Machine tool loading and unloading control methods and loading and unloading devices

Abstract

This invention provides a machine tool loading / unloading control method and a loading / unloading device. The loading / unloading device includes two feeding units that jointly transport workpieces between a trolley and the machining area of ​​the machine tool. The loading / unloading device has a starting position, a first feeding position, and a second feeding position. The starting position avoids the trolley and the machining area. The first feeding position corresponds to the trolley for picking up and placing workpieces on the trolley, and the second feeding position corresponds to the machining area for picking up and placing workpieces in the machining area. The loading / unloading control method includes: after the loading / unloading device moves to the corresponding position, detecting whether both feeding units have moved into position; if at least one feeding unit has not moved into position, repeating the movement action of the loading / unloading device to move both feeding units to the corresponding position; and executing the next action after both feeding units have moved into position. This avoids the problem of interference in the loading / unloading device, improving machining efficiency and operational safety.

Description

Technical Field

[0001] This invention relates to the field of automation equipment technology, and more specifically, to a machine tool loading and unloading control method and loading and unloading device. Background Technology

[0002] With the continuous increase in labor costs, more and more CNC machine tools are forming processing module units, with robots mainly used for loading and unloading. Compared with manual material handling, robot loading and unloading can effectively improve production efficiency and effectively eliminate the risk of safety injuries to material handling personnel.

[0003] However, during the robot's movement for loading and unloading, there are many interference points, and the robot is prone to collisions with these interference points, which affects the safety and efficiency of machine tool processing. Summary of the Invention

[0004] This invention provides a machine tool loading and unloading control method and loading and unloading device to solve the problems of poor safety and low processing efficiency caused by the collision between the robot and the structure in the machine tool during the machining process in the prior art.

[0005] To address the aforementioned problems, according to one aspect of the present invention, a machine tool loading / unloading control method is provided for controlling a loading / unloading device. The loading / unloading device includes two feeding units that jointly transport workpieces between a trolley and a machining area of ​​the machine tool. The loading / unloading device has a starting position, a first feeding position, and a second feeding position. The starting position avoids the trolley and the machining area. The first feeding position corresponds to the trolley for picking up and placing workpieces on the trolley, and the second feeding position corresponds to the machining area for picking up and placing workpieces in the machining area. The loading / unloading control method includes: after the loading / unloading device performs an action of moving to the starting position, the first feeding position, or the second feeding position, detecting whether both feeding units have moved into position; if at least one feeding unit has not moved into position, repeating the movement action of the loading / unloading device to move both feeding units to the starting position, the first feeding position, or the second feeding position; and after both feeding units have moved into position, the loading / unloading device performs the next action.

[0006] Furthermore, if at least one feeding part fails to move into position, and the loading / unloading device moves more than twice, and if at least one feeding part still fails to move into position, an alarm message is issued.

[0007] Furthermore, the feeding section is equipped with an openable and closable clamping section for clamping or releasing the workpiece. When it is necessary to remove the processed workpiece from the processing area, the loading and unloading control method further includes: the loading and unloading device first moves to the starting position; after both feeding sections have moved to their positions, the clamping sections on both feeding sections perform an opening action; and it is detected whether all clamping sections are fully opened. If at least one clamping section is not fully opened, the opening action of the clamping section is repeated to make the clamping section fully open. After all clamping sections are fully opened, the loading and unloading device moves from the starting position to the second feeding position.

[0008] Furthermore, if at least one clamping part fails to open properly, and the clamping part is repeatedly opened more than twice, and if at least one clamping part still fails to open properly, an alarm message is issued.

[0009] Furthermore, the loading and unloading control method also includes: after both feeding parts have moved to the second feeding position, the clamping parts on both feeding parts perform clamping actions to detect whether all clamping parts have clamped the workpiece; if at least one clamping part has not clamped the workpiece, the clamping part opens, the feeding part returns to the starting position, and the movement and clamping of the workpiece are repeated; if all clamping parts have clamped the workpiece, the fixture of the machine tool in the processing area releases the workpiece, and the loading and unloading device drives the workpiece to the first feeding position.

