Automatic material taking and placing device of CNC machine tool

Abstract

The invention relates to the technical field of CNC machine tool machining, and discloses a CNC machine tool automatic material taking and placing device which comprises a workbench, a fixing frame is installed on the workbench, and a transmission assembly for driving a clamping part to move in the vertical direction is installed in the fixing frame. The transmission assembly comprises a longitudinal moving assembly connected with the transmission assembly, a transverse moving assembly connected with the longitudinal moving assembly and a clamping assembly connected with the transverse moving assembly, the clamping assembly comprises a bottom table, two clamping arms are movably installed on the bottom table, and connecting rods connected with the second hydraulic cylinder are installed on the same sides of the two clamping arms. Through cooperative control of the fixing frame, the transmission assembly and the multi-direction moving assembly and in combination with a hydraulic driving structure of the clamping assembly, high-precision positioning and stable clamping of materials are achieved, and the annular material clamping device has the beneficial effects that the coaxiality precision of annular material placement is improved, shaking of the tail end of a mechanical arm is reduced, and the clamping stability is enhanced.

Description

Technical Field

[0001] The invention relates to the technical field of CNC machine tool processing, in particular to an automatic material taking and placing device for a CNC machine tool. Background Art

[0002] In the field of CNC machine tool processing, automatic loading and unloading devices have become a key component of modern intelligent manufacturing to improve production efficiency and consistency. This is especially true for annular materials (such as bearing rings, gear blanks, flanges, etc.), due to their unique geometry and the requirements for machining and positioning accuracy. Achieving stable, efficient, and precise automatic loading and unloading is particularly important.

[0003] Currently, industrial robot arms are widely used for material handling tasks on CNC machine tools due to their high flexibility and wide working range. These solutions typically use a multi-jointed manipulator in conjunction with an end effector (such as a pneumatic gripper or electromagnetic chuck) to grasp, move, and place materials.

[0004] The placement of annular materials on CNC fixtures (such as mandrels and chucks) usually requires that the inner / outer center of the material maintain extremely high coaxiality with the machine tool spindle (or fixture base). After the robot end effector grabs the material, slight deviations in its posture (especially the rotation angle around the vertical or horizontal axis) and the inherent errors in the robot's repeatability accuracy will cause eccentricity or tilt when the material is placed. This deviation may lead to increased scrap rates or require additional adjustment time in precision machining. In addition, the robot may produce end-stage jitter when moving long distances or running at high speeds, which is particularly detrimental for annular materials that require high-precision placement, affecting the accuracy and stability of placement. In the existing technology, there is a lack of an automatic material loading and unloading device that can solve the above problems at the same time. In particular, there are obvious deficiencies in the fixed frame structure, transmission component accuracy, multi-directional movement control, and clamping stability. In view of the above problems, the existing technology urgently needs to be improved. Summary of the Invention

[0005] The object of the present invention is to provide an automatic material loading and unloading device for a CNC machine tool to solve the problems raised in the above background technology.

[0006] To solve the above technical problems, the present invention is achieved through the following technical solutions: The present invention is an automatic material loading and unloading device for a CNC machine tool, comprising a workbench, a fixed frame mounted on the workbench, a transmission assembly mounted within the fixed frame for driving a clamping portion to move in a vertical direction, the transmission assembly comprising a longitudinal moving assembly connected to the transmission assembly, a transverse moving assembly connected to the longitudinal moving assembly, and a clamping assembly connected to the transverse moving assembly; The clamping assembly includes a base, on which two clamping arms are movably mounted, and a connecting rod connected to a second hydraulic cylinder is mounted on the same side of the two clamping arms.

[0007] Furthermore, the fixing frame includes a base frame fixed on the workbench, and vertical poles are vertically installed at the four corners of the base frame, and the vertical poles are hollow structures.

[0008] Furthermore, the transmission assembly includes a vertical screw rod vertically installed inside the vertical pole and an axle seat installed at the top of the vertical pole. A transmission shaft is installed between two adjacent axle seats. The top end of the vertical screw rod extends into the interior of the axle seat and is installed in cooperation with the end of the transmission shaft. At the same time, the top ends of the two adjacent transmission shafts cooperate with each other. A vertical drive motor is installed on any one of the axle seats, and the vertical drive motor is connected to the corresponding vertical screw rod.

[0009] Furthermore, the longitudinal movement assembly includes a vertical movement seat mounted on a vertical screw rod, and a longitudinal guide rod and a longitudinal screw rod parallel to each other are mounted between the two vertical movement seats; Wherein, a longitudinal drive motor is installed on any one of the vertical movable seats, and the longitudinal drive motor is connected to the corresponding longitudinal screw rod.

