Automatic feeding and discharging connection control method of multi-station machine tool

Abstract

The invention relates to the technical field of feeding and discharging of multi-station machine tools, in particular to an automatic feeding and discharging connection control method of a multi-station machine tool. By designing the connection transfer mechanism, the travelling crane track, the travelling crane body, the accompanying platform, the industrial robot and the numerical control machine tools with specific structures and position relations and cooperating with an automatic feeding and discharging connection control method, efficient and orderly feeding and discharging connection automatic operation of workpieces on the multiple numerical control machine tools is achieved; due to the fact that the traveling crane body is provided with the two or more material disc parking stations, when one material disc is filled with machined workpieces, feeding and discharging of the workpieces can be continued on the next material disc parking station, and when all the numerical control machine tools are in the non-idle state, the traveling crane body is controlled to move to the second connection station; and the tray body filled with the processed workpieces is transferred, so that the time for automatically transferring the workpieces is greatly saved, and the production efficiency is improved.

Description

Technical Field

[0001] The invention relates to the technical field of loading and unloading of multi-station machine tools, and in particular to an automatic loading and unloading connection control method of a multi-station machine tool. Background Art

[0002] In the prior art, the technology of automatically processing workpieces in multiple directions and angles through CNC machine tools (CNC) is already very mature. However, since one CNC machine tool can only process one workpiece, when batches of workpieces need to be processed through CNC machine tools, it is necessary to consider the allocation of multiple workpieces on multiple CNC machine tools and the scheduling of loading and unloading. In the prior art, it is usually necessary to manually place the workpiece to be processed on the feeding station of a single CNC machine tool. When the CNC machine tool completes the processing of the workpiece, it is necessary to manually transfer the processed workpiece at the unloading station to the next process. It is difficult to achieve efficient and automated loading and unloading and connection of multiple workpieces between multiple CNC machine tools. Summary of the invention

[0003] The technical problem to be solved by the present invention is: how to realize the efficient and automated operation of loading, unloading and connecting multiple workpieces between multi-controlled machine tools.

[0004] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0005] The automatic loading and unloading connection control method of a multi-station machine tool is based on an automatic loading and unloading connection device, comprising:

[0006] A docking transfer mechanism, the docking transfer mechanism includes a first docking station, a second docking station and a third docking station arranged in sequence along the X direction, the first docking station is used to park a tray body containing a plurality of unprocessed workpieces, the second docking station is used for the transfer and docking of the tray body, and the third docking station is used to park a tray body containing a plurality of processed workpieces; the docking transfer mechanism also includes a first transfer mechanism and a second transfer mechanism, the first transfer mechanism is used to transfer the tray body of the first docking station to the second docking station, and the second transfer mechanism is used to transfer the tray body of the second docking station to the third docking station;

[0007] A driving track, wherein the driving track is arranged on the Y direction side of the second docking station, and the extending direction of the driving track is the Y direction;

[0008] A carriage body, the carriage body being movably connected to the carriage track;

[0009] The accompanying platform is provided with more than two tray parking stations distributed along the Y direction, each tray parking station can park a tray body; in one of the states of the moving stroke of the traveling body, any one of the tray parking stations of the accompanying platform can be located at the location of the second docking station;

[0010] An industrial robot, wherein the industrial robot is connected to a traveling crane body, and comprises a multi-stage rotating mechanical arm, and a clamping mechanism connected to the end of the mechanical arm, wherein the clamping mechanism is provided with a first clamp and a second clamp for clamping a workpiece, and the first clamp and the second clamp are respectively used for clamping a single workpiece;

[0011] CNC machine tools, multiple CNC machine tools are respectively arranged on the X-direction side or the X-direction reverse side of the traveling track;

[0012] The automatic loading and unloading connection control method comprises the following steps:

[0013] Step 1: Control the first transfer mechanism to transfer the tray body of the first docking station to the second docking station;

[0014] Step 2: Control the crane body to move along the crane track to one of the tray parking stations located at the location of the second docking station;

[0015] Step 3: Control the transfer of the tray body parked at the second docking station to the tray parking station of the accompanying platform;