[0010] Furthermore, the loading and unloading control method also includes: after the loading and unloading device holding the workpiece reaches the first feeding position, it detects whether the material transport trolley is in place; after the material transport trolley is in place, the loading and unloading device releases the workpiece to place the workpiece on the material transport trolley.

[0011] Furthermore, the feeding section is equipped with an openable and closable clamping section for clamping or releasing the workpiece. When it is necessary to place the unprocessed workpiece in the processing area, the loading and unloading control method further includes: after the loading and unloading device moves to the first feeding position, it detects whether the transport trolley is in position. After the transport trolley is in position, the clamping sections on the two feeding sections perform clamping actions to clamp the workpiece on the transport trolley; if at least one clamping section fails to clamp the workpiece, the clamping section opens and the workpiece clamping action is performed again; if all clamping sections clamp the workpiece, the loading and unloading device moves the workpiece to the second feeding position.

[0012] Furthermore, the loading and unloading control method also includes: when the loading and unloading device moves to the second feeding position, the clamping parts on the two feeding parts perform an opening action to place the workpiece in the processing area; after the workpiece is placed, the loading and unloading device moves to the starting position to avoid the processing area.

[0013] According to another aspect of the present invention, a loading and unloading device is provided. The loading and unloading device adopts the above-described machine tool loading and unloading control method. The loading and unloading device includes two feeding parts, which together transport workpieces between a material handling trolley and the processing area of ​​the machine tool. The feeding parts are provided with clamping parts for clamping workpieces. The loading and unloading device has a starting position, a first feeding position, and a second feeding position. The starting position avoids the material handling trolley and the processing area. The first feeding position corresponds to the material handling trolley for picking up and placing workpieces on the material handling trolley. The second feeding position corresponds to the processing area for picking up and placing workpieces in the processing area.

[0014] Furthermore, the feeding unit includes a support plate, two parallel connecting rods, and a drive unit. A clamping part is installed on the support plate. One end of the connecting rod is hinged to the support plate, and the other end of the connecting rod is connected to the drive unit. The drive unit drives the two connecting rods to swing synchronously.

[0015] Furthermore, a position sensor is provided on the support plate to detect the position of the workpiece; the loading and unloading device also includes two protective plates, with the support plate located between the two protective plates. Multiple position sensors are provided on the protective plates, corresponding to the starting position, the first feeding position, and the second feeding position, to detect whether the support plate has moved into place.

[0016] Furthermore, the clamping part is a pneumatic finger, the connecting rod is a hollow structure, and pipelines are installed inside the connecting rod.

[0017] Furthermore, the drive unit includes a motor, a worm gear, and two worm wheels. The motor drives the worm gear to rotate, and the worm gear and the two worm wheels are meshed. The rotation center line of the worm wheels is fixed, and the two worm wheels are respectively fixedly connected to the other end of the two connecting rods.

[0018] By applying the technical solution of this invention, a loading and unloading device can replace the robot in the prior art. By placing the loading and unloading device within the processing area, the need to extend the robotic arm due to the robot's need to grasp at different positions is avoided. This prevents collisions caused by excessively long robotic arms, which could affect the safety and efficiency of machine tool processing. After each movement, the loading and unloading device in this application checks whether the two feeding parts have moved into position. If any feeding part is not in position, it will be moved repeatedly until both feeding parts are in place. This ensures that each feeding part accurately reaches its predetermined position, preventing incorrect workpiece placement due to inaccurate feeding parts, which could lead to errors in subsequent processing operations and ultimately affect workpiece quality and machine tool processing efficiency. By detecting whether the feeding parts have moved into position and repeatedly moving them to ensure they are in place, errors in the loading and unloading device during operation can be avoided, as well as equipment damage and personnel injury, thus improving work safety. Attached Figure Description

[0019] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0020] Figure 1 A flowchart of a machine tool loading and unloading control method provided in an embodiment of the present invention is shown;

[0021] Figure 2 This diagram shows the structure of the loading and unloading device provided in the embodiment of the present invention when it is in the first feeding position;

[0022] Figure 3 This diagram illustrates the structure of the loading and unloading device according to an embodiment of the present invention when clamping a workpiece.

