Truss type feeding structure and lifting feeding method for numerical control machine tool

Abstract

The invention discloses a truss type feeding structure and a lifting feeding method for a numerical control machine tool, and relates to the field of feeding and discharging of the numerical control machine tool. The truss type feeding structure comprises a support and a three-axis conveying unit arranged on the support, and a five-axis clamping jaw unit for grabbing workpieces is arranged on the three-axis conveying unit; the five-axis clamping jaw unit comprises two mounting blocks mounted on the three-axis conveying unit, four pneumatic clamping seats which are annularly arranged at equal intervals are arranged on the mounting blocks, the pneumatic clamping seats are driven by an air source to synchronously move in opposite directions and are provided with separated pressing plates, and the separated pressing plates are arranged on the mounting blocks. A butt joint groove penetrating through the side face is formed in the bottom of the pneumatic type clamping seat, a clamping jaw is inserted into the butt joint groove, and through cooperation of the structures, the clamping jaw can be automatically replaced when needed, so that shutdown for manual operation is not needed any more, and the applicability of the feeding structure is better.

Description

Technical Field

[0001] The present invention relates to the loading and unloading technology of numerical control machine tools, and particularly relates to a truss-type feeding structure and a lifting feeding method for numerical control machine tools. Background Art

[0002] The truss-type feeding structure is a commonly used automatic loading and unloading unit in numerical control machine tools, mainly used for automatically loading and unloading workpieces to be processed and processed finished workpieces, which can effectively improve the processing efficiency of numerical control machine tools and further improve the production efficiency of products.

[0003] In a common truss-type feeding structure, it mainly includes an X-axis conveying unit, a Y-axis conveying unit, a Z-axis conveying unit, and a pneumatic gripper for clamping workpieces. The jaws on the pneumatic gripper are mostly fixedly installed, and the shape of its jaws may not meet the clamping requirements of workpieces with different shapes. Although some jaws are connected and installed by bolt connection, during replacement, it is still necessary to stop the machine operation, and then the operator needs to manually disassemble and replace them, so that the replacement process of the jaws is relatively inconvenient. Summary of the Invention

[0004] The purpose of the present invention is to provide a truss-type feeding structure and a lifting feeding method for numerical control machine tools to solve the above deficiencies in the prior art.

[0005] To achieve the above purpose, the present invention provides the following technical solution: A truss-type feeding structure includes a support and a three-axis conveying unit arranged on the support. A five-axis jaw unit for grasping workpieces is arranged on the three-axis conveying unit. The five-axis jaw unit includes two mounting blocks installed on the three-axis conveying unit. Four pneumatic clamping seats are arranged on the mounting blocks at equal intervals in a circular ring shape. The pneumatic clamping seats move synchronously towards each other driven by a gas source. A separable pressing plate is arranged on the pneumatic clamping seat. A docking groove penetrating the side surface is opened at the bottom of the pneumatic clamping seat, and a jaw is inserted into the docking groove. A threaded groove penetrating the jaw and extending to the other side of the jaw is opened on one side of the pneumatic clamping seat. A locking stud is rotatably connected to the separable pressing plate;

[0006] A driving unit is arranged outside the mounting block, and the driving unit is used to drive the locking stud to rotate and release the position restriction on the jaw;

[0007] A jaw table is installed on the support, and several groups of built-in grooves are opened on the jaw table for placing jaws.

[0008] Further, a translation guide groove is formed on one side of the pneumatic clamping seat close to the separable pressing plate. A support guide plate is slidably connected to the inner side surface of the translation guide groove. The support guide plate is fixedly connected to the separable pressing plate. When the locking stud rotates and moves outward of the threaded groove, the separable pressing plate moves away from the pneumatic clamping seat under the support and guidance of the support guide plate.

[0009] Further, the jaw includes a connecting portion and a clamping portion. The shape and size specifications of the connecting portion are adapted to the docking groove, and the threaded groove is formed on the connecting portion. The clamping portion on the jaw located in the built-in groove is embedded inside the built-in groove, and the connecting portion is located outside the built-in groove.

[0010] Further, the driving unit includes a mounting seat arranged on the mounting block. An extension plate is arranged at the bottom of the mounting seat. The mounting seat and the extension plate are provided with the same mounting cavity inside. An internally threaded sleeve is rotatably connected to the inner side surface of the mounting cavity located on the mounting seat. A rotating shaft is rotatably connected to the inner side surface of the mounting cavity located on the extension plate. A small pulley is arranged on the outer part of the rotating shaft. A large pulley is arranged on the outer part of the internally threaded sleeve. A transmission belt is arranged between the small pulley and the large pulley.

