Material circulation unit of workpiece machining system and workpiece machining system

Abstract

A material circulation unit of a workpiece machining system comprises a discharging in-place detection module (11), a collaborative robot (21) and a control module (30). And the discharging in-place detection module is used for detecting the workpiece in-place condition of the discharging station (W1). The collaborative robot can grab and release the workpieces and the partition plates. Workpiece placing coordinates and partition plate placing coordinates of the discharging frame (93) are stored in the control module. The control module can judge whether workpieces exist at the discharging station or not according to output signals of the discharging in-place detection module, and if yes, the control module controls the collaborative robot to place the workpieces located at the discharging station into the discharging frame according to the workpiece placing coordinates. The control module can further control the collaborative robot to place the partition plates in the partition plate frame (95) to the upper side of the workpieces on the previous layer according to the partition plate placing coordinates when the workpieces on the previous layer are fully placed. The material circulation unit can automatically place the workpieces on the discharging station into the discharging frame. In addition, the invention further provides a workpiece machining system.

Description

Technical Field

[0001] The present invention relates to the field of mechanical automation, and in particular to a material flow unit of a workpiece processing system, and a workpiece processing system comprising the material flow unit. Background Art

[0002] At present, after the flange end caps have completed a series of processing procedures such as turning and drilling, they enter the discharge stage. Currently, this stage is completely dependent on manual operation, that is, workers are required to place the processed flange end caps one by one into the discharge frame. This process has many disadvantages. Due to the limited speed of manual placement, it greatly affects the overall production efficiency, and long-term repetitive work will consume a lot of manpower. More importantly, manual operation is prone to misplacement or omission of flange end caps due to factors such as fatigue and negligence, which poses a risk of error or omission, and is not conducive to the smooth progress of the production process. Summary of the invention

[0003] The object of the present invention is to provide a material flow unit of a workpiece processing system, which can automatically place the processed workpieces into a discharge frame.

[0004] Another object of the present invention is to provide a workpiece processing system, wherein the material flow unit of the workpiece processing system can automatically place the processed workpiece into a discharge frame.

[0005] The present invention provides a material flow unit of a workpiece processing system, which includes a material discharge detection module, a collaborative robot and a control module. The material discharge detection module is used to detect the presence of workpieces at the discharge station. The collaborative robot can grab and release workpieces and partitions. The partition is used to be placed between two adjacent layers of workpieces in the discharge frame. The control module signal connects the material discharge detection module and the collaborative robot. The control module stores the workpiece placement coordinates and the partition placement coordinates of the discharge frame. The control module can determine whether there are workpieces at the discharge station according to the output signal of the material discharge detection module. If the judgment result is yes, the control module controls the collaborative robot to place the workpiece at the discharge station into the discharge frame according to the workpiece placement coordinates. The control module can also control the collaborative robot to place the partition in the partition frame to the upper side of the previous layer of workpieces according to the partition placement coordinates when the previous layer of workpieces is full.

[0006] The material flow unit of the workpiece processing system can automatically place the workpieces on the discharge station into the discharge frame and add a partition between two adjacent layers of workpieces, thereby saving manpower and helping to reduce the discharge error rate.

[0007] In another exemplary embodiment of the material flow unit of the workpiece processing system, the end effector of the collaborative robot includes a gripper-type gripper and a vacuum adsorption gripper. The gripper-type gripper is used to grip the workpiece. The vacuum adsorption gripper is used to adsorb the partition. This facilitates the gripping of the workpiece and the partition.

[0008] In another exemplary embodiment of the material flow unit of the workpiece processing system, the material flow unit further includes an image acquisition module. The image acquisition module can acquire image data of the workpiece in the feed frame. The image acquisition module signal is connected to the control module. The control module can obtain the spatial coordinates and placement angle of the workpiece in the feed frame according to the output signal analysis of the image acquisition module, and control the collaborative robot to transport the workpiece in the feed frame to the feeding station according to the spatial coordinates and placement angle of the workpiece. In this way, automated feeding is achieved, which is conducive to improving feeding efficiency.

[0009] The present invention also provides a workpiece processing system, which includes the above-mentioned material circulation unit. The material circulation unit of the workpiece processing system can automatically place the workpieces on the discharge station into the discharge frame and add a partition between two adjacent layers of workpieces. This can save manpower and help reduce the discharge error rate.