[0023] Figure 4 This diagram shows a structural schematic of the loading and unloading device provided in an embodiment of the present invention when it is in the second feeding position;

[0024] Figure 5 This diagram shows a schematic representation of the loading and unloading device provided in an embodiment of the present invention in its initial position.

[0025] Figure 6 It shows Figure 5 A magnified view of a portion of the image.

[0026] The above figures include the following reference numerals:

[0027] 10. Feeding department;

[0028] 11. Support plate;

[0029] 12. Connecting rod;

[0030] 13. Drive unit;

[0031] 131. Electric motor;

[0032] 132. Worm gear;

[0033] 133. Worm gear;

[0034] 14. Protective panels;

[0035] 20. Clamping part;

[0036] 30. Position sensor. Detailed Implementation

[0037] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0038] like Figure 1 As shown, an embodiment of the present invention provides a machine tool loading and unloading control method for controlling a loading and unloading device. The loading and unloading device includes two feeding units 10, which together transport workpieces between a material handling trolley and the processing area of ​​the machine tool. The loading and unloading device has a starting position, a first feeding position, and a second feeding position. The starting position avoids the material handling trolley and the processing area. The first feeding position corresponds to the material handling trolley for picking up and placing workpieces on the material handling trolley, and the second feeding position corresponds to the processing area for picking up and placing workpieces in the processing area. The loading and unloading control method includes: after the loading and unloading device performs an action of moving to the starting position, the first feeding position, or the second feeding position, detecting whether both feeding units 10 have moved to their positions; if at least one feeding unit 10 has not moved to its position, repeating the movement action of the loading and unloading device to make both feeding units 10 move to the starting position, the first feeding position, or the second feeding position; after both feeding units 10 have moved to their positions, the loading and unloading device performs the next action.

[0039] In this embodiment, a loading and unloading device can replace the robot in the prior art. By placing the loading and unloading device within the processing area, the need to extend the robotic arm to grip different positions is avoided, thus preventing the robot from colliding at certain locations due to an excessively long arm, which could affect the safety and efficiency of machine tool processing. After each movement, the loading and unloading device in this application checks whether the two feeding parts 10 have moved into position. If any feeding part 10 is not in position, it will be moved repeatedly until both feeding parts 10 are in place. This ensures that each feeding part 10 accurately reaches its predetermined position, preventing incorrect workpiece placement due to inaccurate feeding parts 10, which could lead to errors in subsequent processing operations and ultimately affect workpiece quality and machine tool processing efficiency. By detecting whether the feeding parts 10 have moved into position and repeatedly moving them to ensure they are in place, errors in the loading and unloading device during operation can be avoided, as well as equipment damage and personnel injury, thus improving work safety.

[0040] Furthermore, if at least one feeding part 10 fails to move into position, and the loading / unloading device moves more than twice, and if at least one feeding part 10 still fails to move into position, an alarm message is issued.

[0041] In this embodiment, if the feeding part 10 still fails to move into place after the loading and unloading device has moved more than twice, the device will issue an alarm message to remind the staff that there may be an abnormality in the device. If the feeding part 10 still fails to move into place after two movements, the staff can intervene in time to adjust or repair it, prevent irreparable losses, reduce the downtime of the device, and improve the safety of the device.

[0042] Specifically, the feeding section 10 is provided with an openable and closable clamping section 20, which is used to clamp or release the workpiece. When it is necessary to remove the processed workpiece from the processing area, the loading and unloading control method further includes: the loading and unloading device first moves to the starting position; after both feeding sections 10 have moved to their positions, the clamping sections 20 on both feeding sections 10 perform an opening action; and it is detected whether all clamping sections 20 have been opened to their positions. If at least one clamping section 20 has not been opened to its positions, the opening action of the clamping section 20 is repeated to make the clamping section 20 open to its positions. After all clamping sections 20 have been opened to their positions, the loading and unloading device moves from the starting position to the second feeding position.

[0043] In this embodiment, when it is necessary to remove the processed workpiece from the processing area and move the feeding part 10 into position, the clamping part 20 will perform an opening action. If the clamping part 20 is not opened into position, the opening action of the clamping part 20 will be repeated to ensure that each clamping part 20 is opened into position. Only then will the loading and unloading device move from the starting position to the second feeding position. This ensures that the clamping part 20 can open normally and to a consistent degree, avoiding the situation where the workpiece cannot be accurately clamped due to the clamping part 20 not being opened into position, thus improving the working efficiency of the device.

