Automatic feeding and discharging device of mold forming part for numerical control machine tool

Abstract

The invention relates to an automatic feeding and discharging device of a mold forming part for a numerical control machine tool. The feeding mechanism is used for transferring formed parts, the discharging mechanism is used for loading the formed parts and transferring the formed parts, the feeding conveyor is installed between the feeding mechanism and the discharging mechanism and used for conveying the formed parts to stations corresponding to the feeding mechanism to be unloaded, and the visual detection mechanism is installed on the feeding conveyor and used for detecting the formed parts. The detection device is used for detecting the surfaces of the formed parts, transferring and loading qualified parts and removing unqualified parts in the process of conveying and transferring the formed parts; according to the technical scheme, the functions of feeding, conveying, detecting, sorting and discharging are integrated, automatic supply of empty trays and continuous output of full-load trays are achieved, the shutdown waiting time of equipment is shortened, and the production continuity is further guaranteed; top, lateral and bottom CCD cameras are innovatively adopted to construct a visual inspection system, so that unqualified products are effectively prevented from flowing into subsequent procedures, and the reworking cost is remarkably reduced.

Description

Technical Field

[0001] The present application relates to the technical field of conveying molded parts, and in particular to an automatic loading and unloading device for molded parts used in CNC machine tools. Background Art

[0002] As the manufacturing industry develops rapidly towards intelligence and efficiency, CNC machine tools are increasingly used in the processing of molded parts. However, in the traditional production model, the loading and unloading of molded parts is still highly dependent on manual operation, and there are significant technical bottlenecks: first, the efficiency of manual handling is low, the processing time of a single piece is usually more than 25 seconds, and the labor intensity is high, which is difficult to adapt to the needs of continuous production; second, the accuracy of manual visual inspection is unstable, and the rate of missed detection of micron-level surface defects is as high as 1.2%, which easily leads to unqualified products flowing into subsequent processes and increasing rework costs.

[0003] To address the above problems, the existing technology has introduced a robotic arm type automatic loading and unloading device, which realizes the basic handling function through a preset program. However, this type of solution still has obvious limitations: first, the functional module is single, lacks online quality inspection capabilities, and still needs to be configured with additional inspection stations, resulting in complex production line layout and extended cycle; second, the tray stacking and separation mechanism mostly adopts a fixed design, which is difficult to adapt to the rapid switching of trays of different sizes. The changeover time is as long as more than 30 minutes, which restricts the flexible production of multiple varieties; in addition, the motion path planning of the robotic arm relies on a fixed trajectory, which is easy to interfere with the CNC machine tool processing area in space, there is a risk of equipment collision, and the maintenance cost is high.

[0004] In view of the above-mentioned technical defects, it is urgent to develop an automatic loading and unloading device that integrates online detection, dynamic path optimization and flexible tray management, so as to break through the performance bottleneck of existing automation solutions and meet the needs of high-precision and high-beat intelligent manufacturing. Summary of the invention

[0005] In order to solve or partially solve the problems existing in related technologies, this technical solution integrates the functions of loading, conveying, detection, sorting and unloading, and realizes the rapid grasping and precise positioning of molded parts through the coordinated control of high-precision linear modules and vacuum suction cups. The dual-channel unloading mechanism realizes the automatic replenishment of empty trays and the continuous output of full trays through the cooperation of the upper conveyor and the lower slide rail, reducing the waiting time of equipment downtime and further ensuring production continuity; the innovative use of top, side and bottom CCD cameras to build a visual inspection system, combined with adaptive light sources and deep learning algorithms, accurately identifies micron-level cracks, scratches and deformation defects, effectively prevents unqualified products from flowing into subsequent processes, and significantly reduces rework costs.

[0006] The first aspect of the present application provides an automatic loading and unloading device for a mold forming part for a CNC machine tool, an automatic loading and unloading device for a mold forming part for a CNC machine tool, comprising a frame,

[0007] A feeding mechanism, the feeding mechanism is installed on the frame, and the feeding mechanism is used to run the molded parts;

[0008] A material unloading mechanism, which is installed on the frame and is used to load the molded parts and operate the molded parts;

[0009] A loading conveyor, which is installed between the loading mechanism and the unloading mechanism, and is used to convey the molded parts to the workstation corresponding to the loading mechanism for unloading;

[0010] The visual inspection mechanism is installed on the feeding conveyor and is used to inspect the surface of the molded parts during the transportation and operation of the molded parts, load the qualified parts, and remove the unqualified parts.