[0010] Furthermore, the transverse movement assembly includes a longitudinal movement seat installed on the longitudinal guide rod and the longitudinal screw rod, the two longitudinal movement seats are installed with transverse screw rods and transverse guide rods, and the transverse movement seat is installed on the transverse screw rod and transverse guide rod, wherein any one of the longitudinal movement seats is installed with a longitudinal drive motor connected to the transverse screw rod.

[0011] Furthermore, the lateral movable seat is rotatably connected to the base, and a first hydraulic rod is installed between the lateral movable seat and the base, and the first hydraulic rod drives the base to rotate around the rotation connection point with the lateral movable seat. Two columns are provided on the base, and the middle part of the clamping arm is sleeved on the columns. Furthermore, Furthermore, a fixing fixture is fixedly installed on the workbench.

[0012] Furthermore, the fixing fixture includes a first pneumatic suction cup fixedly mounted on the workbench and a second pneumatic suction cup connected to the first pneumatic suction cup.

[0013] Furthermore, the first pneumatic suction cup is provided with a sleeve, and two screw holes are opened on the side wall of the sleeve, a limit piece is installed in one screw hole, and a limit screw is installed in the other screw hole. The bottom surface of the second pneumatic suction cup is provided with a short rod that cooperates with the sleeve, and the short rod is provided with an annular groove that cooperates with the limit screw, and the outer surface of the short rod is provided with a convex ridge that cooperates with the limit piece.

[0014] Furthermore, the second pneumatic suction cup includes a suction cup seat, a cavity is provided on the suction cup seat, the opening of the cavity is closed by a cover plate, a limit seat is provided on the upper surface of the cover plate, and an air nozzle connected to the cavity is provided on the limit seat.

[0015] The present application provides an automatic material handling device for CNC machine tools, which realizes high-precision positioning and stable clamping of materials through the coordinated control of a fixed frame, a transmission component and a multi-directional moving component, combined with the hydraulic drive structure of the clamping component. It has the advantages of improving the coaxiality accuracy of the placement of ring materials, reducing the jitter of the robot end, and enhancing the clamping stability.

[0016] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0018] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a schematic diagram of the local structure of the present invention; Figure 3 This is a schematic diagram of the transmission assembly structure of the present invention; Figure 4 This is a schematic diagram of the installation of the longitudinal moving assembly and the transverse moving assembly of the present invention; Figure 5 A schematic diagram of the clamping assembly of the present invention; Figure 6 It is a side view of the clamping assembly of the present invention; Figure 7 For the present invention Figure 6 AA cross-sectional diagram; Figure 8 This is a schematic diagram of the fixing fixture of the present invention; Figure 9 This is an exploded schematic diagram of the fixing fixture of the present invention; Figure 10 This is an exploded side view of the fixing fixture of the present invention; Figure 11 This is an exploded schematic diagram of the second pneumatic suction cup of the present invention; In the accompanying drawings, the components represented by the reference numerals are as follows: In the figure: 1, workbench; 2, base frame; 3, vertical pole; 4, shaft seat; 5, transmission assembly; 501, vertical screw rod; 502, vertical drive motor; 503, transmission shaft; 6, longitudinal guide rod; 7, longitudinal screw rod; 8, vertical movable seat; 9, longitudinal movable seat; 10, transverse screw rod; 11, transverse guide rod; 12, transverse movable seat; 1201, through slot; 1202, first hydraulic rod; 13, clamping assembly; 13 01. Base; 1302. Column; 1303. Clamping arm; 1304. Connecting rod; 1305. Second hydraulic cylinder; 14. Fixing fixture; 1401. First pneumatic suction cup; 1402. Sleeve; 1403. Limiting piece; 1404. Second pneumatic suction cup; 14041. Suction cup seat; 14042. Cover plate; 14043. Limiting seat; 1405. Short rod; 1406. Ring groove; 1407. Screw hole. DETAILED DESCRIPTION

[0019] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0020] In the CNC machine tool industry, robotic arms are widely used for material handling to improve production efficiency. Due to their unique geometric shape, ring-shaped materials require extremely high machining and positioning accuracy. Existing robotic arm end effectors exhibit posture deviation and repeatability errors, resulting in eccentricity or tilt during material placement. The end effector jitter caused by long-distance or high-speed movement further affects placement stability, increasing scrap rates and adjustment time.

[0021] To address these issues, the team first considered how to eliminate the cumulative errors introduced by the multi-jointed structure of the robot arm, addressing the lack of stability in gripping circular materials. Analysis revealed that using a rigid drive instead of a multi-jointed swing mechanism could reduce errors in the intermediate links. Further research into the need for adjusting the gripping posture of the material revealed that a hydraulic drive provides stable thrust and precise displacement control. Ultimately, they determined that a highly rigid three-dimensional positioning system could be constructed by combining a multi-directional motion component with a hydraulic gripping mechanism.