[0011] Further, a hexagonal counterbore is arranged at the head of the locking stud. A hexagonal column is arranged on the outer part of the rotating shaft. The size and specifications of the hexagonal column are adapted to the hexagonal counterbore. When the pneumatic clamping seat moves outward synchronously to the end of the stroke, the hexagonal column is inserted into the hexagonal counterbore.

[0012] Further, a gear is fixedly connected to the outer part of the internally threaded sleeve. A vertical groove penetrating through its bottom is formed at the top of the mounting seat. A rack is slidably connected to the inner side surface of the vertical groove. A driving cylinder is installed on the side surface of the mounting seat. The bottom of the telescopic end of the driving cylinder is fixedly connected to the bottom of the rack, and the rack is meshed with the gear.

[0013] Further, a synchronous screw is rotatably connected to the outer part of the mounting block. A circular groove adapted to the synchronous screw is formed inside the mounting seat. The internally threaded sleeve is threadedly connected to the synchronous screw. Two support plates are symmetrically installed on both sides of the mounting block. Support grooves adapted to the support plates are symmetrically formed on both sides of the surface of the mounting seat. The support plates are slidably connected to the inner side surfaces of the support grooves.

[0014] Further, the speed of the internally threaded sleeve rotating to drive the mounting seat to move horizontally is the same as the speed of the locking stud rotating to drive the separable pressing plate to move horizontally.

[0015] Further, the shapes of the connecting portions on the jaws placed in multiple built-in grooves are all different.

[0016] The present invention also provides a lifting and feeding method for a numerically controlled machine tool, which adopts a truss-type feeding structure as described above, and includes the following steps:

[0017] S1. Adjust the position of the jaw through the three-axis conveying unit, move it to the designated position on the jaw table, and insert the jaw into the built-in groove at the designated position on the jaw table;

[0018] S2. Drive the locking stud to rotate through the driving unit, so that the split pressing plate is separated from the pneumatic clamping seat, and the locking stud is separated from the threaded groove on the jaw;

[0019] S3. Move the vacant pneumatic clamping seat to the jaw to be replaced through the three-axis conveying unit, and embed the connecting part on the jaw into the docking groove;

[0020] S4. Drive the split pressing plate to move and abut against the surface of the pneumatic clamping seat through the driving unit, and at the same time make the locking stud connect with the threaded grooves on both the pneumatic clamping seat and the connecting part;

[0021] S5. Drive the installed jaw to move through the three-axis conveying unit, and move it to the position where the workpiece needs to be taken after processing;

[0022] S6. Drive the jaw to grab the finished workpiece through the pneumatic clamping seat;

[0023] S7. Convey the jaw to the placement place of the finished workpiece through the three-axis conveying unit, place it, then grab the workpiece to be processed, and convey it to the processing place through the three-axis conveying unit for placement.

[0024] Compared with the prior art, a truss-type feeding structure and a lifting and feeding method for a numerically controlled machine tool provided by the present invention have the following beneficial effects:

[0025] 1. For the truss-type feeding structure and the lifting and feeding method for a numerically controlled machine tool, the connecting part of the jaw is embedded in the docking groove on the pneumatic clamping seat, and the split pressing plate and the pneumatic clamping seat are cooperated to install and fix the jaw through the cooperation of the locking stud and the threaded groove. When the jaw needs to be replaced, the split pressing plate is separated through the driving unit and the locking stud is separated from the jaw, so that the jaw can be automatically replaced under the cooperation of the jaw table and various jaws arranged thereon, and manual operation is not required during shutdown, making the truss-type feeding structure more applicable.

[0026] 2. The truss-type feeding structure and the lifting feeding method for a numerically controlled machine tool, through the mutual cooperation between the synchronous screw and the support plate, and by setting the speed of the inner threaded sleeve rotating to drive the horizontal movement of the mounting seat to be the same as the speed of the locking stud rotating to drive the horizontal movement of the split pressing plate, it is ensured that during the process of the locking stud rotating and separating from the thread groove, the setting of the mounting seat will not interfere with this process, and the separation process between the split pressing plate and the pneumatic clamping seat can proceed normally, so that the replacement process of the jaws can be smoother. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required to be used in the embodiments. Obviously, the drawings described below are only some embodiments recorded in the present invention, and those of ordinary skill in the art can also obtain other drawings based on these drawings.