[0011] Optionally, the feeding mechanism includes a suction cup, a horizontal linear module, and a vertical linear module. The horizontal linear module is installed on a frame, the vertical linear module is installed on the slide of the horizontal linear module through a support, and a vacuum suction cup for adsorbing molded parts for operation is installed on the slide of the vertical linear module through a bracket.

[0012] Optionally, the unloading mechanism includes a lifting assembly, and the lifting assembly includes a vertical drive module and a clamping cylinder. The vertical drive module is provided with two groups, and the two groups of vertical drive modules are vertically installed on the frame. A positioning frame is installed on the slide of the vertical drive module; the positioning frame is installed with a clamping cylinder for clamping the middle part of the molded part tray.

[0013] Optionally, the unloading mechanism further includes an unloading conveyor installed between two sets of vertical drive modules, and the unloading conveyor includes:

[0014] An upper unloading conveyor, which is arranged on the upper side between the two groups of vertical drive modules and is connected to the loading conveyor and the loading mechanism;

[0015] The lower unloading conveyor is arranged at the lower side between the two groups of vertical drive modules and is used for operating a fully loaded molded part tray.

[0016] Optionally, the unloading mechanism further includes a running assembly for pushing the molded part tray to the vertical driving module for clamping, and the running assembly includes a transverse guide rail, a longitudinal guide rail, a driving module, a cylinder, and a guide platform.

[0017] The transverse guide rails are arranged in two groups in parallel, and the guide platform is installed on the two groups of transverse guide rails. The guide platform is provided with a longitudinal guide rail, and two groups of clamping drive modules are slidably connected to the longitudinal guide rails. The two groups of clamping drive modules are installed with clamping plates for clamping the molded parts tray along the outer sides. The guide platform is also connected to a cylinder for driving the guide platform to move on the transverse guide rails.

[0018] Optionally, the visual inspection mechanism includes a top detection CCD camera, a side detection CCD camera, and a bottom detection CCD camera. The top detection CCD camera is installed on the top of the feeding conveyor through a bracket, and is used to take pictures and inspect the top surface of the molded part. The side detection CCD camera is provided with two groups, which are respectively installed on the front and rear sides of the feeding conveyor, and are used to take pictures and inspect the front and rear sides of the molded part. The bottom detection CCD camera is installed at the bottom position between the feeding conveyor and the unloading mechanism, and is used to take pictures and inspect the bottom of the molded part after the feeding mechanism lifts the molded part.

[0019] Optionally, a rotating cylinder is connected to the lower side of the feeding mechanism, and a rejection conveyor is placed on one side of the feeding mechanism. The rotating cylinder is used to drive the feeding assembly to operate and convey the unqualified molded parts on the rejection conveyor after the visual inspection mechanism detects unqualified parts.

[0020] The technical solution provided by this application may have the following beneficial effects:

[0021] This technical solution integrates the functions of loading, conveying, inspection, sorting and unloading. Through the coordinated control of high-precision linear modules and vacuum suction cups, it can realize the rapid grasping and precise positioning of molded parts. The dual-channel unloading mechanism realizes the automatic replenishment of empty trays and continuous output of fully loaded trays through the cooperation of the upper conveyor and the lower slide rail, reducing the waiting time of equipment downtime and further ensuring production continuity. The innovative use of top, side and bottom CCD cameras to build a visual inspection system, combined with adaptive light sources and deep learning algorithms, can accurately identify micron-level cracks, scratches and deformation defects, effectively prevent unqualified products from flowing into subsequent processes, and significantly reduce rework costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The above and other objects, features and advantages of the present application will become more apparent through a more detailed description of exemplary embodiments of the present application in conjunction with the accompanying drawings, wherein the same reference numerals generally represent the same components in the exemplary embodiments of the present application.

[0023] Figure 1 It is a schematic diagram of the overall front structure shown in an embodiment of the present application;

[0024] Figure 2 It is an overall side view shown in the embodiment of the present application;

[0025] Figure 3 It is a schematic diagram of the structure of the feeding mechanism shown in the embodiment of the present application;

[0026] Figure 4 It is a schematic diagram of the structure of the feeding mechanism shown in the embodiment of the present application;

[0027] Figure 5 It is a schematic diagram of the visual detection mechanism shown in the embodiment of the present application.

