A truss-type feeding structure and a lifting feeding method for a CNC machine tool

Abstract

The present invention discloses a truss-type feeding structure and a lifting and feeding method for a CNC machine tool, which relates to the field of loading and unloading of CNC machine tools, including a support and a three-axis conveying unit arranged on the support, the three-axis conveying unit is provided with a five-axis clamping unit for grabbing the workpiece, the five-axis clamping unit includes two mounting blocks mounted on the three-axis conveying unit, the mounting blocks are provided with four pneumatic clamping seats arranged equidistantly in a circular shape, the pneumatic clamping seats are driven by an air source to move synchronously toward each other, the pneumatic clamping seats are provided with a separate pressing plate, the bottom of the pneumatic clamping seat is provided with a docking groove running through the side, the docking groove is plugged with a clamping jaw, and through the cooperation between the above structures, the clamping jaw can be automatically replaced when needed, so that there is no need to stop the machine for manual operation, so that the applicability of the feeding structure is better.

Description

Technical Field

[0001] The invention relates to a loading and unloading technology for a numerically controlled machine tool, and in particular to a truss-type feeding structure and a lifting and feeding method for a numerically controlled machine tool. Background Art

[0002] The truss feeding structure is a commonly used automatic loading and unloading unit in CNC machine tools. It is mainly used for automatic loading and unloading of workpieces to be processed and finished workpieces after processing. It can effectively improve the processing efficiency of CNC machine tools and further improve the production efficiency of products.

[0003] The commonly used truss feeding structure mainly includes an X-axial conveying unit, a Y-axial conveying unit, a Z-axial conveying unit and a pneumatic clamp for clamping the workpiece. The jaws on the pneumatic clamp are mostly inherently installed, and the shape of the jaws themselves may not meet the clamping needs of workpieces of different shapes. Although some jaws are connected and installed by bolts, they still need to be stopped for replacement, and then manually disassembled and replaced by the operator, which makes the jaw replacement process more inconvenient. Summary of the Invention

[0004] The object of the present invention is to provide a truss-type feeding structure and a lifting feeding method for a CNC machine tool, so as to solve the above-mentioned deficiencies in the prior art.

[0005] In order to achieve the above-mentioned purpose, the present invention provides the following technical solutions: a truss-type feeding structure, comprising a support and a three-axis conveying unit arranged on the support, the three-axis conveying unit is provided with a five-axis clamping unit for grabbing the workpiece, the five-axis clamping unit comprises two mounting blocks mounted on the three-axis conveying unit, the mounting blocks are provided with four pneumatic clamping seats arranged equidistantly in a circular shape, the pneumatic clamping seats are driven by an air source to move synchronously toward each other, the pneumatic clamping seats are provided with a separate pressure plate, the bottom of the pneumatic clamping seat is provided with a docking groove running through the side surface, the clamping jaw is inserted in the docking groove, one side of the pneumatic clamping seat is provided with a threaded groove running through the clamping jaw and extending to the other side of the clamping jaw, and a locking stud is rotatably connected to the separate pressure plate;

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

[0007] A clamping platform is installed on the support, and a plurality of built-in grooves are provided on the clamping platform for placing the clamping claws.

[0008] Furthermore, a translation guide groove is provided on one side of the pneumatic clamping seat close to the separate pressure plate, and the inner side surface of the translation guide groove is slidably connected to a support guide plate, and the support guide plate is fixedly connected to the separate pressure plate. When the locking stud rotates and moves toward the outside of the threaded groove, the separate pressure plate moves in a direction away from the pneumatic clamping seat under the support and guidance of the support guide plate.

[0009] Furthermore, the clamping 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 opened on the connecting portion, the clamping portion on the clamping jaw located in the built-in groove is embedded in the built-in groove, and the connecting portion is located outside the built-in groove.

[0010] Furthermore, the drive unit includes a mounting seat arranged on the mounting block, an extension plate is provided at the bottom of the mounting seat, the mounting seat and the extension plate have the same mounting cavity opened inside, the inner side surface of the mounting cavity on the mounting seat is rotatably connected to an internal threaded sleeve, the inner side surface of the mounting cavity on the extension plate is rotatably connected to a rotating shaft, a small pulley is provided on the outside of the rotating shaft, a large pulley is provided on the outside of the internal threaded sleeve, and a transmission belt is provided between the small pulley and the large pulley.

[0011] Furthermore, the head of the locking stud is provided with a hexagonal groove, and the outside of the rotating shaft is provided with a hexagonal column. The size and specifications of the hexagonal column are compatible with the hexagonal groove. When the pneumatic clamping seat moves outward synchronously to the end of the stroke, the hexagonal column is inserted into the hexagonal groove.