[0044] Furthermore, if at least one clamping part 20 fails to open properly, and the clamping part 20 is repeatedly opened more than twice, and if at least one clamping part 20 still fails to open properly, an alarm message is issued.

[0045] In this embodiment, if the clamping part 20 is not fully opened after more than two opening actions, the device will issue an alarm message to remind the staff that there may be an abnormality in the device. If the clamping part 20 is still not fully opened after two movements, the staff can intervene in time to adjust or repair it, prevent irreparable losses, reduce the downtime of the device, and improve the safety of the device.

[0046] The loading and unloading control method further includes: after both feeding parts 10 have moved to the second feeding position, the clamping parts 20 on both feeding parts 10 perform clamping actions to detect whether all clamping parts 20 have clamped the workpiece; if at least one clamping part 20 has not clamped the workpiece, the clamping part 20 opens, the feeding part 10 returns to the starting position, and the movement and clamping of the workpiece are repeated; if all clamping parts 20 have clamped the workpiece, the fixture of the machine tool in the processing area releases the workpiece, and the loading and unloading device drives the workpiece to the first feeding position.

[0047] In this embodiment, after all the feeding parts 10 have moved to the second feeding position, the clamping part 20 begins to perform a clamping action to clamp the workpiece. If one clamping part 20 fails to clamp the workpiece, the device will return to the starting position and repeat the movement and clamping action. This can avoid the workpiece from loosening or falling due to the clamping part 20 failing to clamp the workpiece, thereby avoiding unnecessary damage to the workpiece, equipment and personnel, and ensuring the safety of the work and the reliability of the device.

[0048] Specifically, the loading and unloading control method also includes: after the loading and unloading device holding the workpiece reaches the first feeding position, it detects whether the material transport trolley is in place. After the material transport trolley is in place, the loading and unloading device releases the workpiece to place the workpiece on the material transport trolley.

[0049] In this embodiment, when the loading and unloading device holding the workpiece reaches the first feeding position, the device will first check whether the material transport trolley has arrived. Only when it is confirmed that the material transport trolley has arrived will the loading and unloading device release the workpiece. This ensures that the workpiece can be accurately and safely placed on the material transport trolley without the workpiece falling or other situations, avoiding safety hazards caused by the workpiece falling and improving the safety and reliability of the device.

[0050] Furthermore, the feeding section 10 is provided with an openable and closable clamping section 20, which is used to clamp or release the workpiece. When it is necessary to place the unprocessed workpiece in the processing area, the loading and unloading control method further includes: after the loading and unloading device moves to the first feeding position, it detects whether the transport trolley is in position. After the transport trolley is in position, the clamping sections 20 on the two feeding sections 10 perform clamping actions to clamp the workpiece on the transport trolley; if at least one clamping section 20 fails to clamp the workpiece, the clamping section 20 opens and the workpiece clamping action is performed again; if all clamping sections 20 clamp the workpiece, the loading and unloading device drives the workpiece to the second feeding position.

[0051] In this embodiment, when an unprocessed workpiece needs to be placed in the processing area, it is first ensured that the material handling trolley is in position before the clamping part 20 performs the clamping operation. Only after the material handling trolley is in position will the clamping part 20 on the feeding part 10 perform a clamping action to clamp the workpiece on the material handling trolley. Only when both clamping parts 20 clamp the workpiece will the loading and unloading device move the workpiece to the second feeding position. This avoids situations where the workpiece is not firmly clamped due to inaccurate positioning of the feeding trolley and possible errors in the clamping part 20, ensuring that the workpiece can be firmly clamped, guaranteeing the integrity of the workpiece and the safety and accuracy of subsequent movement.

[0052] The loading and unloading control method further includes: when the loading and unloading device moves to the second feeding position, the clamping parts 20 on the two feeding parts 10 perform an opening action to place the workpiece in the processing area; after the workpiece is placed, the loading and unloading device moves to the starting position to avoid the processing area.

