloading robot 110 is driven by a driving mechanism to realize automatic loading and unloading, wherein the first clamp 115 and the second clamp 116 can realize alternate loading and unloading, thereby coordinating the positive processing rhythm and reducing unnecessary downtime waiting.

[0054] See also Figure 1 and Figure 3 Specifically, in this embodiment, the blank workbench 120 is used to place the blank to be processed, and is provided with a material tray 121 and a secondary positioning device 122. The material tray 121 is used to stack the manually placed blanks to be processed, and the secondary positioning device 122 is used to accurately position the blank to be processed to ensure the accuracy of the first clamp 115 and the second clamp 116 in grasping.

[0055] In this embodiment, the material tray 121 includes a bottom plate 1211 and a plurality of contour positioning pins 1212, the contour positioning pins 1212 are connected to the bottom, and the plurality of contour positioning pins 1212 form an interval for placing the blank to be processed. The height of the contour positioning pins 1212 is greater than the thickness of the blank to be processed. Therefore, the blank to be processed can be placed in an overlapping manner in the material tray 121. In this embodiment, in order to reduce the number of repeated loading times, the material tray 121 can develop an array structure.

[0056] See also Figure 1 and Figure 4 The secondary positioning device 122 includes a positioning plate 1221, a positioning pin 1222, a transverse tightening mechanism 1223 and a longitudinal tightening mechanism 1224. The positioning pin 1222 is distributed on two adjacent sides of the positioning plate 1221. The transverse tightening mechanism 1223 and the longitudinal tightening mechanism 1224 are respectively located on the other two adjacent sides of the positioning plate 1221 and are driven by compressed air.

[0057] In this embodiment, the positioning pins 1222 are designed according to the structure of the blank to be processed. The number of the positioning pins 1222 is multiple and arranged at intervals to avoid affecting the subsequent grasping of the first clamp 115 and the second clamp 116. In this embodiment, the transverse pressing mechanism 1223 and the longitudinal pressing mechanism 1224 are both driven by compressed air. When driven by compressed air, they can abut against the blank to be processed to move it. When the blank to be processed contacts the positioning pins 1222, it stops moving and completes the positioning.

[0058] See also Figure 1 and Figure 2 In this embodiment, the loading and unloading mechanical arm 110 can drive the loading and unloading gripper 113 to rotate. Since the first clamping jaw 115 and the second clamping jaw 116 are symmetrically arranged, the positions of the first clamping jaw 115 and the second clamping jaw 116 can be interchanged during the rotation process, so that the first clamping jaw 115 and the second clamping jaw 116 can alternately load and unload materials. The first clamping jaw 115 and the second clamping jaw 116 are both cylinder clamping jaws, and the cylinder is used to drive the opening and closing degree of the first clamping jaw 115 and the second clamping jaw 116, so as to clamp the blank.

[0059] The loading and unloading gripper 113 also includes a positioning jaw 117 for moving the blank to be processed from the material tray 121 to the secondary positioning device 122, and the positioning jaw 117 is arranged along the axial direction of the flange 114. The positioning jaw 117 is a vacuum suction cup jaw, which can grasp a single piece of blank to be processed by vacuum adsorption.

[0060] See also Figure 1 and Figure 5 The flipping device 140 in this embodiment is used to flip the semi-finished workpiece that has completed single-side processing, so that front and back processing can be achieved in one set of equipment. Specifically, in this embodiment, the flipping device 140 includes a fixed bracket 141 and a rotating frame 142. There are two fixed brackets 141 that are arranged opposite to each other. The fixed bracket 141 is provided with a rotating motor 143 and a follower motor 144. The two ends of the rotating frame 142 are rotatably mounted on the fixed bracket 141 through the rotating motor 143 and the follower motor 144 respectively. The rotating frame 142 is provided with a plurality of pneumatic clamps 145 for clamping the semi-finished blank that has completed single-side processing and is transported by the loading and unloading gripper 113. The setting of the pneumatic clamp 145 can achieve clamping of the semi-finished blank after single-sided processing, and the rotating motor 143 is used to drive the rotating frame 142 and the pneumatic clamp 145 on the rotating frame 142 to rotate, thereby realizing the flipping of the semi-finished blank after single-sided processing. After flipping, the first clamp 115 or the second clamp 116 is used again to clamp the flipped semi-finished blank, and then continue to move to the next process. In order to ensure that the first clamp 115 or the second clamp 116 can easily clamp the semi-finished blank after flipping, the rotating frame 142 in this embodiment is provided with a through opening for the loading and unloading gripper 113 to clamp the semi-finished blank at a position corresponding to the semi-finished blank, and the first clamp 115 or the second clamp 116 passes through the through opening and clamps the semi-finished blank.