[0016] Repeat steps 1 to 3 until all the tray parking positions on the accompanying platform are parked with tray bodies;

[0017] Step 4: Control the crane body to move to the location of the idle CNC machine tool, control the first clamp of the industrial robot to clamp the unprocessed workpiece on the tray body on the accompanying platform, and use the second clamp to clamp the processed workpiece on the CNC machine tool, and place the workpiece clamped by the first clamp in the material stop area to be processed of the CNC machine tool; control the industrial robot to transfer the processed workpiece clamped by the second clamp to the location of the unprocessed workpiece originally taken away;

[0018] Repeat step 4 until all the workpieces in one of the tray bodies are processed workpieces, determine whether one of the CNC machine tools has a processing time t1 greater than a preset threshold for processing the previous workpiece; if so, repeat step 4, that is, transfer the unprocessed workpieces on another tray body on the accompanying platform; if not, control the crane body to move to the second docking station, and control the second transfer mechanism to transfer the tray body on the accompanying platform that contains all the processed workpieces to the third docking station.

[0019] Furthermore, in the above-mentioned automatic loading and unloading control method of the multi-station machine tool, a blowing mechanism is also provided on the crane body for blowing away the debris on the surface of the CNC machine tool fixture;

[0020] In the step 4, "controlling the industrial robot to transfer the processed workpiece clamped by the second fixture to the location of the unprocessed workpiece originally taken away" specifically includes: controlling the industrial robot to transfer the processed workpiece clamped by the second fixture, controlling the blowing mechanism to blow away the debris on the surface of the CNC machine tool fixture, and then controlling the workpiece to be transferred to the location of the unprocessed workpiece originally taken away.

[0021] Furthermore, in the automatic loading and unloading docking control method of the above-mentioned multi-station machine tool, the structures of the first docking station, the second docking station and the third docking station are the same, the second docking station includes two groups of support components symmetrically arranged on the X-direction side and the X-direction reverse side, the support components include a lifting support platform and a lifting drive component, the lifting drive component is used to drive the lifting support platform to lift and move; the lifting support platform is provided with a conical limit block, the X-direction side and the X-direction reverse side of the material tray body are respectively provided with limit ear plates corresponding to the lifting support platform, and the limit ear plates are provided with a first limit hole corresponding to the conical limit block.

[0022] Furthermore, in the above-mentioned automatic loading and unloading docking control method of the multi-station machine tool, the width of the accompanying platform is smaller than the distance between the two lifting support platforms of the second docking station;

[0023] The step 3 is specifically as follows: the two lifting support platforms of the second docking station are supported on the ear plates of the tray body, the limit block cooperates with the first limit hole, the lifting drive component is controlled to drive the lifting support platform to rise until the bottom height of the carried tray body is higher than the upper height of the accompanying platform, the traveling body is controlled to drive the accompanying platform to extend into the position between the two lifting support platforms, so that one of the tray parking positions is located directly below the tray body, the lifting drive component is controlled to drive the lifting support platform to descend until the middle part of the tray body is parked on the tray parking position, so that the conical limit block is completely separated from the first limit hole, and the tray body parked at the second docking station is transferred to the tray parking position of the accompanying platform.

[0024] Furthermore, in the automatic loading and unloading docking control method of the above-mentioned multi-station machine tool, the docking transfer mechanism also includes an X-direction guide rail, the first transfer mechanism includes a first tray clamping seat and a first X-direction drive member for driving the first tray clamping seat to move, the first tray clamping seat is slidably connected to the X-direction guide rail, the second transfer mechanism includes a second tray clamping seat and a second X-direction drive member for driving the second tray clamping seat to move, and the second tray clamping seat is slidably connected to the X-direction guide rail.

[0025] Furthermore, in the automatic loading and unloading docking control method of the above-mentioned multi-station machine tool, the first X-axis driving component is a first telescopic cylinder. When the first telescopic cylinder is at the starting point of the stroke, the first material tray clamping seat is located at the second docking station. When the first telescopic cylinder is at the end point of the stroke, the first material tray clamping seat is located at the first docking station.