[0012] Furthermore, the outside of the internal threaded sleeve is fixedly connected to a gear, the top of the mounting seat is provided with a vertical groove running through its bottom, the inner side surface of the vertical groove is slidably connected to a rack, and a driving cylinder is installed on the side 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 engaged with the gear.

[0013] Furthermore, the outside of the mounting block is rotatably connected to a synchronous screw, the inside of the mounting seat is provided with a circular groove adapted to the synchronous screw, the internal threaded sleeve is threadedly connected to the synchronous screw, and support plates are symmetrically installed on both sides of the mounting block, support grooves adapted to the support plates are symmetrically provided on both sides of the surface of the mounting seat, and the support plates are slidably connected to the inner side surfaces of the support grooves.

[0014] Furthermore, the speed at which the internally threaded sleeve rotates to drive the mounting seat to move horizontally is consistent with the speed at which the locking stud rotates to drive the separate pressing plate to move horizontally.

[0015] Furthermore, the shapes of the connection parts on the clamping jaws placed in the multiple groups of built-in grooves are all different.

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

[0017] S1. Adjust the position of the clamping claw by the three-axis conveying unit, move it to the specified position on the clamping claw platform, and insert the clamping claw into the built-in slot at the specified position on the clamping claw platform;

[0018] S2. The locking stud is driven to rotate by the driving unit, so that the separate pressure plate is separated from the pneumatic clamping seat, and the locking stud is separated from the thread groove on the clamping jaw;

[0019] S3, moving the vacant pneumatic clamping seat to the position of the clamping jaw to be replaced by a three-axis conveying unit, and inserting the connecting portion of the clamping jaw into the docking groove;

[0020] S4, driving the separate pressing plate to move and abut against the surface of the pneumatic clamping seat through the driving unit, and at the same time, the locking stud is connected to the pneumatic clamping seat and the thread groove on the connecting portion;

[0021] S5, driving the installed gripper to move by the three-axis conveying unit to the position where the workpiece is to be picked up after processing is completed;

[0022] S6. The pneumatic clamping seat drives the clamping claw to grab the finished workpiece;

[0023] S7. The clamp is transported to the place where the finished workpiece is placed by the three-axis conveying unit and placed. Then, the workpiece to be processed is grasped and transported to the processing place by the three-axis conveying unit for placement.

[0024] Compared with the prior art, the truss feeding structure and the lifting feeding method for CNC machine tools provided by the present invention have the following beneficial effects:

[0025] 1. The truss-type feeding structure and the lifting and feeding method for CNC machine tools are characterized by a clamping claw connecting portion being embedded in a docking groove on a pneumatic clamping seat, and a locking stud being matched with a threaded groove to mount and fix the clamping claw in cooperation with the pneumatic clamping seat. When the clamping claw needs to be replaced, the driving unit is used to separate the separate pressing plate and drive the locking stud to separate the clamping claw. With the cooperation of the clamping claw platform and the various clamping claws arranged thereon, the clamping claw can be automatically replaced without stopping the machine for manual operation, making the truss-type feeding structure more applicable.

[0026] 2. The truss-type feeding structure and the lifting and feeding method for CNC machine tools cooperate with each other between the synchronous screw and the support plate. At the same time, the speed at which the internal threaded sleeve rotates to drive the mounting seat to move horizontally is set to be consistent with the speed at which the locking stud rotates to drive the separation type pressure plate to move horizontally. When the locking stud rotates and separates from the thread groove, the setting of the mounting seat will not interfere with the process, thereby ensuring that the separation process of the separation type pressure plate and the pneumatic clamping seat can proceed normally, thereby making the replacement process of the clamping jaws smoother. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments described in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

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

[0029] Figure 2 The embodiment of the present invention provides Figure 1 A magnified view of the middle part of the structure;

[0030] Figure 3 A schematic structural diagram of a five-axis gripper unit provided in an embodiment of the present invention;

[0031] Figure 4 The embodiment of the present invention provides Figure 3 A in the middle is an enlarged structural diagram;

[0032] Figure 5 A schematic diagram of the internal structure of a pneumatic clamping seat provided in an embodiment of the present invention;

[0033] Figure 6 A schematic diagram of the internal structure of the mounting base and the extension plate provided in an embodiment of the present invention;

[0034] Figure 7 This is a schematic structural diagram of the clamping platform provided in an embodiment of the present invention.