[0061] In order to reduce the number of repeated loading times, the material tray 121, the secondary positioning device 122, the positioning clamp 117, the first clamp 115, the second clamp 116 and the pneumatic clamp 145 in this embodiment are arranged in an array, for example, 6 can be distributed in a 3×2 matrix, or 8 can be distributed in a 4×2 matrix, and so on. The specific distribution can be adjusted according to the actual situation.

[0062] Second embodiment

[0063] See also Figure 6 This embodiment provides an automated knife loading and unloading processing system 200, which includes a front processing machine tool 210, a back processing machine tool 220, and the automated knife loading and unloading processing device 100 in the first embodiment.

[0064] In this embodiment, the automatic knife loading and unloading processing device 100 is coordinated with the front processing machine tool 210 and the back processing machine tool 220. Since the time required for processing the front and back sides of the tool is inconsistent, in this embodiment, the processing time of the front processing machine tool 210 is set to T1, and the processing time of the back processing machine tool 220 is set to T1. In this embodiment, the specific data of the front processing machine tool 210 and the back processing machine tool 220 need to be determined according to the processing time. The number ratio of the front processing machine tool 210 and the back processing machine tool 220 is 1:N, and N is the maximum integer of the ratio of T2 / T1; the front processing machine tool 210 and the back processing machine tool 220 are both installed on the side of the guide rail 112.

[0065] In this embodiment, the front side processing machine tool 210 and the back side processing machine tool 220 are integrated into one system, and the automatic knife loading and unloading processing device 100 is used to realize automatic loading and unloading and flipping, thereby effectively improving the problem of inconsistent front and back side processing rhythms and effectively reducing the downtime waiting time.

[0066] Specifically, the present invention provides an automated knife loading and unloading processing method, which includes using the above-mentioned automated knife loading and unloading processing system 200. In this embodiment, the number of front processing machine tools 210 arranged is 1, the number of back processing machine tools 220 arranged is 2, and a flipping device 140 is arranged in front of the first back processing machine tool 220.

[0067] Automated knife loading and unloading processing methods include:

[0068] S1, the loading and unloading robot arm 110 moves to the blank workbench 120, first uses the positioning jaw 117 to grab the blank to be processed and puts it into the secondary positioning device 122 for positioning, the first jaw 115 grabs the blank to be processed in the secondary positioning device 122, and moves to the front processing machine tool 210, and places the blank to be processed on the front processing machine tool 210 for front processing;

[0069] S2, during the processing, the loading and unloading robot arm 110 moves to the blank workbench 120, first uses the positioning jaw 117 to grab the blank to be processed and puts it into the secondary positioning device 122 for positioning, uses the second jaw 116 to grab the blank to be processed, and moves to the front processing machine tool 210 to wait;

[0070] S3, after the front processing is completed, the first clamping jaw 115 grabs the semi-finished workpiece from the front processing machine tool 210, rotates 180 degrees, and puts the blank to be processed clamped by the second clamping jaw 116 into the front processing machine tool 210 for front processing;

[0071] S4, during the processing, the loading and unloading robot arm 110 moves to the flipping device 140, and the first clamping jaw 115 places the semi-finished workpiece on the flipping device 140. After the flipping device 140 completes the flipping, the first clamping jaw 115 re-grips the semi-finished workpiece;

[0072] S5, the loading and unloading robot arm 110 moves to the first reverse surface processing machine tool 220, and the first clamping jaw 115 puts the turned semi-finished workpiece into the first reverse surface processing machine tool 220 for reverse surface processing;

[0073] S6, during the processing, the loading and unloading robot arm 110 moves to the blank workbench 120, first uses the positioning jaw 117 to grab the blank to be processed and puts it into the secondary positioning device 122 for positioning, and after the first jaw 115 grabs the blank to be processed, it moves to the side of the front processing machine tool 210 to wait, and after the above processing is completed, the second jaw 116 clamps the semi-finished workpiece, rotates 180°, and puts the blank to be processed clamped by the first jaw 115 into the front processing machine tool 210 for front processing;

[0074] S7, during the processing, the loading and unloading robot arm 110 moves to the flipping device 140, and the second clamping jaw 116 places the semi-finished workpiece on the flipping device 140. After the flipping device 140 completes the flipping, the second clamping jaw 116 re-grips the semi-finished workpiece;