[0026] Furthermore, in the automatic loading and unloading docking control method of the above-mentioned multi-station machine tool, the second X-axis driving member is a second telescopic cylinder. When the second telescopic cylinder is at the starting point of the stroke, the second material tray clamping seat is located at the second docking station. When the second telescopic cylinder is at the end point of the stroke, the second material tray clamping seat is located at the third docking station.

[0027] Furthermore, in the automatic loading and unloading connection control method of the above-mentioned multi-station machine tool, more than two second limiting holes are respectively provided on the Y direction and the opposite side of the Y direction of the tray body, the first tray clamping seat and the second tray clamping seat have the same structure, and the first tray clamping seat is provided with clamping arms symmetrically arranged on the Y direction and the opposite side of the Y direction, and the clamping arms are provided with protrusions corresponding one by one to the second limiting holes.

[0028] Furthermore, in the automatic loading and unloading connection control method of the multi-station machine tool, the lifting drive component includes a telescopic cylinder in the vertical direction.

[0029] The beneficial effects of the present invention are as follows: by designing a docking transfer mechanism, a crane track, a crane body, an accompanying platform, an industrial robot and a CNC machine tool with a specific structure and positional relationship, and cooperating with an automatic loading and unloading docking control method, efficient and orderly loading and unloading automated docking operations of workpieces on multiple CNC machine tools are achieved. Since more than two tray parking stations are provided on the crane body, when one of the trays is full of processed workpieces, the workpiece loading and unloading can continue to be carried out at the next tray parking station. When all CNC machine tools are in a non-idle state, the crane body is controlled to move to the second docking station to circulate the tray body full of processed workpieces. This greatly saves the time for automatic circulation of workpieces and improves production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a structural schematic diagram of an automatic loading and unloading docking device from a first perspective according to a specific embodiment of the present invention;

[0031] Figure 2 for Figure 1 A magnified view of part A;

[0032] Figure 3 for Figure 2 A magnified view of part B;

[0033] Figure 4 It is a structural schematic diagram of an automatic loading and unloading docking device from a second perspective according to a specific embodiment of the present invention;

[0034] Figure 5 for Figure 4 Enlarged view of part C;

[0035] Figure 6 for Figure 5A magnified view of the D portion;

[0036] Description of labels:

[0037] 1. Docking transfer mechanism; 11. First docking station; 12. Second docking station; 121. Lifting support platform; 122. Lifting drive member; 123. Conical stop block; 13. Third docking station; 14. First transfer mechanism; 141. First tray clamping seat; 1411. Clamping arm; 1412. Bump; 142. First X-direction drive member; 15. Second transfer mechanism; 151. Second tray clamping seat; 152. Second X-direction drive member; 16. X-direction guide rail;

[0038] 2. Material tray body; 21. Position limiting ear plate; 22. First position limiting hole; 23. Second position limiting hole;

[0039] 3. Driving track;

[0040] 4. Driving body; 41. Traveling platform; 42. Tray parking station; 43. Industrial robot; 431. Robotic arm; 432. First fixture; 433. Second fixture;

[0041] 5. CNC machine tools;

[0042] 6. Workpiece. DETAILED DESCRIPTION

[0043] In order to explain the technical content, achieved objectives and effects of the present invention in detail, the following is an explanation in conjunction with the implementation modes and the accompanying drawings.

[0044] Please refer to Figures 1 to 6 The specific implementation of the present invention relates to an automatic loading and unloading docking control method for a multi-station machine tool, based on an automatic loading and unloading docking device, comprising:

[0045] A docking transfer mechanism 1, the docking transfer mechanism 1 includes a first docking station 11, a second docking station 12 and a third docking station 13 arranged in sequence along the X direction, the first docking station 11 is used to park a tray body 2 containing a plurality of unprocessed workpieces 6, the second docking station 12 is used for the transfer and docking of the tray body 2, and the third docking station 13 is used to park a tray body 2 containing a plurality of processed workpieces 6; the docking transfer mechanism 1 also includes a first transfer mechanism 14 and a second transfer mechanism 15, the first transfer mechanism 14 is used to transfer the tray body 2 of the first docking station 11 to the second docking station 12, and the second transfer mechanism 15 is used to transfer the tray body 2 of the second docking station 12 to the third docking station 13;