[0028] Reference numerals:

[0029] 1-frame; 2-feeding conveyor; 3-feeding mechanism; 31-horizontal linear module; 32-vertical linear module; 33-first bracket; 34-suction cup; 4-unloading mechanism; 41-second bracket; 42-lateral guide rail; 43-longitudinal guide rail; 44-gripping drive module; 45-cylinder; 46-guide table; 5-vertical drive module; 51-slide; 52-gripping cylinder; 6-operating assembly; 7-visual inspection mechanism; 71-top detection CCD camera; 72-side detection CCD camera; 73-bottom detection CCD camera; 8-molded part tray; 9-molded part; 10-unloading conveyor; 101-upper unloading conveyor; 102-lower unloading conveyor; 11-rotating cylinder; 12-rejection conveyor. DETAILED DESCRIPTION

[0030] The embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although the embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to make the present application more thorough and complete, and to fully convey the scope of the present application to those skilled in the art.

[0031] It should be understood that although the terms "first", "second", "third", etc. may be used in this application to describe various information, this information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of this application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0032] In the description of the present application, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0033] Unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0034] The technical solution of the embodiments of the present application is described in detail below with reference to the accompanying drawings.

[0035] See also Figure 1-5The present application provides an automatic loading and unloading device for molded parts for CNC machine tools, including a frame 1, a loading mechanism 3, a unloading mechanism 4, a loading conveyor 2, and a visual inspection mechanism 7. In this embodiment, the loading mechanism 3 is installed on the frame 1, and the loading mechanism 3 is used to operate the molded parts 9; the unloading mechanism 4 is installed on the frame 1, and the unloading mechanism 4 is used to load the molded parts 9 and operate the molded parts 9; the loading conveyor 2 is installed between the loading mechanism 3 and the unloading mechanism 4, and the loading conveyor 2 is used to transport the molded parts 9 to the workstation corresponding to the loading mechanism 3 for unloading; the visual inspection mechanism 7 is installed on the loading conveyor 2, and is used to inspect the surface of the molded parts 9 during the process of transporting and operating the molded parts 9, operate and load the qualified parts, and remove the unqualified parts. Specifically, the frame 1 adopts a high-strength square tube welded frame, and the surface is sandblasted for rust prevention. The feeding mechanism 3 is responsible for grabbing the molded parts 9 from the feeding conveyor 2 and accurately transferring them to the molded parts tray 8, and the unloading mechanism 4 is mainly responsible for loading and transporting the molded parts tray 8. The feeding conveyor 2 uses a double-chain conveyor belt with a width of 500mm and an adjustable speed of 0.1-1.5m / s. The surface is paved with polyurethane anti-skid pads. Three groups of photoelectric sensors are set along the conveying direction, corresponding to the preparation station, inspection station and sorting station respectively, with a positioning accuracy of ±0.2mm. The visual inspection mechanism 7 integrates top, side and bottom CCD cameras to achieve defect detection of molded parts 9 without dead angles. The main control unit uses Siemens S7-1500 PLC and Advantech ARK-2120 industrial computer, and connects each actuator through the EtherCAT bus. The HMI interface displays the production rhythm, yield statistics and equipment status in real time, and supports online parameter modification and fault diagnosis.

[0036] In this embodiment, the feeding mechanism 3 includes a suction cup 34, a horizontal linear module 31, and a vertical linear module 32. The horizontal linear module 31 is installed on the frame 1. The vertical linear module 32 is installed on the slide 51 of the horizontal linear module 31 through a support. The vacuum suction cup 34 for adsorbing the molded part 9 for operation is installed on the slide 51 of the vertical linear module 32 through a bracket. Specifically, the feeding mechanism 3 realizes the rapid grasping, precise positioning and stable transfer of the molded part 9 through the coordinated design of the high-precision linear module and the vacuum adsorption system. The horizontal linear module 31 adopts a roller guide type linear module (model HGR35-2000), the guide cross-section size is 35×35mm, and the X-axis travel is 2000mm. The vertical linear module 32 uses a ball screw type module (ZTA30-500), the Z-axis travel is 500mm, and the maximum load is 30kg. The suction cup 34 includes 6 Φ80mm polyurethane suction cups 34 arranged in a 2×3 matrix with a spacing of 150mm, covering the center of gravity area of ​​the workpiece (maximum size 400×300mm), air generator: SMC ZH10DS (203a), air extraction rate 150L / min, vacuum degree -80kPa, response time ≤0.1s, pressure monitoring: built-in piezoelectric sensor (203b, range -100~0kPa, accuracy ±0.5%FS), real-time monitoring of adsorption status.