[0075] S8, the loading and unloading robot arm 110 moves to the second reverse surface processing machine tool 220, and the second clamping jaw 116 puts the turned semi-finished workpiece into the second reverse surface processing machine tool 220 for reverse surface processing;

[0076] S9, repeating steps S2-S5, the semi-finished workpiece in the first reverse processing machine tool 220 is processed, the second clamping jaw 116 grabs the processed workpiece, rotates 180 degrees, and uses the first clamping jaw 115 to put the semi-finished workpiece that has been processed on the front side into the first reverse processing machine tool 220 for reverse processing, and then the loading and unloading robot arm 110 moves the finished workbench to place the workpiece;

[0077] S10, repeating steps S2-S5, the semi-finished workpiece in the second reverse processing machine tool 220 is processed, the first clamping jaw 115 grabs the processed workpiece, rotates 180 degrees, and uses the second clamping jaw 116 to put the semi-finished workpiece that has been processed on the front side into the second reverse processing machine tool 220 for reverse processing, and then the loading and unloading robot arm 110 moves the finished workbench to place the workpiece;

[0078] S11, repeat the above steps until all the blanks to be processed are processed.

[0079] In summary, the automatic knife loading and unloading processing device 100, system and method provided by the embodiment of the present invention reasonably arranges each structural position and the number of front and back processing machines 220, and uses the loading and unloading mechanical arm 110 to perform reciprocating motion on the guide rail 112 to realize the operation of multiple processes, wherein the loading and unloading gripper 113 on the loading and unloading mechanical arm 110 is provided with a first clamping jaw 115 and a second clamping jaw 116, and the first clamping jaw 115 and the second clamping jaw 116 are symmetrically arranged and can be loaded and unloaded alternately, realizing the full automatic loading and unloading of the knife processing system, reducing the waste of labor costs of manual loading and unloading, and improving production efficiency. At the same time, the material tray 121, the secondary positioning device 122, the loading and unloading gripper 113 and the flipping mechanism are separately provided, and when the tool blank is replaced, the corresponding supporting device can be replaced, which is suitable for the diversified processing requirements of the tool.

[0080] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by a technician familiar with the technical field within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

Claims

1. An automatic knife loading and unloading processing device, characterized in that: It includes loading and unloading mechanical arms, reciprocating drive mechanism, guide rails, blank workbench, finished product workbench and turning device; The blank workbench and the finished product workbench are respectively located at two ends of the guide rail, the flip device is arranged on the side of the guide rail, and the loading and unloading mechanical arm is installed on the guide rail and reciprocates on the guide rail under the drive of the reciprocating drive mechanism; A loading and unloading gripper is rotatably arranged on the loading and unloading robot arm, and the loading and unloading gripper includes a flange, a first clamp and a second clamp for alternately loading and unloading the blank, the flange is connected to the loading and unloading robot arm, and the first clamp and the second clamp are symmetrically arranged on both sides of the axial direction of the flange.

2. The automatic knife loading and unloading processing device according to claim 1 is characterized in that: The blank workbench is provided with a material tray and a secondary positioning device, and the loading and unloading gripper also includes a positioning jaw for moving the blank to be processed from the material tray to the secondary positioning device, and the positioning jaw is arranged along the axial direction of the flange.

3. The automatic knife loading and unloading processing device according to claim 2 is characterized in that: The material tray includes a bottom plate and a plurality of contour positioning pins, wherein the contour positioning pins are connected to the bottom, and the plurality of contour positioning pins form an area for placing the blank to be processed, and the height of the contour positioning pins is greater than the thickness of the blank to be processed.

4. The automatic knife loading and unloading processing device according to claim 2 is characterized in that: The secondary positioning device includes a positioning plate, a positioning pin, a transverse clamping mechanism and a longitudinal clamping mechanism. The positioning pin is distributed on two adjacent sides of the positioning plate. The transverse clamping mechanism and the longitudinal clamping mechanism are respectively located on the other two adjacent sides of the positioning plate and are driven by compressed air.

5. The automatic knife loading and unloading processing device according to claim 2 is characterized in that: The positioning clamp is a vacuum suction cup clamp, and the first clamp and the second clamp are both cylinder clamps.