[0028] Figure 1 Schematic diagram of the overall structure provided by an embodiment of the present invention;

[0029] Figure 2 Provided by an embodiment of the present invention Figure 1 Enlarged view of a partial structure;

[0030] Figure 3 Schematic diagram of the structure of the five-axis jaw unit provided by an embodiment of the present invention;

[0031] Figure 4 Provided by an embodiment of the present invention Figure 3 Enlarged schematic diagram of the structure at position A;

[0032] Figure 5 Schematic diagram of the internal structure of the pneumatic clamping seat provided by an embodiment of the present invention;

[0033] Figure 6 Schematic diagram of the internal structure of the mounting seat and the extension plate provided by an embodiment of the present invention;

[0034] Figure 7 Schematic diagram of the structure of the jaw table provided by an embodiment of the present invention.

[0035] Description of the reference numerals:

[0036] 1. Support; 101. Three-axis conveying unit; 2. Mounting block; 21. Pneumatic clamping seat; 22. Separable pressing plate; 23. Docking groove; 24. Claw; 241. Connection part; 242. Clamping part; 25. Thread groove; 26. Locking stud; 27. Translation guide groove; 28. Support guide plate; 3. Mounting seat; 31. Extension plate; 32. Internal thread sleeve; 33. Rotating shaft; 34. Small pulley; 35. Large pulley; 36. Transmission belt; 37. Hexagonal counterbore; 38. Hexagonal column; 39. Gear; 310. Rack; 311. Driving cylinder; 4. Claw table; 41. Built-in groove; 5. Synchronous screw; 51. Support plate; 52. Support groove. Detailed implementation mode

[0037] In order to enable those skilled in the art to better understand the technical solutions of the present invention, the present invention will be further introduced in detail below with reference to the accompanying drawings.

[0038] Embodiment 1:

[0039] Please refer to Figures 1 - 7 , a truss-type feeding structure, including a support 1 and a three-axis conveying unit 101 arranged on the support 1, and a five-axis claw unit for grasping workpieces is arranged on the three-axis conveying unit 101.

[0040] It should be noted that both the three-axis conveying unit 101 and the five-axis claw unit are feeding and unloading structures commonly used in numerical control machine tools, and they are all prior arts, so no further description will be given here.

[0041] The five-axis claw unit includes two mounting blocks 2 installed on the three-axis conveying unit 101. Four pneumatic clamping seats 21 arranged at equal intervals in a circular shape are arranged on the mounting block 2. The pneumatic clamping seats 21 are driven by a gas source to move synchronously towards each other. A separable pressing plate 22 is arranged on the pneumatic clamping seat 21. A docking groove 23 penetrating the side surface is opened at the bottom of the pneumatic clamping seat 21. A claw 24 is inserted into the docking groove 23. A thread groove 25 penetrating the claw 24 and extending to the other side of the claw 24 is opened on one side of the pneumatic clamping seat 21. A locking stud 26 is rotatably connected to the separable pressing plate 22. A translation guide groove 27 is opened on one side of the pneumatic clamping seat 21 close to the separable pressing plate 22. A support guide plate 28 is slidably connected to the inner side surface of the translation guide groove 27. The support guide plate 28 is fixedly connected to the separable pressing plate 22. When the locking stud 26 rotates and moves outwards of the thread groove 25, the separable pressing plate 22 moves away from the pneumatic clamping seat 21 under the support and guidance of the support guide plate 28.

[0042] A driving unit is arranged outside the mounting block 2, and the driving unit is used to drive the locking stud 26 to rotate and release the position restriction on the claw 24;

[0043] A gripper table 4 is installed on the support 1, and a number of built-in grooves 41 are provided on the gripper table 4 for placing the grippers 24.

[0044] It should be added that the gripper 24 includes a connecting portion 241 and a clamping portion 242. The shape and size specifications of the connecting portion 241 are adapted to the docking groove 23, and the threaded groove 25 is provided on the connecting portion 241. The clamping portion 242 on the gripper 24 located in the built-in groove 41 is embedded inside the built-in groove 41, and the connecting portion 241 is located outside the built-in groove 41.