[0053] In this embodiment, the clamping part 20 only performs the opening action to place the workpiece in the processing area when the loading and unloading device reaches the second feeding position. This ensures that the workpiece is correctly placed in the processing area and prevents processing errors due to inaccurate workpiece placement during subsequent processing. Moreover, the loading and unloading device returns to the starting position after the workpiece is placed, clearing the processing area and eliminating unnecessary obstacles. This also frees up more space for subsequent processing operations, ensuring that the processing operations can proceed smoothly.

[0054] like Figures 2 to 6 As shown, an embodiment of the present invention also provides a loading and unloading device. The loading and unloading device adopts the above-described machine tool loading and unloading control method. The loading and unloading device includes two feeding parts 10. The two feeding parts 10 jointly transport workpieces between the material transport trolley and the processing area of ​​the machine tool. The feeding parts 10 are provided with clamping parts 20 for clamping workpieces. The loading and unloading device has a starting position, a first feeding position and a second feeding position. The starting position avoids the material transport trolley and the processing area. The first feeding position corresponds to the material transport trolley to pick up and place workpieces on the material transport trolley. The second feeding position corresponds to the processing area to pick up and place workpieces in the processing area.

[0055] In this embodiment, the automatic clamping and loading / unloading of workpieces can be achieved through the joint operation of the feeding unit 10, the clamping unit 20, and the material handling trolley. This reduces manual intervention, increases the workpiece transfer speed, reduces downtime and waiting time, and improves processing efficiency. Furthermore, the loading / unloading device has a starting position, a first feeding position, and a second feeding position. Multiple preset working positions allow the device to adapt to different operational needs, and it can quickly reach the preset position under different operational requirements, ensuring the smoothness and accuracy of the entire process. It also avoids interference between the two feeding units 10 and between the processing area and the loading / unloading device, further improving processing efficiency.

[0056] like Figure 2 As shown, the feeding unit 10 includes a support plate 11, two parallel connecting rods 12, and a driving unit 13. A clamping part 20 is installed on the support plate 11. One end of the connecting rod 12 is hinged to the support plate 11, and the other end of the connecting rod 12 is connected to the driving unit 13. The driving unit 13 drives the two connecting rods 12 to swing synchronously.

[0057] In this embodiment, the support plate 11 and the two parallel connecting rods 12 conform to a parallelogram structure during the swinging process. This ensures that the clamping part 20 on the support plate 11 can smoothly and synchronously perform the actions of clamping and placing workpieces, avoiding problems of unstable or inaccurate clamping caused by asymmetrical movement. At the same time, it can also enhance the stability of the device and reduce the vibration generated by the clamping part 20 during operation. Moreover, by driving the two connecting rods 12 through the drive unit 13, the two connecting rods 12 swing synchronously, which can accurately and efficiently move the loading and unloading device to the preset position, improving processing efficiency.

[0058] like Figure 3 As shown, a position sensor 30 is provided on the support plate 11, which is used to detect the position of the workpiece; the loading and unloading device also includes two protective plates 14, with the support plate 11 located between the two protective plates 14. Multiple position sensors 30 are provided on the protective plates 14, which correspond to the starting position, the first feeding position, and the second feeding position, to detect whether the support plate 11 has moved into place.

[0059] In this embodiment, by setting a position sensor 30 on the support plate 11, the position of the workpiece can be monitored in real time, ensuring that the device moves precisely along a predetermined path and position. This allows the device to accurately determine whether it has reached the preset position, reducing errors during movement and ensuring the device is always in the correct working state. Furthermore, multiple position sensors 30 are also set on the protective plate 14, each corresponding to a preset position. This accurately detects whether the support plate 11 is correctly positioned, preventing collisions between the device and the processing area or incorrect workpiece positioning due to positional deviations. Using position sensors 30 also reduces human error, improving the safety and reliability of the device.

[0060] like Figure 6 As shown, the clamping part 20 is a pneumatic finger, the connecting rod 12 is a hollow structure, and the connecting rod 12 has a pipeline running through it.