6. The automatic knife loading and unloading processing device according to claim 2 is characterized in that: The flipping device comprises a fixed bracket and a rotating frame, the fixed bracket is provided with a rotating motor and a follower motor, the two ends of the rotating frame are rotatably mounted on the fixed bracket by the rotating motor and the follower motor respectively, and the rotating frame is provided with a plurality of pneumatic clamps for clamping the semi-finished blanks processed on one side and conveyed by the loading and unloading grippers; Preferably, the rotating frame is provided with a through opening at a position corresponding to the semi-finished blank for clamping by the loading and unloading grippers.

7. The automatic knife loading and unloading processing device according to claim 6 is characterized in that: The material tray, the secondary positioning device, the positioning clamp, the first clamp, the second clamp and the pneumatic clamp are all arranged in an array.

8. An automated knife loading and unloading processing system, characterized in that: It comprises a front side processing machine tool, a back side processing machine tool and an automated knife loading and unloading processing device as described in any one of claims 1 to 7, wherein the processing time of the front side processing machine tool is T1, the processing time of the back side processing machine tool is T1, the quantity ratio of the front side processing machine tools to the back side processing machine tools is 1:N, and N is the maximum integer of the ratio of T2 / T1; the front side processing machine tool and the back side processing machine tool are both installed on the side of the guide rail.

9. An automated knife loading and unloading processing method, characterized in that: The method comprises adopting the automatic knife loading and unloading processing system as claimed in claim 8, wherein the automatic knife loading and unloading processing method comprises: S1, the loading and unloading robot arm moves to the blank workbench, grabs the blank to be processed with the first clamp, and moves to the front processing machine tool, and places the blank to be processed on the front processing machine tool for front processing; S2. During the processing, the loading and unloading robot arm moves to the blank workbench, grabs the blank to be processed by the second clamping claw, and moves to the front processing machine tool to wait; S3, after the front processing is completed, the first clamp grabs the semi-finished workpiece from the front processing machine tool, rotates 180 degrees, and puts the blank to be processed clamped by the second clamp into the front processing machine tool for front processing; S4, during the processing, the loading and unloading robot arm moves to the flipping device, and the first clamping jaw places the semi-finished workpiece on the flipping device. After the flipping device completes the flipping, the first clamping jaw re-grips the semi-finished workpiece; S5, the loading and unloading robot arm moves to the first reverse surface processing machine tool, and the first clamping jaw places the flipped semi-finished workpiece into the first reverse surface processing machine tool for reverse surface processing; S6, during the processing, the loading and unloading robot arm moves to the blank workbench, and after the first clamping jaw grabs the blank to be processed, it moves to the side of the front processing machine tool to wait. After the above processing is completed, the second clamping jaw grabs the semi-finished workpiece, rotates 180°, and puts the blank to be processed grabbed by the first clamping jaw into the front processing machine tool for front processing; S7, during the processing, the loading and unloading robot arm moves to the flipping device, and the second clamping jaw places the semi-finished workpiece on the flipping device. After the flipping device completes the flipping, the second clamping jaw re-grips the semi-finished workpiece; S8, the loading and unloading robot arm moves to the second reverse surface processing machine tool, and the second clamping jaw places the flipped semi-finished workpiece into the second reverse surface processing machine tool for reverse surface processing; S9, repeating steps S2-S5, the semi-finished workpiece in the first reverse processing machine is processed, the second clamping jaw grabs the processed workpiece, rotates 180 degrees, and uses the first clamping jaw to put the semi-finished workpiece that has been processed on the front side into the first reverse processing machine for reverse processing, and then the loading and unloading robot arm moves to the finished workbench to place the workpiece; S10, repeating steps S2-S5, the semi-finished workpiece in the second reverse processing machine is processed, the first clamping jaw grabs the processed workpiece, rotates 180 degrees, and uses the second clamping jaw to put the semi-finished workpiece that has been processed on the front side into the second reverse processing machine for reverse processing, and then the loading and unloading robot moves the finished worktable to place the workpiece; S11, repeating steps S10 and S11 until the Nth reverse processing machine tool starts to work, and repeating the above work until all the blanks to be processed are processed.

10. The automatic knife loading and unloading processing method according to claim 9 is characterized in that: A material tray and a secondary positioning device are provided on the blank workbench, and the loading and unloading gripper also includes a positioning jaw for moving the blank to be processed from the material tray to the secondary positioning device, and the positioning jaw is arranged along the axial direction of the flange; before the first jaw or the second jaw grabs the blank to be processed on the blank workbench, it includes first using the positioning jaw to grab the blank to be processed and put it into the secondary positioning device for positioning; the first jaw or the second jaw grabs the blank to be processed in the secondary positioning device.

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