[0045] In this embodiment, the driving unit includes a mounting seat 3 provided on the mounting block 2. An extension plate 31 is provided at the bottom of the mounting seat 3. The mounting seat 3 and the extension plate 31 have the same mounting cavity inside. An internally threaded sleeve 32 is rotatably connected to the inner side surface of the mounting cavity on the mounting seat 3. A rotating shaft 33 is rotatably connected to the inner side surface of the mounting cavity on the extension plate 31. A small pulley 34 is provided on the outside of the rotating shaft 33. A large pulley 35 is provided on the outside of the internally threaded sleeve 32. A transmission belt 36 is provided between the small pulley 34 and the large pulley 35. A hexagonal counterbore 37 is provided at the head of the locking stud 26. A hexagonal column 38 is provided on the outside of the rotating shaft 33. The size and specifications of the hexagonal column 38 are adapted to the hexagonal counterbore 37. When the pneumatic clamping seat 21 moves outward synchronously to the end of the stroke, the hexagonal column 38 is inserted into the hexagonal counterbore 37. A gear 39 is fixedly connected to the outside of the internally threaded sleeve 32. A vertical groove penetrating its bottom is provided at the top of the mounting seat 3. A rack 310 is slidably connected to the inner side surface of the vertical groove. A driving cylinder 311 is installed on the side of the mounting seat 3. The bottom of the telescopic end of the driving cylinder 311 is fixedly connected to the bottom of the rack 310, and the rack 310 meshes with the gear 39.

[0046] Reference Figure 3 、 Figure 6 In order to ensure that the locking stud 26 can be smoothly withdrawn from the threaded groove 25 when the hexagonal column 38 rotates, a synchronous screw 5 is rotatably connected to the outside of the mounting block 2. A circular groove adapted to the synchronous screw 5 is provided inside the mounting seat 3. The internally threaded sleeve 32 is threadedly connected to the synchronous screw 5, and support plates 51 are symmetrically installed on both sides of the mounting block 2. Support grooves 52 adapted to the support plates 51 are symmetrically provided on both sides of the surface of the mounting seat 3. The inner side surfaces of the support plates 51 and the support grooves 52 are slidably connected.

[0047] It should be further explained that the speed at which the internally threaded sleeve 32 rotates to drive the horizontal movement of the mounting seat 3 is the same as the speed at which the locking stud 26 rotates to drive the horizontal movement of the split pressing plate 22. When the locking stud 26 drives the split pressing plate 22 to move, the mounting seat 3 can move synchronously, thereby ensuring the stability of the transmission between the large pulley 35 and the small pulley 34.

[0048] In this embodiment, the shapes of the connecting parts 241 on the clamping jaws 24 placed in multiple groups of built-in grooves 41 are all different.

[0049] It should be noted that by setting the clamping jaws 24 with different shapes of connecting parts 241, when clamping workpieces with different shapes, the need for workpiece clamping can be met by automatically switching the clamping jaws 24, and manual replacement is no longer required, making the applicability of the feeding structure of the numerical control machine tool better.

[0050] During the working process, when it is necessary to switch the clamping jaws 24 adapted to workpieces with different shapes, the position of the mounting block 2 is adjusted by the three-axis conveying unit 101, so that it moves to the specified built-in groove 41 on the clamping jaw table 4, and the clamping jaws 24 on the mounting block 2 are kept in a state of being opened to the limit position and inserted into the specified built-in groove 41, so that the clamping parts 242 on the clamping jaws 24 are embedded in the built-in groove 41, while the connecting parts 241 are in an external state;

[0051] When the clamping jaw 24 is kept in a state of being opened to the limit position, the hexagonal column 38 on the same side is inserted into the hexagonal counterbore 37 at the clamping jaw 24. At this time, the rack 310 is driven to move downward by the driving cylinder 311, so that the gear 39 rotates and drives the internally threaded sleeve 32 to rotate. Under the combined drive of the large pulley 35, the small pulley 34 and the transmission belt 36, the rotation of the internally threaded sleeve 32 can drive the rotating shaft 33 to rotate, so that the hexagonal column 38 rotates and drives the locking stud 26 to rotate. Under the cooperation of the thread groove 25, when the locking stud 26 rotates, it drives the split pressing plate 22 to separate from the pneumatic clamping seat 21, and at the same time, the locking stud 26 also separates from the thread groove 25 on the clamping jaw 24. At this time, the movement of the clamping jaw 24 is no longer restricted. The position of the mounting block 2 is adjusted by the three-axis conveying unit 101 to separate it from the clamping jaw 24 and move to another clamping jaw 24 to be installed, and the connecting part 241 on the clamping jaw 24 is inserted into the docking groove 23 on the pneumatic clamping seat 21. Then, the driving cylinder 311 drives the rack 310 to move in the reverse direction, so as to drive the locking stud 26 to rotate in the reverse direction and move into the interior of the thread groove 25, so that the split pressing plate 22 moves to abut against the pneumatic clamping seat 21 again, completing the automatic replacement of the clamping jaw 24.