[0010] In another exemplary embodiment of the workpiece processing system, the workpiece processing system further includes a processing device and a transfer robot. The processing device is used to process the workpiece. The transfer robot can transport the workpiece between the feeding station and the processing device, between the processing device and the processing device, and between the processing device and the discharging station. The control module signals connect the processing device and the transfer robot to control the processing device and the transfer robot to work. This helps to improve the processing efficiency of the workpiece.

[0011] In another schematic embodiment of the workpiece processing system, at least one processing device is a precision positioning platform for positioning the workpiece at an initial position and an initial angle; at least one processing device is a CNC lathe for turning the workpiece; at least one processing device is a posture adjustment device for adjusting the spatial angle of the workpiece; at least one processing device is a cleaning device for cleaning the workpiece; and / or at least one processing device is a size detection device for detecting the size of the workpiece, and the control module can adjust the tool compensation value of the CNC lathe according to the detection result of the detection device, thereby helping to improve the processing accuracy.

[0012] In another schematic embodiment of the workpiece processing system, the material flow unit also includes a feed placement table and a discharge placement table. The feed placement table is used to place the workpiece located at the feed station. The discharge placement table is used to place the workpiece located at the discharge station. The workpiece processing system forms at least one processing line consisting of a processing device, a feed placement table and a discharge placement table. The processing line starts with the feed placement table and ends with the discharge placement table. Each processing line corresponds to at least one transfer robot. The transfer robot can transport workpieces on its corresponding processing line. The processing equipment, feed placement table and discharge placement table of the same processing line are arranged around the corresponding transfer robot. This helps to optimize the working path of the transfer robot and improve work efficiency.

[0013] In another exemplary embodiment of the workpiece processing system, the workpiece processing system further includes a protection unit and a first light curtain sensor. The protection unit is used to enclose a working space. The working space includes a processing space, a material storage space, and a transition space between the processing space and the material storage space. The feeding station and the discharging station are arranged in the transition space. The material storage space is used to place the feeding frame, the discharging frame, and the partition frame. The transfer robot moves in the processing space and the transition space. The collaborative robot moves in the material storage space and the transition space. The protection unit is provided with an inlet and outlet door opening connecting the material storage space and the outside of the working space. The first light curtain sensor is arranged in the inlet and outlet door opening to detect objects passing through the inlet and outlet door opening. The first light curtain sensor signal is connected to the control module. The control module can judge whether there is an object passing through the inlet and outlet door opening according to the output signal of the first light curtain sensor. If the judgment result is yes, the control module controls the collaborative robot to stop moving in the material storage space and the transition space corresponding to the inlet and outlet door opening. This helps to improve the safety of the system.

[0014] In another exemplary embodiment of the workpiece processing system, the workpiece processing system is further provided with a connecting port for the workpiece to shuttle between the transition space and the material storage space at the junction of the transition space and the material storage space. The workpiece processing system also includes a second light curtain sensor. The second light curtain sensor is arranged at the connecting port to detect objects passing through the connecting port. The second light curtain sensor signal is connected to the control module. The control module can judge whether there is an abnormal object passing through the connecting port according to the output signal of the second light curtain sensor. If the judgment result is yes, the control module controls the transfer robot to stop moving in the processing space and transition space corresponding to the connecting port. This helps to improve the safety of the system.

[0015] In another exemplary embodiment of the workpiece processing system, the material flow unit further includes a feed in-place detection module. The feed in-place detection module is used to detect the presence of the workpiece at the feed station. The feed in-place detection module signal is connected to the control module. The control module can determine whether there is a workpiece at the feed station based on the output signal of the feed in-place detection module. If the judgment result is yes, the control module controls the transfer robot to transport the workpiece at the feed station to the processing equipment. This improves the level of automation. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The following drawings are only used to schematically illustrate and explain the present invention, and do not limit the scope of the present invention.

[0017] Figure 1 A top view of a schematic embodiment of a material flow unit of a workpiece processing system.

[0018] Figure 2 Used to illustrate the schematic placement of workpieces and partitions in the discharge frame.

[0019] Figure 3 A top view of a schematic implementation of a workpiece processing system.

[0020] Figure 4 A top view of another exemplary embodiment of a workpiece processing system.