[0022] See also Figures 1-11 As shown, the present invention is an automatic material loading and unloading device for a CNC machine tool, comprising a workbench 1, a fixing frame mounted on the workbench 1, and a transmission assembly 5 for driving a clamping portion to move in a vertical direction mounted in the fixing frame; The transmission assembly 5 includes a longitudinal moving assembly connected to the transmission assembly 5, a transverse moving assembly connected to the longitudinal moving assembly, and a clamping assembly 1313 connected to the transverse moving assembly; The transmission assembly 5 is the mechanical transmission system that drives the vertical movement of the clamping unit. Specifically, it can be implemented using a screw-nut mechanism in conjunction with a servo motor, precisely controlling the vertical movement of the clamping unit. The longitudinal movement assembly is the mechanism that moves along the length of the machine tool. Specifically, it can be implemented using a linear module combining a guide rod and a ball screw to ensure linear accuracy during horizontal movement. The transverse movement assembly is the mechanism that moves along the width of the machine tool. Specifically, it can be implemented using a cross-roller guide in conjunction with a drive motor, forming a motion plane orthogonal to the longitudinal movement.

[0023] The clamping assembly 1313 includes a base 1301 , on which two clamping arms 1303 are movably mounted. A connecting rod 1304 connected to a second hydraulic cylinder 1305 is mounted on the same side of the two clamping arms 1303 .

[0024] The clamping arm 1303 refers to the grasping component that directly contacts the material. Specifically, it can be made of an alloy steel component with anti-slip grooves. A four-bar linkage is formed with the hydraulic cylinder through the connecting rod 1304 to achieve synchronous and symmetrical opening and closing.

[0025] The fixed frame includes a base frame 2 fixed on the workbench 1. Vertical poles 3 are vertically installed at the four corners of the base frame 2. The vertical poles 3 are hollow structures.

[0026] The base frame is a support frame mounted on the surface of the workbench 1. It can be welded or bolted to the workbench and is used to bear the load of the uprights 3 and subsequent transmission components. The uprights 3 are columnar supports fixed vertically at the corners of the base frame. Their hollow structure allows them to accommodate transmission components or cables, such as screws or hydraulic lines, while reducing overall weight.

[0027] The transmission assembly 5 includes a vertical screw rod 501 vertically installed inside the vertical pole 3 and an axle seat 4 installed at the top of the vertical pole 3. A transmission shaft 503 is installed between two adjacent axle seats 4. The top end of the vertical screw rod 501 extends into the interior of the axle seat 4 and is installed in coordination with the end of the transmission shaft 503. At the same time, the top ends of the two adjacent transmission shafts 503 cooperate with each other. A vertical drive motor 502 is installed on any one of the axle seats 4, and the vertical drive motor 502 is connected to the corresponding vertical screw rod 501.

[0028] The vertical screw 501 is a threaded rod extending axially along the vertical rod 3. Specifically, it can be implemented using a trapezoidal thread or ball screw structure, achieving linear motion through threaded engagement with the vertical movable seat 8. This structure converts the motor's rotational motion into precise linear displacement, thereby controlling the height position of the clamping portion. The shaft seat 4 is a support component fixed to the top of the vertical rod 3. Specifically, it can be implemented using a cast iron or aluminum alloy casting, with bearings internally mounted to support the transmission shaft 503. This component provides stable support for the transmission shaft 503, ensuring the stability of the multi-axis synchronous transmission. The transmission shaft 503 is a rotating component connecting adjacent shaft seats 4. Specifically, it can be implemented using a steel shaft with a coupling, with its ends mating with the tops of the vertical screws 501 via keyways or splines. This structure enables mechanical linkage of multiple vertical screws 501, eliminating the problem of asynchronous motion caused by independent drive. The vertical drive motor 502 is the power device that drives the vertical screws 501 in rotation. Specifically, it can be implemented using a servo motor in conjunction with a reducer. The device achieves precise adjustment of the screw speed through closed-loop control, thereby controlling the lifting and lowering speed of the clamping part.

[0029] The longitudinal movement assembly includes a vertical movement seat 8 mounted on a vertical screw rod 501, and a longitudinal guide rod 6 and a longitudinal screw rod 7 parallel to each other are mounted between the two vertical movement seats 8; Among them, a longitudinal drive motor is installed on any vertical movable seat 8, and the longitudinal drive motor is connected to the corresponding longitudinal screw rod 7.