[0052] Embodiment 2:

[0053] On the basis of the above embodiment, this embodiment provides a lifting feeding method for a numerical control machine tool, adopting a truss-type feeding structure as described above, including the following steps:

[0054] S1. Adjust the position of the clamping jaw 24 through the three-axis conveying unit 101, so that it moves to the specified position on the clamping jaw table 4, and insert the clamping jaw 24 into the built-in groove 41 at the specified position on the clamping jaw table 4;

[0055] S2. Drive the locking stud 26 to rotate through the driving unit, so that the detachable pressing plate 22 is separated from the pneumatic clamping seat 21, and the locking stud 26 is separated from the thread groove 25 on the jaw 24;

[0056] S3. Move the pneumatic clamping seat 21 after the vacancy to the position of the jaw 24 to be replaced through the three-axis conveying unit 101, and embed the connecting portion 241 on the jaw 24 into the docking groove 23;

[0057] S4. Drive the detachable pressing plate 22 to move through the driving unit to abut against the surface of the pneumatic clamping seat 21, and at the same time make the locking stud 26 connect with the thread grooves 25 on both the pneumatic clamping seat 21 and the connecting portion 241;

[0058] S5. Drive the installed jaw 24 to move through the three-axis conveying unit 101, so that it moves to the position where the workpiece is to be taken after processing;

[0059] S6. Drive the jaw 24 to grab the finished workpiece through the pneumatic clamping seat 21;

[0060] S7. Convey the jaw 24 to the place where the finished workpiece is placed through the three-axis conveying unit 101, and place it, then grab the workpiece to be processed, and convey it to the processing place through the three-axis conveying unit 101 and place it.

[0061] Only some exemplary embodiments of the present invention are described above by way of illustration. Undoubtedly, for those of ordinary skill in the art, without departing from the spirit and scope of the present invention, the described embodiments can be modified in various different ways. Therefore, the above drawings and descriptions are illustrative in nature and should not be construed as limiting the protection scope of the claims of the present invention.

Claims

1. A truss-type feeding structure, comprising a support (1) and a three-axis conveying unit (101) arranged on the support (1), wherein a five-axis gripper unit for gripping a workpiece is arranged on the three-axis conveying unit (101), and is characterized in that, The five-axis jaw unit includes two mounting blocks (2) mounted on the three-axis conveying unit (101). Four pneumatic clamping seats (21) are arranged at equal intervals in a circular ring shape on the mounting block (2). The pneumatic clamping seats (21) are driven by a gas source to move synchronously towards each other. A separable pressing plate (22) is provided on the pneumatic clamping seat (21). A docking groove (23) penetrating the side surface is opened at the bottom of the pneumatic clamping seat (21). A jaw (24) is inserted into the docking groove (23). A threaded groove (25) penetrating the jaw (24) and extending to the other side of the jaw (24) is opened on one side of the pneumatic clamping seat (21). A locking stud (26) is rotatably connected to the separable pressing plate (22). A driving unit is arranged outside the mounting block (2). The driving unit is used to drive the locking stud (26) to rotate and release the position restriction on the jaw (24). A jaw table (4) is mounted on the support (1). A plurality of groups of built-in grooves (41) are opened on the jaw table (4). The built-in grooves (41) are used to place the jaws (24).

2. The truss-type feeding structure according to claim 1, wherein A translation guide groove (27) is opened on one side of the pneumatic clamping seat (21) close to the separable pressing plate (22). A support guide plate (28) is slidably connected to the inner side surface of the translation guide groove (27). The support guide plate (28) is fixedly connected to the separable pressing plate (22). When the locking stud (26) rotates and moves outwards of the threaded groove (25), the separable pressing plate (22) moves away from the pneumatic clamping seat (21) under the support and guidance of the support guide plate (28).