[0037] When the vertical linear module 32 descends to 2mm from the workpiece surface, the vacuum generator starts pre-vacuuming; after the suction cup 34 contacts the workpiece, the pressure sensor monitors the vacuum degree. If it reaches -60kPa within 0.5s, it is determined that the adsorption is successful; if the adsorption fails (such as workpiece offset or leakage), the vertical module is lifted 10mm, and the horizontal module fine-tunes the position and tries again. An alarm will be issued after a maximum of 3 times.

[0038] In this embodiment, the unloading mechanism 4 includes a lifting assembly, which includes a vertical drive module 5 and a clamping cylinder 52. Two groups of vertical drive modules 5 are provided, and the two groups of vertical drive modules 5 are vertically installed on the frame 1. A positioning frame is installed on the slide 51 of the vertical drive module 5; the positioning frame is installed with a clamping cylinder 52 for clamping the middle of the molded part tray 8. The two groups of vertical drive modules 5 are symmetrically installed on the columns on the left and right sides of the frame 1, and the module spacing matches the width of the tray (600×400mm) (spacing 450mm) to ensure uniform force during the lifting process and avoid tilting of the tray. The clamping cylinder 52 is symmetrically installed on both sides of the middle of the positioning frame, and the clamping point is located at 1 / 2 of the length direction of the tray to ensure uniform distribution of the clamping force.

[0039] On the basis of the above-mentioned embodiment, the unloading mechanism 4 also includes an unloading conveyor 10 installed between the two groups of vertical drive modules 5, including an upper unloading conveyor 101 and a lower unloading conveyor 102. The upper unloading conveyor 101 is arranged on the upper side between the two groups of vertical drive modules 5, and docks with the loading conveyor 2 and the loading mechanism 3; the lower unloading conveyor 102 is arranged on the lower side between the two groups of vertical drive modules 5, and is used to operate a fully loaded molded parts tray 8. Specifically, the upper unloading conveyor 101 is flush with the end of the loading conveyor 2, receives qualified workpieces and transports them to the storage area. In other embodiments, a positioning stop mechanism can be set: an aluminum alloy baffle driven by a cylinder 45, with a positioning accuracy of ±0.2mm, to ensure that the tray is accurately docked. Both the upper unloading conveyor 101 and the lower unloading conveyor 102 use a practical belt transmission mechanism.

[0040] In this embodiment, the unloading mechanism 4 also includes a running assembly 6 for pushing the molded material tray 8 to the vertical drive module 5 for clamping. The running assembly 6 includes a transverse guide rail 42, a longitudinal guide rail 43, a drive module, a cylinder 45, and a guide platform 46. The transverse guide rail 42 is arranged in two groups in parallel. The guide platform 46 is installed on the two groups of transverse guide rails 42. The guide platform 46 is provided with a longitudinal guide rail 43. Two groups of clamping drive modules 44 are slidably connected to the longitudinal guide rail 43. The two groups of clamping drive modules 44 are both installed with clamping plates for clamping the molded material tray 8 along the outer side. The guide platform 46 is also connected with a cylinder 45 for driving the guide platform 46 to move on the transverse guide rail 42. The transverse guide rail 42 uses two groups of heavy-duty linear slide rails (section 45×45mm, stroke 1200mm) arranged in parallel. The surface hardness of the guide rail is HRC60, the preload force is adjustable, and mechanical limit blocks are set at both ends of the slide rail to prevent the guide platform 46 from overtravel. The guide platform 46 adopts a steel plate welded frame (thickness 10mm), with 4 sets of self-lubricating sliders installed at the bottom, which cooperate with the transverse guide rail 42. The central installation hole of the guide platform 46 is reserved for fixing the longitudinal guide rail 43 and the cylinder 45. The longitudinal guide rail 43 is a single slide rail structure with nickel-plated surface and equipped with a ball slider. The two sets of clamping drive modules 44 are built-in 400W servo motor + ball screw drive, with a repeat positioning accuracy of ±0.02mm, and a polyurethane cushion is embedded on the inner side of the splint, and the contact surface pressure is ≤1.5MPa.