[0021] Description of symbols

[0022] 11Discharging in-place detection module

[0023] 12 Feeding in-place detection module

[0024] 21. Collaborative Robot

[0025] 22 Transfer robot

[0026] 30 control module

[0027] 40 Image acquisition module

[0028] 50 processing equipment

[0029] aPrecision positioning platform

[0030] bThe first CNC lathe

[0031] c posture adjustment equipment

[0032] d Second CNC lathe

[0033] Cleaning equipment

[0034] f size detection equipment

[0035] 61 discharge table

[0036] 62 feeding table

[0037] 70 protection units

[0038] A1 processing space

[0039] A2 storage space

[0040] A3 Transition Space

[0041] 81 First light curtain sensor

[0042] 82 Second light curtain sensor

[0043] K1 Inlet and outlet door

[0044] K2 connection port

[0045] 91 Workpieces

[0046] 92 partition

[0047] 93 discharge frame

[0048] 94 Feeding frame

[0049] 95 partition frame

[0050] W1 unloading station

[0051] W2 feeding station DETAILED DESCRIPTION

[0052] In order to have a clearer understanding of the technical features, purposes and effects of the invention, the specific embodiments of the present invention are now described with reference to the accompanying drawings. The same reference numerals in the drawings represent components with the same structure or similar structures but the same functions.

[0053] In this document, “exemplary” means “serving as an example, instance or illustration”, and any diagram or implementation described in this document as “exemplary” should not be interpreted as a more preferred or more advantageous technical solution.

[0054] In this article, "first", "second", etc. do not indicate their importance or order, but are only used to indicate the difference between each other for the convenience of document description.

[0055] In order to simplify the drawings, each figure only schematically shows the parts related to the present invention, which do not represent the actual structure of the product.

[0056] Figure 1 FIG. 1 is a top view of a schematic implementation of a material flow unit of a workpiece processing system. The workpiece processing system is used to process workpieces, such as flange end caps, but not limited thereto. The processed workpieces will be placed at the discharge station W1 to wait for discharge. Figure 1As shown, in this exemplary embodiment, the material flow unit is provided with three discharging stations W1 ( Figure 1 Only one of the discharge stations W1 is schematically indicated in the figure, and the three discharge stations W1 are, for example, arranged on the discharge placement table 61 of the material flow unit. In other exemplary embodiments, the number of the discharge stations W1 can be adjusted as needed. The material flow unit can place the workpieces of the discharge stations W1 in the form of multiple layers in the discharge frame 93 one by one during discharge. Figure 2 The schematic arrangement of the workpieces 91 in the discharge frame 93 is shown from the side. Figure 2 As shown, a partition plate 92 is provided between two adjacent layers of workpieces 91 to protect the workpieces 91. When in use, the discharging frame 93 and the partition plate frame 95 storing the partition plates are placed at a preset position.

[0057] like Figure 1 As shown, the material flow unit of the workpiece processing system includes three discharge in-place detection modules 11 ( Figure 1 Only one discharge in-place detection module 11 ), one collaborative robot 21 and one control module 30 are schematically indicated.

[0058] Each material discharging in-place detection module 11 corresponds to a material discharging station W1. Each material discharging in-place detection module 11 is used to detect the in-place status of the workpiece of the corresponding material discharging station W1. The material discharging in-place detection module 11 is, for example, a photoelectric sensor, but is not limited thereto. The collaborative robot 21 can grasp and release the workpiece and the partition. The collaborative robot 21 is, for example, a truss robot, but is not limited thereto.

[0059] The control module 30 signals connect the discharge in-place detection module 11 and the collaborative robot 21. The control module 30 stores the workpiece placement coordinates and the partition placement coordinates of the discharge frame 93. The control module 30 can determine whether there are workpieces at the discharge station W1 according to the output signal of the discharge in-place detection module 11. If the judgment result is yes, the control module 30 controls the collaborative robot 21 to place the workpiece at the discharge station W1 into the discharge frame 93 according to the workpiece placement coordinates. The control module 30 can also control the collaborative robot 21 to place the partitions in the partition frame 95 to the upper side of the previous layer of workpieces according to the partition placement coordinates when the previous layer of workpieces is full.