3. The truss-type feeding structure according to claim 2, characterized in that, The jaw (24) includes a connecting portion (241) and a clamping portion (242). The shape and size specifications of the connecting portion (241) are adapted to the docking groove (23). And the threaded groove (25) is opened on the connecting portion (241). The clamping portion (242) on the jaw (24) located in the built-in groove (41) is embedded inside the built-in groove (41), and the connecting portion (241) is located outside the built-in groove (41).

4. A truss-type feeding structure according to claim 3, characterized in that, The driving unit includes a mounting seat (3) arranged on the mounting block (2). An extension plate (31) is arranged at the bottom of the mounting seat (3). The same mounting cavity is opened inside the mounting seat (3) and the extension plate (31). An internally threaded sleeve (32) is rotatably connected to the inner side surface of the mounting cavity located on the mounting seat (3). A rotating shaft (33) is rotatably connected to the inner side surface of the mounting cavity located on the extension plate (31). A small pulley (34) is arranged outside the rotating shaft (33). A large pulley (35) is arranged outside the internally threaded sleeve (32). A transmission belt (36) is arranged between the small pulley (34) and the large pulley (35).

5. The truss-type feeding structure according to claim 4, characterized in that, The head of the locking stud (26) is provided with a hexagonal counterbore (37). The outer part of the rotating shaft (33) is provided with a hexagonal column (38). The size and specification of the hexagonal column (38) are adapted to those of the hexagonal counterbore (37). When the pneumatic clamping seat (21) moves synchronously outward to the end of the stroke, the hexagonal column (38) is inserted into the hexagonal counterbore (37).

6. The truss-type feeding structure according to claim 5, characterized in that, A gear (39) is fixedly connected to the outer part of the internal-thread sleeve (32). A vertical groove penetrating through its bottom is formed at the top of the mounting seat (3). A rack (310) is slidably connected to the inner side surface of the vertical groove. A driving cylinder (311) is installed on the side surface of the mounting seat (3). The bottom of the telescopic end of the driving cylinder (311) is fixedly connected to the bottom of the rack (310), and the rack (310) meshes with the gear (39).

7. The truss-type feeding structure according to claim 6, characterized in that, A synchronous screw rod (5) is rotatably connected to the outer part of the mounting block (2). A circular groove adapted to the synchronous screw rod (5) is formed inside the mounting seat (3). The internal-thread sleeve (32) is threadedly connected to the synchronous screw rod (5). Support plates (51) are symmetrically installed on both sides of the mounting block (2). Support grooves (52) adapted to the support plates (51) are symmetrically formed on both sides of the surface of the mounting seat (3). The support plates (51) are slidably connected to the inner side surfaces of the support grooves (52).

8. A truss-type feeding structure according to claim 7, characterized in that, The speed at which the internal-thread sleeve (32) rotates to drive the horizontal movement of the mounting seat (3) is the same as the speed at which the locking stud (26) rotates to drive the horizontal movement of the split pressing plate (22).

9. The truss type feeding structure according to claim 8, characterized in that, The connecting parts (241) on the jaws (24) placed in multiple built-in grooves (41) have different shapes.

10. A lifting and feeding method for a numerically controlled machine tool, which adopts a truss-type feeding structure as described in any one of claims 1-9, characterized in that, Including the following steps: S1. Adjust the position of the jaw (24) through the three-axis conveying unit (101) so that it moves to a specified position on the jaw table (4), and insert the jaw (24) into the built-in groove (41) at the specified position on the jaw table (4). S2. Drive the locking stud (26) to rotate through the driving unit, so that the split pressing plate (22) is separated from the pneumatic clamping seat (21), and the locking stud (26) is separated from the thread groove (25) on the jaw (24). S3. Move the vacant pneumatic clamping seat (21) to the jaw (24) to be replaced through the three-axis conveying unit (101), and embed the connecting part (241) on the jaw (24) into the docking groove (23). S4. Drive the split pressing plate (22) to move through the driving unit to abut against the surface of the pneumatic clamping seat (21), and at the same time make the locking stud (26) connect to the thread grooves (25) on both the pneumatic clamping seat (21) and the connecting part (241). S5. Drive the installed jaw (24) to move through the three-axis conveying unit (101) so that it moves to the position where the workpiece is to be taken after processing is completed. S6. Drive the jaw (24) to grasp the finished workpiece through the pneumatic clamping seat (21). S7. The gripper (24) is transported to the finished workpiece placement location by the three-axis transport unit (101) and placed there. Then, the workpiece to be machined is grasped and transported to the machining location by the three-axis transport unit (101) and placed there.

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