[0035] Description of reference numerals:

[0036] 1. Support; 101. Three-axis conveying unit; 2. Mounting block; 21. Pneumatic clamping seat; 22. Separate pressure plate; 23. Docking groove; 24. Clamping jaws; 241. Connecting part; 242. Clamping part; 25. Threaded groove; 26. Locking stud; 27. Translation guide groove; 28. Support guide plate; 3. Mounting seat; 31. Extension plate; 32. Internally threaded sleeve; 33. Rotating shaft; 34. Small pulley; 35. Large pulley; 36. Transmission belt; 37. Hexagonal groove; 38. Hexagonal column; 39. Gear; 310. Rack; 311. Driving cylinder; 4. Clamping jaws; 41. Built-in groove; 5. Synchronous screw; 51. Support plate; 52. Support groove. DETAILED DESCRIPTION

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

[0038] Example 1:

[0039] See also Figure 1-Figure 7 A truss-type feeding structure includes a support 1 and a three-axis conveying unit 101 arranged on the support 1. The three-axis conveying unit 101 is provided with a five-axis clamping unit for grasping the workpiece.

[0040] It should be noted that the three-axis conveying unit 101 and the five-axis clamping unit are both loading and unloading structures commonly used on CNC machine tools, and are both existing technologies, so they will not be described in detail here.

[0041] The five-axis clamping unit includes two mounting blocks 2 mounted on the three-axis conveying unit 101. The mounting blocks 2 are provided with four pneumatic clamping seats 21 arranged equidistantly in a circular shape. The pneumatic clamping seats 21 are driven by an air source to move synchronously toward each other. The pneumatic clamping seats 21 are provided with a separate pressure plate 22. The bottom of the pneumatic clamping seat 21 is provided with a docking groove 23 that passes through the side. A clamping jaw 24 is inserted into the docking groove 23. One side of the pneumatic clamping seat 21 is provided with a clamping jaw 24 that passes through the clamping jaw 24 and extends To the threaded groove 25 on the other side of the clamping jaw 24, a locking stud 26 is rotatably connected to the separate pressure plate 22, and a translation guide groove 27 is opened on the side of the pneumatic clamping seat 21 close to the separate pressure plate 22. The inner side surface of the translation guide groove 27 is slidably connected with a support guide plate 28, and the support guide plate 28 is fixedly connected to the separate pressure plate 22. When the locking stud 26 rotates to move toward the outside of the threaded groove 25, the separate pressure plate 22 moves in the direction away from the pneumatic clamping seat 21 under the support and guidance of the support guide plate 28.

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

[0043] A clamping platform 4 is mounted on the support 1 . The clamping platform 4 is provided with a plurality of built-in grooves 41 for accommodating the clamping jaws 24 .

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

[0045] In this embodiment, the drive unit includes a mounting base 3 provided on the mounting block 2, an extension plate 31 is provided at the bottom of the mounting base 3, the mounting base 3 and the extension plate 31 have the same mounting cavity, the inner side surface of the mounting cavity on the mounting base 3 is rotatably connected to an internal threaded sleeve 32, the inner side surface of the mounting cavity on the extension plate 31 is rotatably connected to a rotating shaft 33, 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 internal threaded sleeve 32, a transmission belt 36 is provided between the small pulley 34 and the large pulley 35, and the head of the locking stud 26 is provided with a hexagonal groove 37. A hexagonal column 38 is provided on the outside of the rotating shaft 33. The size and specifications of the hexagonal column 38 are compatible with the hexagonal groove 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 groove 37. The outside of the internal threaded sleeve 32 is fixedly connected to the gear 39. The top of the mounting seat 3 is provided with a vertical groove running through its bottom. The inner side surface of the vertical groove is slidably connected to the rack 310. 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 is engaged with the gear 39.

[0046] refer to Figure 3 、 Figure 6 In order to ensure that the hexagonal column 38 can drive the locking stud 26 to smoothly withdraw from the thread groove 25 when it rotates, the outside of the mounting block 2 is rotatably connected to the synchronous screw 5, the inside of the mounting seat 3 is provided with a circular groove adapted to the synchronous screw 5, the internal 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, and support grooves 52 adapted to the support plates 51 are symmetrically provided on both sides of the surface of the mounting seat 3, and the support plates 51 are slidably connected to the inner side surfaces of the support grooves 52.

[0047] It should be noted that the speed at which the internal threaded sleeve 32 rotates to drive the mounting seat 3 to move horizontally is consistent with the speed at which the locking stud 26 rotates to drive the separate pressure plate 22 to move horizontally, so that when the locking stud 26 drives the separate pressure 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 connection portions 241 on the clamping jaws 24 placed in the multiple sets of built-in grooves 41 are all different.