[0060] For example, the control module 30 marks the workpiece placement coordinates corresponding to the workpiece as placed each time the collaborative robot 21 is controlled to place a workpiece. The control module 30 can, for example, determine whether the previous layer of workpieces is fully placed based on the marked workpiece placement coordinates, and determine the partition placement coordinates of the partition to be placed based on the marked workpiece placement coordinates. The control module 30 also stores the workpiece placement sequence, and can, for example, place the workpieces into the discharge frame 93 in sequence according to the workpiece placement sequence.

[0061] The material flow unit of the workpiece processing system can automatically place the workpieces on the discharge station into the discharge frame and add a partition between two adjacent layers of workpieces, thereby saving manpower and helping to reduce the discharge error rate.

[0062] In the exemplary embodiment, the end effector of the collaborative robot 21 includes a gripper-type gripper and a vacuum adsorption gripper. The gripper-type gripper is used to grip the workpiece. The vacuum adsorption gripper is used to adsorb the partition. This facilitates the gripping of the workpiece and the partition.

[0063] like Figure 1 As shown, the feed frame 94 is used to store the workpieces to be processed. When in use, the feed frame 94 is placed in a pre-set position. Figure 1 As shown, in the schematic embodiment, the material flow unit also includes an image acquisition module 40. The image acquisition module 40 can acquire image data of the workpiece in the feed frame 94. The image acquisition module 40 is, for example, a 3D camera, but is not limited thereto. The image acquisition module 40 signal is connected to the control module 30. The control module 30 can obtain the spatial coordinates and placement angle of the workpiece in the feed frame 94 according to the output signal analysis of the image acquisition module 40, and control the collaborative robot 21 to transport the workpiece in the feed frame 94 to the feeding station W2 according to the spatial coordinates and placement angle of the workpiece. Automated feeding is thereby achieved, which is beneficial to improving feeding efficiency. In this schematic embodiment, four feeding stations W2 ( Figure 1 Only one of the feeding stations W2 is schematically indicated in the figure, and the four feeding stations W2 are, for example, arranged on the feeding placement table 62 of the material flow unit. In other exemplary embodiments, the number of the feeding stations W2 can be adjusted as needed.

[0064] like Figure 1 As shown, in the exemplary embodiment, the material flow unit further includes four feed in-place detection modules 12 ( Figure 1 Only one of the feed in-place detection modules 12 is schematically indicated in the figure. Each feed in-place detection module 12 corresponds to a feed station W2. Each feed in-place detection module 12 is used to detect the presence of the workpiece in the corresponding feed station W2. The feed in-place detection module 12 is, for example, a photoelectric sensor, but is not limited thereto. The feed in-place detection module 12 is connected to the control module 30 by signal.

[0065] Figure 3 FIG. 1 is a top view of a schematic embodiment of a workpiece processing system. Figure 3 As shown, it includes a Figure 1 The material flow unit shown includes several processing devices 50 and a transfer robot 22.

[0066] The processing equipment 50 is used to process the workpiece. For the processing of the flange end cover, in this exemplary embodiment, one processing equipment 50 is a precision positioning platform a for positioning the workpiece at an initial position and an initial angle, two processing equipment 50 are a first CNC lathe b for turning the workpiece, one processing equipment 50 is a posture adjustment device c for adjusting the spatial angle of the workpiece, one processing equipment 50 is a second CNC lathe d for turning the workpiece, one processing equipment 50 is a cleaning device e for cleaning the workpiece, and one processing equipment 50 is a size detection device f for detecting the size of the workpiece. In other exemplary embodiments, the type and quantity of the processing equipment 50 can be adjusted accordingly according to the type of workpiece and the processing method.

[0067] The transfer robot 22 can transport workpieces between the feeding station W2 and the processing device 50, between the processing devices 50 and the processing devices 50, and between the processing devices 50 and the discharging station W1. The transfer robot 22 includes, for example, a robot ground rail and a robot arm, but is not limited thereto. The control module 30 signals connect the processing device 50 and the transfer robot 22 to control the processing device 50 and the transfer robot 22 to work according to the set processing flow. The set processing flow is, for example:

[0068] 1. Take out the workpiece from the feeding station W2 and transfer it to the precision positioning platform a for positioning;

[0069] 2. Transfer to the first CNC lathe b for the first processing;

[0070] 3. Transfer to the posture adjustment device c for flipping;

[0071] 4. Transfer to the second CNC lathe d for the second processing;

[0072] 5. Transfer to the posture adjustment device c for flipping;

[0073] 6. Transfer to cleaning equipment e for cleaning;

[0074] 7. Transfer to the size detection equipment f for size detection;

[0075] 8. Transfer to the unloading station W1 to wait for unloading.