[0061] In this embodiment, the air source for the pneumatic fingers can be directly transmitted through the connecting rod 12, avoiding the complexity of additional piping, saving installation space, and making the overall design more compact, thus improving the device's integration and space utilization. The hollow structure of the connecting rod 12 conceals the piping inside, avoiding exposed pipes and making the entire device neater and more aesthetically pleasing. Furthermore, when the clamping part 20 is open, the two fingers are in a vertical position to avoid obstructing workpieces or other equipment; when the clamping part 20 needs to clamp, the two fingers are in a horizontal position to clamp the workpiece, ensuring stable clamping. This further saves space and improves the device's integration and space utilization.

[0062] like Figure 2 As shown, the drive unit 13 includes a motor 131, a worm 132 and two worm wheels 133. The motor 131 drives the worm 132 to rotate. The worm 132 and the two worm wheels 133 are meshed. The rotation center line of the worm wheels 133 is fixed. The two worm wheels 133 are respectively fixedly connected to the other end of the two connecting rods 12.

[0063] In this embodiment, the worm gear 132 meshes with two worm wheels 133, allowing the worm wheels 133 to rotate synchronously with the rotation of the worm gear 132, thereby driving the two connecting rods 12 to swing synchronously. This ensures the smooth movement of the clamping part 20 during operation. Moreover, the meshing between the worm wheels 133 and the worm gear 132 is relatively smooth, has a long service life, and can operate for extended periods, reducing downtime of the device.

[0064] The machine tool loading and unloading control method and loading and unloading device in this application, through precise detection and control mechanisms, ensure the accurate transport and placement of workpieces during the processing, effectively avoid workpiece clamping failure or improper placement due to parts not being in place, improve the continuity and efficiency of machine tool processing, and also reduce manual intervention, lower production costs, and improve production safety.

[0065] The above description is merely an optional embodiment of this solution and is not intended to limit the solution. Various modifications and variations can be made to this solution by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this solution should be included within the scope of protection of this solution.

[0066] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0067] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of this invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the accompanying drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as exemplary only and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following figures denote similar items; therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0068] In the description of this solution, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is usually based on the orientation or positional relationship shown in the attached drawings. It is only for the convenience of describing this solution and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or component referred to must have a specific orientation or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the scope of protection of this solution. The directional terms "inner" and "outer" refer to the inner and outer contours of each component itself.

[0069] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0070] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this solution.

Claims

1. A machine tool loading and unloading control method, used to control the loading and unloading device, characterized in that, The loading and unloading device includes two feeding sections (10), each feeding section (10) having an openable and closable clamping section (20) for clamping or releasing workpieces. The two feeding sections (10) together transport workpieces between the trolley and the processing area of ​​the machine tool. The loading and unloading device has a starting position, a first feeding position, and a second feeding position. The starting position avoids the trolley and the processing area. The first feeding position corresponds to the trolley for picking up and placing workpieces on the trolley, and the second feeding position corresponds to the processing area for picking up and placing workpieces in the processing area. The loading and unloading control method includes: After the loading and unloading device performs the action of moving to the starting position, the first feeding position or the second feeding position, it is detected whether both feeding parts (10) have moved into place; If at least one of the feeding parts (10) is not moved into place, the moving action of the loading and unloading device is repeated so that both feeding parts (10) are moved to the starting position, the first feeding position or the second feeding position; After both feeding sections (10) have moved into place, the loading and unloading device performs the next action; When it is necessary to remove the processed workpiece from the processing area, the loading and unloading device first moves to the starting position. After both feeding parts (10) have moved into place, the clamping parts (20) on the two feeding parts (10) perform an opening action to check whether all the clamping parts (20) have been opened into place. If at least one of the clamping parts (20) is not opened into position, the opening action of the clamping part (20) is repeated to open the clamping part (20) into position; After all the clamping parts (20) are opened to the position, the loading and unloading device moves from the starting position to the second feeding position; After both feeding parts (10) have moved to the second feeding position, the clamping parts (20) on both feeding parts (10) perform clamping action to detect whether all the clamping parts (20) have clamped the workpiece; If at least one of the clamping parts (20) fails to clamp the workpiece, the clamping part (20) opens, the feeding part (10) returns to the starting position, and the movement and clamping of the workpiece are resumed. When all the clamping parts (20) are clamping the workpiece, the fixture of the machine tool located in the processing area releases the workpiece, and the loading and unloading device moves the workpiece to the first feeding position.