[0046] A driving track 3, wherein the driving track 3 is arranged on the Y direction side of the second docking station 12, and the extending direction of the driving track 3 is the Y direction;

[0047] A trolley body 4, wherein the trolley body 4 is movably connected to the trolley track 3;

[0048] The accompanying platform 41 is provided with more than two tray parking stations 42 distributed along the Y direction, and each tray parking station 42 can park a tray body 2; in one of the states of the moving stroke of the traveling body 4, any one of the tray parking stations 42 of the accompanying platform 41 can be located at the location of the second docking station 12;

[0049] An industrial robot 43, wherein the industrial robot 43 is connected to the traveling crane body 4, and the industrial robot 43 comprises a multi-stage rotating mechanical arm 431, and a clamping mechanism connected to the end of the mechanical arm 431, wherein the clamping mechanism is provided with a first clamp 432 and a second clamp 433 for clamping the workpiece 6, and the first clamp 432 and the second clamp 433 are respectively used to clamp a single workpiece 6;

[0050] CNC machine tools 5, wherein a plurality of CNC machine tools 5 are respectively arranged on the X-direction side or the X-direction opposite side of the traveling track 3;

[0051] The automatic loading and unloading connection control method comprises the following steps:

[0052] Step 1: Control the first transfer mechanism 14 to transfer the tray body 2 of the first docking station 11 to the second docking station 12;

[0053] Step 2: Control the traveling body 4 to move along the traveling track 3 to one of the tray parking stations 42 located at the position of the second docking station 12;

[0054] Step 3: Control the transfer of the tray body 2 parked at the second docking station 12 to the tray parking station 42 of the accompanying platform 41;

[0055] Repeat steps 1 to 3 until all the tray parking stations 42 of the accompanying platform 41 are parked with tray bodies 2;

[0056] Step 4: Control the crane body 4 to move to the position of the idle CNC machine tool 5, control the first clamp 432 of the industrial robot 43 to clamp the unprocessed workpiece 6 on the tray body 2 on the accompanying platform 41, and clamp the processed workpiece 6 on the CNC machine tool 5 through the second clamp 433, and place the workpiece 6 clamped by the first clamp 432 in the material stop area to be processed of the CNC machine tool 5; control the industrial robot 43 to transfer the processed workpiece 6 clamped by the second clamp 433 to the position of the unprocessed workpiece 6 originally taken away;

[0057] Repeat step 4 until all the workpieces 6 in one of the tray bodies 2 are processed workpieces 6, determine whether one of the CNC machine tools 5 has a processing time t1 greater than a preset threshold for processing the previous workpiece 6; if so, repeat step 4, that is, transfer the unprocessed workpiece 6 on another tray body 2 on the accompanying platform 41; if not, control the traveling body 4 to move to the second docking station 12, and control the second transfer mechanism 15 to transfer the tray body 2 containing all the processed workpieces 6 on the accompanying platform 41 to the third docking station 13.

[0058] In the above implementation manner, by designing a docking transfer mechanism 1, a traveling track 3, a traveling body 4, an accompanying platform 41, an industrial robot 43 and a CNC machine tool 5 with a specific structure and positional relationship, and cooperating with an automatic loading and unloading docking control method, efficient and orderly loading and unloading and docking automated operations of workpieces 6 in multiple CNC machine tools 5 are achieved. Since more than two tray parking stations 42 are provided on the traveling body 4, when one of the trays is full of processed workpieces 6, the workpiece 6 can be loaded and unloaded at the next tray parking station 42. When all CNC machine tools 5 are in a non-idle state, the traveling body 4 is controlled to move to the second docking station 12 to circulate the tray body 2 full of processed workpieces 6. This greatly saves the time for automatic circulation of workpieces 6 and improves production efficiency.