[0076] The control module 30 can determine whether there is a workpiece at the feeding station W2 based on the output signal of the feeding in-place detection module 12. If the judgment result is yes, the control module 30 controls the transfer robot 22 to transport the workpiece at the feeding station W2 to one of the processing devices 50 according to the set processing flow.

[0077] In an exemplary embodiment, the control module 30 can adjust the tool compensation value of the CNC lathe according to the detection result of the detection device, thereby facilitating the improvement of the machining accuracy.

[0078] In an exemplary embodiment, Figure 3 As shown, the material flow unit includes a feed placement table 62 and a discharge placement table 61. The feed placement table 62 is used to place the workpiece located at the feed station W2. The discharge placement table 61 is used to place the workpiece located at the discharge station W1. The workpiece processing system forms a processing line consisting of a processing device 50, a feed placement table 62 and a discharge placement table 61. Specifically, in this schematic embodiment, referring to the set processing flow described above, the processing line is formed by a feed placement table 62, a precision positioning platform a, two first CNC lathes b, a posture adjustment device c, a second CNC lathe d, a cleaning device e, a size detection device f and a discharge placement table 61. Since the processing time of the first CNC lathe b is relatively long, two are set to improve the overall efficiency of the processing line. The processing line starts from the feed placement table 62 and ends at the discharge placement table 61. The transfer robot 22 can transport workpieces on the processing line. As shown Figure 3 As shown, the processing equipment 50, the feeding placement table 62 and the discharging placement table 61 forming the processing line are arranged around the transfer robot 22. This is conducive to optimizing the working path of the transfer robot 22 and improving work efficiency.

[0079] like Figure 3 As shown, in the schematic embodiment, the workpiece processing system further includes a set of protection units 70 and a first light curtain sensor 81. The protection unit 70 is used to enclose a working space (i.e., the orange, yellow, and green covered portion in the figure), and is specifically, for example, a protection net, but is not limited thereto. In this schematic embodiment, the protection unit 70 and other structures of the workpiece processing system cooperate with each other in space to enclose a working space together, but are not limited thereto. In other schematic embodiments, the protection unit 70 may also be configured to independently enclose a working space.

[0080] like Figure 3As shown, the workspace includes a processing space A1 (orange covered part), a material storage space A2 (yellow covered part) and a transition space A3 (green covered part) located between the processing space A1 and the material storage space A2. The feeding station W2 and the discharging station W1 are arranged in the transition space A3. The material storage space A2 is used to place the feeding frame 94, the discharging frame 93 and the partition frame 95. The transfer robot 22 moves in the processing space A1 and the transition space A3. The collaborative robot 21 moves in the material storage space A2 and the transition space A3. The protection unit 70 is provided with an inlet and outlet door K1 connecting the material storage space A2 and the outside of the workspace. The first light curtain sensor 81 is arranged in the inlet and outlet door K1 to detect objects passing through the inlet and outlet door K1. The signal of the first light curtain sensor 81 is connected to the control module 30. The control module 30 can judge whether there is an object passing through the inlet and outlet door K1 according to the output signal of the first light curtain sensor 81. If the judgment result is yes, the control module 30 controls the collaborative robot 21 to stop the activity. In this way, when a person enters the material storage space A2 through the material inlet and outlet door K1, the control module 30 controls the collaborative robot 21 to stop moving, thereby preventing injuries to personnel and improving safety.