2. The machine tool loading and unloading control method according to claim 1, characterized in that, If at least one of the feeding parts (10) fails to move into position, and the moving action of the loading and unloading device is repeated more than twice, and if at least one of the feeding parts (10) still fails to move into position, an alarm message is issued.

3. The machine tool loading and unloading control method according to claim 1, characterized in that, If at least one of the clamping parts (20) fails to open properly, and the opening action of the clamping part (20) is repeated more than twice, and if at least one of the clamping parts (20) still fails to open properly, an alarm message is issued.

4. The machine tool loading and unloading control method according to claim 1, characterized in that, The loading and unloading control method further includes: After the loading and unloading device holding the workpiece reaches the first feeding position, it checks whether the material transport trolley is in place. After the material transport trolley is in place, the loading and unloading device releases the workpiece to place it on the material transport trolley.

5. The machine tool loading and unloading control method according to claim 1, characterized in that, The feeding section (10) is provided with an openable and closable clamping section (20), which is used to clamp or release the workpiece. When it is necessary to place the unprocessed workpiece in the processing area, the loading and unloading control method further includes: After the loading and unloading device moves to the first feeding position, it checks whether the material transport trolley is in place. After the material transport trolley is in place, the clamping parts (20) on the two feeding parts (10) perform clamping action to clamp the workpiece on the material transport trolley. If at least one of the clamping parts (20) fails to clamp the workpiece, the clamping part (20) opens and the workpiece is clamped again; When all the clamping parts (20) are clamping the workpiece, the loading and unloading device moves the workpiece to the second feeding position.

6. The machine tool loading and unloading control method according to claim 5, characterized in that, The loading and unloading control method further includes: When the loading and unloading device moves to the second feeding position, the clamping parts (20) on the two feeding parts (10) perform an opening action to place the workpiece in the processing area; After the workpiece is placed, the loading and unloading device moves to the starting position to avoid the processing area.

7. A loading and unloading device, characterized in that, The loading and unloading device adopts the machine tool loading and unloading control method according to any one of claims 1 to 6. The loading and unloading device includes two feeding parts (10). The two feeding parts (10) jointly transport workpieces between the material transport trolley and the processing area of ​​the machine tool. The feeding part (10) is provided with a clamping part (20). The clamping part (20) is used to clamp the workpiece. The loading and unloading device has a starting position, a first feeding position and a second feeding position. The starting position avoids the material transport trolley and the processing area. The first feeding position corresponds to the material transport trolley to pick up and place workpieces on the material transport trolley. The second feeding position corresponds to the processing area to pick up and place workpieces in the processing area.

8. The loading and unloading device according to claim 7, characterized in that, The feeding part (10) includes a support plate (11), two parallel connecting rods (12), and a driving part (13). The clamping part (20) is installed on the support plate (11). One end of the connecting rod (12) is hinged to the support plate (11), and the other end of the connecting rod (12) is connected to the driving part (13). The driving part (13) drives the two connecting rods (12) to swing synchronously.

9. The loading and unloading device according to claim 8, characterized in that, A position sensor (30) is provided on the support plate (11), and the position sensor (30) on the support plate (11) is used to detect the position of the workpiece; the loading and unloading device also includes two protective plates (14), the support plate (11) is located between the two protective plates (14), and multiple position sensors (30) are provided on the protective plates (14). The multiple position sensors (30) on the protective plates (14) correspond to the starting position, the first feeding position and the second feeding position, so as to detect whether the support plate (11) has moved into place.

10. The loading and unloading device according to claim 8, characterized in that, The clamping part (20) is a pneumatic finger, the connecting rod (12) is a hollow structure, and a pipeline is installed inside the connecting rod (12).

11. The loading and unloading device according to claim 8, characterized in that, The drive unit (13) includes a motor (131), a worm (132) and two worm wheels (133). The motor (131) drives the worm (132) to rotate. The worm (132) and the two worm wheels (133) are meshed. The rotation center line of the worm wheel (133) is fixed. The two worm wheels (133) are respectively fixedly connected to the other end of the two connecting rods (12).

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