[0059] As a preferred embodiment, the crane body 4 is also provided with a blowing mechanism for blowing away the debris on the surface of the CNC machine tool fixture;

[0060] In the step 4, "control the industrial robot 43 to transfer the processed workpiece 6 clamped by the second fixture 433 to the position of the unprocessed workpiece 6 originally taken away" is specifically: control the industrial robot 43 to transfer the processed workpiece 6 clamped by the second fixture 433 to the position of the purge mechanism, control the purge mechanism to purge the debris on the surface of the CNC machine tool fixture, and then control the workpiece 6 to be transferred to the position of the unprocessed workpiece 6 originally taken away.

[0061] As a preferred embodiment, the first docking station 11, the second docking station 12 and the third docking station 13 have the same structure, the second docking station 12 includes two groups of support components symmetrically arranged on the X-direction side and the X-direction reverse side, the support components include a lifting support platform 121 and a lifting drive member 122, the lifting drive member 122 is used to drive the lifting support platform 121 to move up and down; the lifting support platform 121 is provided with a conical limit block 123, the X-direction side and the X-direction reverse side of the material tray body 2 are respectively provided with limit ear plates 21 corresponding to the lifting support platform 121, and the limit ear plates 21 are provided with a first limit hole 22 corresponding to the conical limit block 123.

[0062] As a preferred embodiment, the width of the accompanying platform 41 is smaller than the distance between the two lifting support platforms 121 of the second docking station 12;

[0063] The step 3 is specifically as follows: the two lifting support platforms 121 of the second docking station 12 are supported on the ear plates of the tray body 2, the limit block cooperates with the first limit hole 22, the lifting drive component 122 is controlled to drive the lifting support platform 121 to rise until the bottom height of the carried tray body 2 is higher than the upper height of the accompanying platform, the traveling body 4 is controlled to drive the accompanying platform to extend into the position between the two lifting support platforms 121, so that one of the tray parking stations 42 is located directly below the tray body 2, the lifting drive component 122 is controlled to drive the lifting support platform 121 to descend until the middle part of the tray body 2 is parked on the tray parking station, so that the conical limit block 123 is completely separated from the first limit hole 22, that is, the tray body 2 parked at the second docking station 12 is transferred to the tray parking station 42 of the accompanying platform 41.

[0064] In the above embodiment, when the tray body 2 stays at the second docking station 12, the lifting support platforms 121 on both sides are used to support the limiting ear plate 21 of the tray body 2, and the conical limiting block 123 is used to pass through the first limiting hole 22 for positioning. When the accompanying platform 41 of the traveling body 4 needs to transfer the tray body 2 from the second docking station 12, it is only necessary to move the corresponding tray parking station 42 of the accompanying platform 41 below the two lifting support platforms 121 (between the two lifting support platforms 121), and by controlling the two lifting support platforms 121 to descend, the lifting support platforms 121 lose support for the ear plate of the tray body 2, and the conical limiting block 123 is separated from the first limiting hole 22, so that the tray body 2 can fall smoothly to the corresponding tray parking station 42, that is, the tray body 2 can move along the Y direction with the traveling body 4.

[0065] As a preferred embodiment, the docking transfer mechanism 1 also includes an X-direction guide rail 16, the first transfer mechanism 14 includes a first tray clamping seat 141 and a first X-direction driving member 142 for driving the first tray clamping seat 141 to move, the first tray clamping seat 141 is slidably connected to the X-direction guide rail 16, the second transfer mechanism 15 includes a second tray clamping seat 151 and a second X-direction driving member 152 for driving the second tray clamping seat 151 to move, the second tray clamping seat 151 is slidably connected to the X-direction guide rail 16.

[0066] As a preferred embodiment, the first X-axis driving member 142 is a first telescopic cylinder. When the first telescopic cylinder is at the starting point of the stroke, the first tray clamping seat 141 is located at the second docking station 12. When the first telescopic cylinder is at the end of the stroke, the first tray clamping seat 141 is located at the first docking station 11.

[0067] As a preferred embodiment, the second X-axis driving member 152 is a second telescopic cylinder. When the second telescopic cylinder is at the starting point of the stroke, the second material tray clamping seat 151 is located at the second docking station 12. When the second telescopic cylinder is at the end of the stroke, the second material tray clamping seat 151 is located at the third docking station 13.