[0049] It should be noted that by setting up multiple groups of jaws 24 with different shapes of connecting parts 241, the needs of workpiece clamping can be met by automatically switching the jaws 24 when clamping workpieces of different shapes, and manual replacement is no longer required, making the feeding structure of CNC machine tools more applicable.

[0050] During operation, when it is necessary to switch the corresponding clamping jaws 24 to clamp workpieces of different shapes, the position of the mounting block 2 is adjusted by the three-axis conveying unit 101 so that it moves to the designated built-in groove 41 on the clamping jaw platform 4, and the clamping jaws 24 on the mounting block 2 are kept open to the limit position and inserted into the designated built-in groove 41, so that the clamping portion 242 on the clamping jaw 24 is embedded in the built-in groove 41, and the connecting portion 241 is in an external state;

[0051] When the clamping jaw 24 is kept open to the extreme position, the hexagonal column 38 on the same side is inserted into the hexagonal groove 37 at the clamping jaw 24. At this time, the rack 310 is driven downward by driving the cylinder 311, so that the gear 39 rotates and drives the internal threaded sleeve 32 to rotate. Under the coordinated transmission of the large pulley 35, the small pulley 34 and the transmission belt 36, the rotation of the internal 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 threaded groove 25, the locking stud 26 rotates, driving the separation type pressure plate 22 to separate from the pneumatic clamping seat 21, and also makes the locking stud 26 and the clamping jaw separate. 24 is separated from the threaded groove 25 on the pneumatic clamping seat 21. 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 it to another clamping jaw 24 to be installed, and the connecting portion 241 on the clamping jaw 24 is inserted into the docking groove 23 on the pneumatic clamping seat 21. After that, the rack 310 is driven to move in the opposite direction by the driving cylinder 311, thereby driving the locking stud 26 to rotate in the opposite direction and move toward the inside of the threaded groove 25, so that the separate pressure plate 22 moves to abut against the pneumatic clamping seat 21 again, completing the automatic replacement of the clamping jaw 24.

[0052] Example 2:

[0053] This embodiment provides a lifting and feeding method for a CNC machine tool based on the above embodiment, which adopts a truss feeding structure as described above, and includes the following steps:

[0054] S1. The position of the clamping claw 24 is adjusted by the three-axis conveying unit 101 to move it to a designated position on the clamping claw platform 4, and the clamping claw 24 is inserted into the built-in groove 41 at the designated position on the clamping claw platform 4;

[0055] S2. The locking stud 26 is driven to rotate by the driving unit, so that the separate pressure plate 22 is separated from the pneumatic clamping seat 21, and the locking stud 26 is separated from the thread groove 25 on the clamping jaw 24;

[0056] S3, using the three-axis conveying unit 101 to move the vacant pneumatic clamping seat 21 to the position of the clamping jaw 24 to be replaced, and insert the connecting portion 241 on the clamping jaw 24 into the docking groove 23;

[0057] S4. The drive unit drives the separate pressing plate 22 to move and abut against the surface of the pneumatic clamping seat 21, and at the same time, the locking stud 26 is connected to the pneumatic clamping seat 21 and the threaded groove 25 on the connecting portion 241;

[0058] S5, driving the installed clamping claw 24 by the three-axis conveying unit 101 to move it to the position where the workpiece is to be picked up after processing is completed;

[0059] S6, driving the clamping claw 24 by the pneumatic clamping seat 21 to grab the finished workpiece;

[0060] S7. The clamping claw 24 is transported to the place where the finished workpiece is placed by the three-axis conveying unit 101 and placed. Then, the workpiece to be processed is grasped and transported to the processing place by the three-axis conveying unit 101 for placement.

[0061] The above description is merely illustrative of certain exemplary embodiments of the present invention. It goes without saying that those skilled in the art will be able to modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and description are illustrative in nature and should not be construed as limiting the scope of protection of the claims.