[0041] In this embodiment, the visual inspection mechanism 7 includes a top inspection CCD camera 71, a side inspection CCD camera 72, and a bottom inspection CCD camera 73. Specifically, the top inspection CCD camera 71 is installed on the top of the feeding conveyor 2 through a bracket, and is used to take pictures and inspect the top surface of the molded part 9; two groups of side inspection CCD cameras 72 are provided, which are respectively installed on the front and rear sides of the feeding conveyor 2, and are used to take pictures and inspect the front and rear sides of the molded part 9; the bottom inspection CCD camera 73 is installed at the bottom position between the feeding conveyor 2 and the unloading mechanism 4, and is used to take pictures and inspect the bottom of the molded part 9 after the feeding mechanism 3 lifts the molded part 9. Specifically, the top detection CCD camera 71 is installed directly above the feeding conveyor 2 through an adjustable bracket, the bracket height is adjustable in the range of 800-1200mm, and the pitch angle is adjustable by ±15°. The side detection CCD camera 72 is installed on the side plate of the feeding conveyor 2, and the bottom detection CCD camera 73 is fixed on the bottom platform between the feeding conveyor 2 and the unloading mechanism 4, shooting vertically upward, the platform height is 200mm from the ground, the protection level is IP67, and it is dust and oil proof. The top detection CCD camera 71, the side detection CCD camera 72, and the bottom detection CCD camera 73 are all Basler acA2500-60gm, with a resolution of 2592×1944, a frame rate of 60fps, and a pixel size of 4.8μm. In this embodiment, photoelectric sensors are provided at the installation positions of the top detection CCD camera 71, the side detection CCD camera 72, and the bottom detection CCD camera 73 along the feeding conveyor 2. When the workpiece arrives at the detection station, the photoelectric sensor sends a trigger signal and the three groups of cameras are exposed synchronously (exposure time 0.5ms).

[0042] In this embodiment, a rotary cylinder 11 is connected to the lower side of the feeding mechanism 3, and a reject conveyor 12 is placed on one side of the feeding mechanism 3. The rotary cylinder 11 is used to drive the feeding assembly to operate the reject parts 9 to be conveyed on the reject conveyor 12 after the visual inspection mechanism 7 detects the unqualified parts. The rotary cylinder 11 model is SMC CDRB2BW30-180S, the reject conveyor has an inclination angle of 10°, a width of 300mm, a length of 2000mm, and a PU synchronous belt for conveying at a speed of 1.0m / s. In other embodiments, the end is connected to a waste box with a capacity of 500L, a weighing sensor is installed at the bottom, and an overweight alarm is provided.

[0043] Working process: the feeding conveyor 2 conveys the molded part 9 to the place. After being detected by the photoelectric sensor, the top CCD camera starts when the workpiece is stationary. The annular light source illuminates the top surface of the workpiece with vertical light to collect images. The CCD cameras on both sides simultaneously turn on the strip light source to capture the front and rear wall textures with 45° oblique light. The horizontal linear module 31 receives the PLC instruction and drives the servo motor to drive the suction cup 34 assembly to move along the X-axis to above the raw material tray. The vertical linear module 32 starts to descend. After the suction cup 34 contacts the surface of the molded part 9, the vacuum generator is activated. When the adsorption force reaches 0.6 bar, the pressure sensor feedbacks the signal, and the vertical module immediately lifts the molded part 9 to a safe height. The bottom CCD camera uses a coaxial light source to fill in the bottom surface of the workpiece. When the image processing is qualified, the operating component 6 of the unloading mechanism 4 drives the molded part tray 8 to the place, and the feeding mechanism 3 is loaded. Then it is operated to the lower unloading conveyor 102 through the vertical drive module 5 for operation. The unqualified molded parts 9 are moved to the rejecting conveyor 12 for operation through the action of the rotary cylinder 11 of the feeding mechanism 3.

[0044] This technical solution integrates the functions of loading, conveying, inspection, sorting and unloading. Through the coordinated control of high-precision linear modules and vacuum suction cups, it can realize the rapid grasping and precise positioning of molded parts. Compared with traditional manual operation, the loading and unloading cycle of a single piece is shortened from 25 seconds to less than 8 seconds, and the production efficiency is improved by more than 200%. At the same time, the dual-channel unloading mechanism realizes automatic replenishment of empty trays and continuous output of full trays through the cooperation of the upper conveyor and the lower slide rail, reducing the waiting time of equipment downtime and further ensuring production continuity; the innovative use of top, side and bottom CCD cameras to build a three-dimensional visual inspection system, combined with adaptive light sources and deep learning algorithms, can accurately identify micron-level cracks, scratches and deformation defects. After verification by the actual production line, the defect detection rate has increased from 92% of traditional random inspection to 99.8%, and the missed detection rate has dropped to below 0.05%, effectively preventing unqualified products from flowing into subsequent processes and significantly reducing rework costs; through the combination of modular tray clamping mechanism and programmable control system, it supports rapid switching of more than 5 trays of different specifications (changeover time ≤ 5 minutes) to meet the needs of multi-variety and small batch production. In addition, the dynamic path planning algorithm can optimize the motion trajectory of the suction cup in real time, avoid interference with the CNC machine processing area, reduce the risk of equipment collision, and extend the service life of key components. Compared with traditional robotic arm solutions, maintenance costs are reduced by more than 30%.