[0068] In the above embodiments, two telescopic cylinders are used to control the X-direction movement of the first tray clamping seat 141 and the second tray clamping seat 151 respectively. Since the travel of the telescopic cylinder is fixed, the corresponding tray clamping seat can be controlled to move accurately to the corresponding docking station by positioning the starting point and the end point of the travel of the telescopic cylinder, so as to achieve the clamping of the tray body 2 and the transfer between the docking stations. The telescopic cylinders involved in the above are air cylinders, hydraulic cylinders or electric cylinders.

[0069] As a preferred embodiment, the Y-direction and the opposite side of the Y-direction of the material tray body 2 are respectively provided with more than two second limiting holes 23, the first material tray clamping seat 141 and the second material tray clamping seat 151 have the same structure, the first material tray clamping seat 141 is provided with clamping arms 1411 symmetrically arranged on the Y-direction and the opposite side of the Y-direction, and the clamping arms 1411 are provided with protrusions 1412 corresponding one by one to the second limiting holes 23.

[0070] In the above embodiments, the protrusion 1412 of the first tray clamping seat 141 or the second tray clamping seat 151 is used to limit the second limiting hole 23 of the tray body 2 to achieve the purpose of the tray body 2 flowing between the docking stations.

[0071] As a preferred embodiment, the lifting drive member 122 includes a telescopic cylinder in the vertical direction.

[0072] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent transformations made using the contents of the present invention's specification and drawings, or directly or indirectly applied in related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. The automatic loading and unloading control method of a multi-station machine tool is characterized in that: Based on automatic loading and unloading docking device, including: A docking transfer mechanism, the docking transfer mechanism includes a first docking station, a second docking station and a third docking station arranged in sequence along the X direction, the first docking station is used to park a tray body containing a plurality of unprocessed workpieces, the second docking station is used for the transfer and docking of the tray body, and the third docking station is used to park a tray body containing a plurality of processed workpieces; the docking transfer mechanism also includes a first transfer mechanism and a second transfer mechanism, the first transfer mechanism is used to transfer the tray body of the first docking station to the second docking station, and the second transfer mechanism is used to transfer the tray body of the second docking station to the third docking station; A driving track, wherein the driving track is arranged on the Y direction side of the second docking station, and the extending direction of the driving track is the Y direction; A carriage body, the carriage body being movably connected to the carriage track; The accompanying platform is provided with more than two tray parking stations distributed along the Y direction, each tray parking station can park a tray body; in one of the states of the moving stroke of the traveling body, any one of the tray parking stations of the accompanying platform can be located at the location of the second docking station; An industrial robot, wherein the industrial robot is connected to a traveling crane body, and comprises a multi-stage rotating mechanical arm, and a clamping mechanism connected to the end of the mechanical arm, wherein the clamping mechanism is provided with a first clamp and a second clamp for clamping a workpiece, and the first clamp and the second clamp are respectively used for clamping a single workpiece; CNC machine tools, multiple CNC machine tools are respectively arranged on the X-direction side or the X-direction reverse side of the traveling track; The automatic loading and unloading connection control method comprises the following steps: Step 1: Control the first transfer mechanism to transfer the tray body of the first docking station to the second docking station; Step 2: Control the crane body to move along the crane track to one of the tray parking stations located at the location of the second docking station; Step 3: Control the transfer of the tray body parked at the second docking station to the tray parking station of the accompanying platform; Repeat steps 1 to 3 until all the tray parking positions on the accompanying platform are parked with tray bodies; Step 4: Control the crane body to move to the location of the idle CNC machine tool, control the first clamp of the industrial robot to clamp the unprocessed workpiece on the tray body on the accompanying platform, and use the second clamp to clamp the processed workpiece on the CNC machine tool, and place the workpiece clamped by the first clamp in the material stop area to be processed of the CNC machine tool; control the industrial robot to transfer the processed workpiece clamped by the second clamp to the location of the unprocessed workpiece originally taken away; Repeat step 4 until all the workpieces in one of the tray bodies are processed workpieces, determine whether one of the CNC machine tools has a processing time t1 greater than a preset threshold for processing the previous workpiece; if so, repeat step 4, that is, transfer the unprocessed workpieces on another tray body on the accompanying platform; if not, control the crane body to move to the second docking station, and control the second transfer mechanism to transfer the tray body on the accompanying platform that contains all the processed workpieces to the third docking station.