[0081] In the exemplary embodiment, the workpiece processing system is also provided with a connecting port K2 for the workpiece to shuttle between the transition space A3 and the material storage space A2 at the junction of the transition space A3 and the material storage space A2. The workpiece processing system also includes a second light curtain sensor 82. The second light curtain sensor 82 is arranged at the connecting port K2 to detect objects passing through the connecting port K2. The second light curtain sensor 82 signal is connected to the control module 30. The control module 30 can judge whether an abnormal object (i.e., an object that should not pass through the connecting port K2 when the workpiece processing system works autonomously) passes through the connecting port K2 according to the output signal of the second light curtain sensor 82. If the judgment result is yes, the control module 30 controls the sequence transfer robot 22 to stop the activity. In this way, when a person enters the transition space A3 through the connecting port K2, the control module 30 controls the sequence transfer robot 22 to stop the activity, thereby preventing injuries to personnel and improving safety. When judging, the control module 30, for example, judges whether the object passing through the connecting port K2 is an abnormal object or a collaborative robot 21 according to the control signal to the collaborative robot 21.

[0082] Figure 4 FIG. 1 is a top view of another exemplary embodiment of a workpiece processing system. Figure 3On the basis of the workpiece processing system shown, a processing line with the same set processing flow is added. The two processing lines share a size detection device f, a control module 30 and a collaborative robot 21. Each processing line is equipped with a transfer robot 22, a set of protection units 70, a first light curtain sensor 81, a second light curtain sensor 82, a discharge frame 93, a feed frame 94 and a partition frame 95. Each processing line has its own processing space A1, material placement space A2 and transition space A3. This is conducive to improving equipment utilization.

[0083] The control module 30 can determine whether an object passes through the feed and discharge door opening K1 corresponding to the first light curtain sensor 81 based on the output signal of the first light curtain sensor 81. If the judgment result is yes, the control module 30 controls the collaborative robot 21 to stop moving in the storage space A2 and transition space A3 corresponding to the feed and discharge door opening K1.

[0084] The control module 30 can determine whether an abnormal object passes through the connecting port K2 corresponding to the second light curtain sensor 82 based on the output signal of the second light curtain sensor 82. If the judgment result is yes, the control module 30 controls the transfer robot 22 to stop moving in the processing space A1 and transition space A3 corresponding to the connecting port K2.

[0085] It should be understood that although this specification is described according to various embodiments, not every embodiment contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0086] The series of detailed descriptions listed below are only specific descriptions of feasible embodiments of the present invention. They are not intended to limit the scope of protection of the present invention. Any equivalent implementation scheme or changes that do not deviate from the technical spirit of the present invention, such as combination, division or repetition of features, should be included in the scope of protection of the present invention.

Claims

1. A material flow unit of a workpiece processing system, characterized in that: include: A discharge in-place detection module (11), which is used to detect the in-place status of a workpiece at a discharge station (W1); A collaborative robot (21) capable of grasping and releasing workpieces and a partition plate, wherein the partition plate is used to be placed between two adjacent layers of workpieces in a discharge frame (93); as well as A control module (30) whose signal connects the discharge in-place detection module (11) and the collaborative robot (21); the control module (30) stores the workpiece placement coordinates and the partition placement coordinates of the discharge frame (93); the control module (30) can determine whether there is a workpiece at the discharge station (W1) based on the output signal of the discharge in-place detection module (11); if the judgment result is yes, the control module (30) controls the collaborative robot (21) to place the workpiece at the discharge station (W1) into the discharge frame (93) based on the workpiece placement coordinates; the control module (30) can also control the collaborative robot (21) to place the partition in the partition frame (95) to the upper side of the previous layer of workpieces based on the partition placement coordinates when the previous layer of workpieces is full.

2. The material flow unit of the workpiece processing system according to claim 1, characterized in that: The end effector of the collaborative robot (21) comprises a clamping claw type grasping device and a vacuum adsorption type grasping device, wherein the clamping claw type grasping device is used to grasp the workpiece, and the vacuum adsorption type grasping device is used to adsorb the partition.

3. The material flow unit of the workpiece processing system according to claim 1, characterized in that: The material flow unit also includes an image acquisition module (40), which can acquire image data of the workpiece in the feed frame (94). The image acquisition module (40) is connected to the control module (30) by signal. The control module (30) can obtain the spatial coordinates and placement angle of the workpiece in the feed frame (94) based on the output signal analysis of the image acquisition module (40), and control the collaborative robot (21) to transport the workpiece in the feed frame (94) to the feed station (W2) based on the spatial coordinates and placement angle of the workpiece.

4. Workpiece processing system, characterized in that, The method comprises the material flow unit as claimed in any one of claims 1 to 3.