[0045] The embodiments of the present application have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or improvements to the technology in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. An automatic loading and unloading device for a molded part for a CNC machine tool, characterized in that: Including rack, A feeding mechanism, the feeding mechanism is installed on the frame, and the feeding mechanism is used to run the molded parts; A material unloading mechanism, which is installed on the frame and is used to load the molded parts and operate the molded parts; A loading conveyor, which is installed between the loading mechanism and the unloading mechanism, and is used to convey the molded parts to the workstation corresponding to the loading mechanism for unloading; The visual inspection mechanism is installed on the feeding conveyor and is used to inspect the surface of the molded parts during the transportation and operation of the molded parts, load the qualified parts, and remove the unqualified parts.

2. The automatic loading and unloading device for a molded part for a CNC machine tool according to claim 1, characterized in that: The feeding mechanism includes a suction cup, a horizontal linear module, and a vertical linear module. The horizontal linear module is installed on a frame, the vertical linear module is installed on the slide of the horizontal linear module through a support, and a vacuum suction cup for adsorbing molded parts for operation is installed on the slide of the vertical linear module through a bracket.

3. The automatic loading and unloading device for a molded part for a CNC machine tool according to claim 1 or 2, characterized in that: The unloading mechanism includes a lifting component, and the lifting component includes a vertical drive module and a clamping cylinder. The vertical drive module is provided with two groups, and the two groups of vertical drive modules are vertically installed on the frame. A positioning frame is installed on the slide of the vertical drive module; the positioning frame is installed with a clamping cylinder for clamping the middle part of the molded part tray.

4. The automatic loading and unloading device for a molded part for a CNC machine tool according to claim 3, characterized in that: The unloading mechanism also includes an unloading conveyor installed between two sets of vertical drive modules, and the unloading conveyor includes: An upper unloading conveyor, which is arranged on the upper side between the two groups of vertical drive modules and is connected to the loading conveyor and the loading mechanism; The lower unloading conveyor is arranged at the lower side between the two groups of vertical drive modules and is used for operating a fully loaded molded part tray.

5. The automatic loading and unloading device for molded parts for CNC machine tools according to claim 4, characterized in that: The unloading mechanism also includes a running assembly for pushing the molded part tray to the vertical driving module for clamping, and the running assembly includes a transverse guide rail, a longitudinal guide rail, a driving module, a cylinder, and a guide platform. The transverse guide rails are arranged in two groups in parallel, and the guide platform is installed on the two groups of transverse guide rails. The guide platform is provided with a longitudinal guide rail, and two groups of clamping drive modules are slidably connected to the longitudinal guide rails. The two groups of clamping drive modules are installed with clamping plates for clamping the molded parts tray along the outer sides. The guide platform is also connected to a cylinder for driving the guide platform to move on the transverse guide rails.

6. The automatic loading and unloading device for molded parts for CNC machine tools according to claim 5, characterized in that: The visual inspection mechanism includes a top detection CCD camera, a side detection CCD camera, and a bottom detection CCD camera. The top detection CCD camera is installed on the top of the feeding conveyor through a bracket, and is used to take pictures and inspect the top surface of the molded part. The side detection CCD camera is provided with two groups, which are respectively installed on the front and rear sides of the feeding conveyor, and are used to take pictures and inspect the front and rear sides of the molded part. The bottom detection CCD camera is installed at the bottom position between the feeding conveyor and the unloading mechanism, and is used to take pictures and inspect the bottom of the molded part after the feeding mechanism lifts the molded part.

7. The automatic loading and unloading device for a molded part for a CNC machine tool according to claim 6, characterized in that: A rotating cylinder is connected to the lower side of the feeding mechanism, and a rejection conveyor is placed on one side of the feeding mechanism. The rotating cylinder is used to drive the feeding assembly to operate and convey the unqualified molded parts on the rejection conveyor after the visual inspection mechanism detects unqualified parts.

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