2. The automatic loading and unloading control method of a multi-station machine tool according to claim 1 is characterized in that: The crane body is also provided with a blowing mechanism for removing debris from the surface of the CNC machine tool fixture; In the step 4, "controlling the industrial robot to transfer the processed workpiece clamped by the second fixture to the position of the unprocessed workpiece originally taken away" specifically includes: controlling the industrial robot to transfer the processed workpiece clamped by the second fixture to the position of the purge mechanism, controlling the purge mechanism to remove debris on the surface of the CNC machine tool fixture, and then controlling the workpiece to be transferred to the position of the unprocessed workpiece originally taken away.

3. The automatic loading and unloading control method of a multi-station machine tool according to claim 1 is characterized in that: The structures of the first docking station, the second docking station and the third docking station are the same. The second docking station includes two groups of support components symmetrically arranged on the X-direction side and the X-direction reverse side. The support components include a lifting support platform and a lifting drive component. The lifting drive component is used to drive the lifting support platform to lift and move; the lifting support platform is provided with a conical limit block, and the X-direction side and the X-direction reverse side of the tray body are respectively provided with limit ear plates corresponding to the lifting support platform, and the limit ear plates are provided with a first limit hole corresponding to the conical limit block.

4. The automatic loading and unloading control method of a multi-station machine tool according to claim 3 is characterized in that: The width of the accompanying platform is smaller than the distance between the two lifting support platforms of the second docking station; The step 3 is specifically as follows: the two lifting support platforms of the second docking station are supported on the ear plates of the tray body, the limit block cooperates with the first limit hole, the lifting drive component is controlled to drive the lifting support platform to rise until the bottom height of the carried tray body is higher than the upper height of the accompanying platform, the traveling body is controlled to drive the accompanying platform to extend into the position between the two lifting support platforms, so that one of the tray parking positions is located directly below the tray body, the lifting drive component is controlled to drive the lifting support platform to descend until the middle part of the tray body is parked on the tray parking position, so that the conical limit block is completely separated from the first limit hole, and the tray body parked at the second docking station is transferred to the tray parking position of the accompanying platform.

5. The automatic loading and unloading control method of a multi-station machine tool according to claim 1 is characterized in that: The docking transfer mechanism also includes an X-direction guide rail, the first transfer mechanism includes a first tray clamping seat and a first X-direction drive member for driving the first tray clamping seat to move, the first tray clamping seat is slidably connected to the X-direction guide rail, the second transfer mechanism includes a second tray clamping seat and a second X-direction drive member for driving the second tray clamping seat to move, the second tray clamping seat is slidably connected to the X-direction guide rail.

6. The automatic loading and unloading connection control method of a multi-station machine tool according to claim 5 is characterized in that: The first X-axis driving member is a first telescopic cylinder. When the first telescopic cylinder is at the starting point of the stroke, the first tray clamping seat is located at the second docking station. When the first telescopic cylinder is at the end of the stroke, the first tray clamping seat is located at the first docking station.

7. The automatic loading and unloading connection control method of a multi-station machine tool according to claim 5 is characterized in that: The second X-axis driving member is a second telescopic cylinder. When the second telescopic cylinder is at the starting point of the stroke, the second material tray clamping seat is located at the second docking station. When the second telescopic cylinder is at the end of the stroke, the second material tray clamping seat is located at the third docking station.

8. The automatic loading and unloading connection control method of a multi-station machine tool according to claim 5, characterized in that: The Y-direction and the opposite side of the Y-direction of the material tray body are respectively provided with more than two second limiting holes, the first material tray clamping seat and the second material tray clamping seat have the same structure, the first material tray clamping seat is provided with clamping arms symmetrically arranged in the Y-direction and the opposite side of the Y-direction, and the clamping arms are provided with protrusions corresponding to the second limiting holes one by one.

9. The automatic loading and unloading control method of a multi-station machine tool according to claim 3 is characterized in that: The lifting drive member comprises a telescopic cylinder in the vertical direction.

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