5. The workpiece processing system according to claim 4, characterized in that: The workpiece processing system also includes: a processing device (50) for processing a workpiece; and a transfer robot (22) capable of transporting workpieces between a feeding station (W2) and the processing device (50), between the processing device (50) and the processing device (50), and between the processing device (50) and the unloading station (W1); The control module (30) is connected to the processing device (50) and the sequence transfer robot (22) by signals so as to control the operation of the processing device (50) and the sequence transfer robot (22).

6. The workpiece processing system according to claim 5, characterized in that: At least one of the processing devices (50) is a precision positioning platform for positioning the workpiece at an initial position and an initial angle; At least one of the processing devices (50) is a CNC lathe for turning a workpiece; At least one of the processing devices (50) is a posture adjustment device for adjusting the spatial angle of the workpiece; At least one of the processing devices (50) is a cleaning device for cleaning a workpiece; and / or At least one of the processing devices (50) is a size detection device for detecting the size of a workpiece, and the control module (30) can adjust the tool compensation value of the CNC lathe according to the detection result of the detection device.

7. The workpiece processing system according to claim 5, characterized in that: The material flow unit also includes a feed placement table (62) and a discharge placement table (61), wherein the feed placement table (62) is used to place the workpiece located at the feed station (W2), and the discharge placement table (61) is used to place the workpiece located at the discharge station (W1). The workpiece processing system forms at least one processing line consisting of the processing equipment (50), the feed placement table (62) and the discharge placement table (61), wherein the processing line starts from the feed placement table (62) and ends at the discharge placement table (61), and each processing line corresponds to at least one transfer robot (22), and the transfer robot (22) is capable of transporting workpieces on its corresponding processing line, and the processing equipment (50), the feed placement table (62) and the discharge placement table (61) of the same processing line are arranged around the corresponding transfer robot (22).

8. The workpiece processing system according to claim 5, characterized in that: The workpiece processing system also includes: A protection unit (70) is used to enclose a working space, wherein the working space comprises a processing space (A1), a material storage space (A2) and a transition space (A3) located between the processing space (A1) and the material storage space (A2); the feeding station (W2) and the discharging station (W1) are arranged in the transition space (A3); the material storage space (A2) is used to place a feeding frame (94), a discharging frame (93) and a partition frame (95); the sequence transfer robot (22) moves in the processing space (A1) and the transition space (A3); the collaborative robot (21) moves in the material storage space (A2) and the transition space (A3); the protection unit (70) is provided with a material inlet and outlet door (K1) connecting the material storage space (A2) and the outside of the working space; and A first light curtain sensor (81) is arranged at the material inlet and outlet door opening (K1) to detect an object passing through the material inlet and outlet door opening (K1). The signal of the first light curtain sensor (81) is connected to the control module (30). The control module (30) can judge whether an object passes through the material inlet and outlet door opening (K1) according to the output signal of the first light curtain sensor (81). If the judgment result is yes, the control module (30) controls the collaborative robot (21) to stop moving in the material storage space (A2) and the transition space (A3) corresponding to the material inlet and outlet door opening (K1).

9. The workpiece processing system according to claim 8, characterized in that: The workpiece processing system is also provided with a connecting port (K2) at the junction of the transition space (A3) and the material storage space (A2) for the workpiece to shuttle between the transition space (A3) and the material storage space (A2). The workpiece processing system also includes a second light curtain sensor (82). The second light curtain sensor (82) is arranged at the connecting port (K2) to detect an object passing through the connecting port (K2). The second light curtain sensor (82) signal is connected to the control module (30). The control module (30) can determine whether an abnormal object passes through the connecting port (K2) based on the output signal of the second light curtain sensor (82). If the judgment result is yes, the control module (30) controls the transfer robot (22) to stop moving in the processing space (A1) and the transition space (A3) corresponding to the connecting port (K2).

10. The workpiece processing system according to claim 5, characterized in that: The material flow unit also includes a feed in-place detection module (12), which is used to detect the presence of a workpiece at a feed station (W2). The feed in-place detection module (12) is connected to the control module (30) by a signal. The control module (30) can determine whether there is a workpiece at the feed station (W2) based on the output signal of the feed in-place detection module (12). If the judgment result is yes, the control module (30) controls the transfer robot (22) to transport the workpiece at the feed station (W2) to the processing equipment (50).

Images