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), characterized in that: The five-axis clamping unit comprises two mounting blocks (2) mounted on a three-axis conveying unit (101), the mounting blocks (2) are provided with four pneumatic clamping seats (21) arranged equidistantly in a circular shape, the pneumatic clamping seats (21) are driven by an air source to move synchronously in opposite directions, the pneumatic clamping seats (21) are provided with a separate pressing plate (22), the bottom of the pneumatic clamping seat (21) is provided with a docking groove (23) penetrating the side, a clamping jaw (24) is inserted in the docking groove (23), and one side of the pneumatic clamping seat (21) is provided with a clamping jaw (24) penetrating the side and extending to the side. The thread groove (25) on the other side of the clamping jaw (24) is rotatably connected to a locking stud (26) on the separate pressure plate (22), and a translation guide groove (27) is provided on a side of the pneumatic clamping seat (21) close to the separate pressure plate (22), and a support guide plate (28) is slidably connected to the inner side of the translation guide groove (27), and the support guide plate (28) is fixedly connected to the separate pressure plate (22). When the locking stud (26) rotates and moves toward the outside of the thread groove (25), the separate pressure plate (22) moves in a direction away from the pneumatic clamping seat (21) under the support and guidance of the support guide plate (28); The clamping jaw (24) includes a connecting portion (241) and a clamping portion (242), the shape and size 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 clamping jaw (24) located in the built-in groove (41) is embedded in the built-in groove (41), and the connecting portion (241) is located outside the built-in groove (41); A driving unit is provided on the outside of 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 clamping claw (24); A clamping platform (4) is mounted on the support (1), and a plurality of built-in grooves (41) are provided on the clamping platform (4), wherein the built-in grooves (41) are used to place the clamping claws (24); The drive unit comprises a mounting seat (3) arranged on the mounting block (2), an extension plate (31) is provided at the bottom of the mounting seat (3), a same mounting cavity is provided inside the mounting seat (3) and the extension plate (31), an internal 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), and the internal threaded sleeve (3 2) is provided with a large pulley (35) on the outside, a transmission belt (36) is provided between the small pulley (34) and the large pulley (35), a head of the locking stud (26) is provided with a hexagonal groove (37), and a hexagonal column (38) is provided on the outside of the rotating shaft (33), the size and specification of the hexagonal column (38) are adapted to the hexagonal groove (37), and when the pneumatic clamping seat (21) moves outward synchronously to the end of the stroke, the hexagonal column (38) is inserted into the hexagonal groove (37).

2. A truss feeding structure according to claim 1, characterized in that: The outside of the internally threaded sleeve (32) is fixedly connected to a gear (39), the top of the mounting seat (3) is provided with a vertical groove running through the bottom thereof, the inner side surface of the vertical groove is slidably connected to a rack (310), 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) is meshed with the gear (39).

3. A truss feeding structure according to claim 2, characterized in that: The outside of the mounting block (2) is rotatably connected to a synchronous screw (5), the inside of the mounting seat (3) is provided with a circular groove adapted to the synchronous screw (5), the internal 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), and support grooves (52) adapted to the support plates (51) are symmetrically provided on both sides of the surface of the mounting seat (3), and the support plates (51) are slidably connected to the inner side surfaces of the support grooves (52).

4. A truss feeding structure according to claim 3, characterized in that: The speed at which the internally threaded sleeve (32) rotates to drive the mounting seat (3) to move horizontally is consistent with the speed at which the locking stud (26) rotates to drive the separation pressure plate (22) to move horizontally.

5. A truss feeding structure according to claim 4, characterized in that: The shapes of the connecting parts (241) on the clamping jaws (24) placed in the multiple groups of built-in grooves (41) are all different.

6. A lifting and feeding method for a CNC machine tool, using a truss feeding structure according to any one of claims 1 to 5, characterized in that: The following steps are involved: S1. Adjust the position of the clamping claw (24) by the three-axis conveying unit (101) so that the clamping claw (24) is moved to a designated position on the clamping claw platform (4), and the clamping claw (24) is inserted into the built-in groove (41) at the designated position on the clamping claw platform (4); S2, driving the locking stud (26) to rotate by the driving unit, so that the separation pressure plate (22) is separated from the pneumatic clamping seat (21), and the locking stud (26) is separated from the thread groove (25) on the clamping claw (24); S3, moving the vacant pneumatic clamping seat (21) to the clamping jaw (24) to be replaced by the three-axis conveying unit (101), and inserting the connecting portion (241) on the clamping jaw (24) into the docking groove (23); S4, driving the separate pressing plate (22) to move and abut against the surface of the pneumatic clamping seat (21) through the driving unit, and at the same time, the locking stud (26) is connected to the pneumatic clamping seat (21) and the threaded groove (25) on the connecting portion (241); S5, driving the installed clamping claw (24) to move via the three-axis conveying unit (101) to a position where the workpiece is to be removed after processing is completed; S6, driving the clamping claw (24) to grab the finished workpiece through the pneumatic clamping seat (21); S7, transporting the clamp (24) to the finished workpiece placement location through the three-axis transport unit (101), and placing it there, then grabbing the workpiece to be processed, and transporting it to the processing location through the three-axis transport unit (101) for placement.

Images