[0030] The longitudinal guide rod 6 refers to a rigid guide component used to carry the lateral moving component and limit its movement trajectory. Specifically, it can be implemented by a 45-gauge steel round rod with a chrome-plated surface. Its length can be set to 800-1200 mm and its diameter can be set to 20-30 mm. It is used to eliminate the swing error generated during the lateral movement. The longitudinal screw 7 refers to a transmission component that converts rotational motion into linear motion. Specifically, it can be implemented by a ball screw pair structure. Its lead can be set to 5-10 mm. It is used to achieve high-precision displacement control of the longitudinal moving seat 9. The longitudinal drive motor refers to the power source that drives the longitudinal screw 7 to rotate. Specifically, it can be implemented by a servo motor with an encoder. Its power can be set to 200-400 watts. It is used to accurately control the longitudinal movement distance of the clamping component 13.

[0031] The transverse movement assembly includes a longitudinal movement seat 9 installed on the longitudinal guide rod 6 and the longitudinal screw rod 7, and the two longitudinal movement seats 9 are installed with a transverse screw rod 10 and a transverse guide rod 11, and the transverse movement seat 12 is installed on the transverse screw rod 10 and the transverse guide rod 11, wherein any one of the longitudinal movement seats 9 is installed with a longitudinal drive motor connected to the transverse screw rod 10.

[0032] The longitudinal movable seat 9 refers to a movable component mounted on the longitudinal guide rod 6 and the longitudinal screw rod 7. Specifically, it can be implemented by a metal seat with sliding bearings or linear guides, which is used to carry the transverse screw rod 10 and the guide rod and move in the longitudinal direction. The transverse screw rod 10 and the transverse guide rod 11 refer to the transmission and guide structure arranged on the longitudinal movable seat 9. Specifically, a combination of a ball screw and a carbide guide rod can be used to achieve precise displacement of the transverse movable seat 12. The longitudinal drive motor refers to a power device that drives the transverse screw rod 10 to rotate. Specifically, a servo motor or a stepper motor can be used, which is connected to the transverse screw rod through a coupling to control the movement speed and position of the transverse movable seat 12.

[0033] The transverse moving seat 12 is rotationally connected to the base 1301. A first hydraulic rod 1202 is installed between the transverse moving seat 12 and the base 1301. The first hydraulic rod 1202 is located in the through slot 1201. The through slot 1201 is opened on the transverse moving seat 12. The first hydraulic rod 1202 pushes the base 1301 to rotate around the rotation connection point with the transverse moving seat 12. Two columns 1302 are provided on the base 1301, and the middle part of the clamping arm 1303 is sleeved on the column 1302.

[0034] The rotational connection between the transverse movable seat 12 and the base 1301 refers to the relative rotational movement between the two through a hinge or bearing structure, which can be specifically achieved by a pin shaft matching or a slewing support structure, so that the base 1301 can adjust the angle around the transverse movable seat 12. The first hydraulic rod 1202 refers to a linear actuator driven by hydraulic pressure, which can be specifically achieved by a single-acting or double-acting hydraulic cylinder, providing a driving force for the rotation of the base 1301 through telescopic movement. The column 1302 refers to a cylindrical support structure vertically fixed on the base 1301, which can be specifically achieved by a metal rod or a column 1302 with a guide groove, which is used to constrain the sliding trajectory of the clamping arm. The clamping arm 1303 is sleeved on the column 1302, which means that the middle part of the clamping arm 1303 is provided with a through hole matching the shape of the column, which can be specifically achieved by a sliding bearing or a linear guide pair to ensure that the clamping arm moves horizontally along the axis of the column.

[0035] During adjustment, the first hydraulic rod 1202 can move in two states: the longest state and the shortest state. In addition, the first hydraulic rod 1202 can also be replaced with a pneumatic telescopic rod. When the first hydraulic rod 1202 is extended to the longest position, the base 1301 and the components installed on the base 1301 are in a vertical state. When the first hydraulic rod 1202 is retracted to the shortest position, the base 1301 and the components installed on the base 1301 are in a horizontal state.

[0036] A fixing fixture 14 is fixedly installed on the workbench 1 .

[0037] A fixture is a device used to stabilize materials during processing. This can be achieved using pneumatic suction cups, mechanical grippers, or hydraulic clamping structures. Its function is to secure the material in place through rigid connection or adsorption, preventing displacement caused by vibration or external forces during processing. Fixed installation involves connecting the fixture to the workbench via bolts, welding, or integral casting. This can be achieved using pre-embedded threaded holes and fasteners to ensure there is no relative motion between the fixture and the workbench, thus providing a stable positioning reference for the material.

[0038] The fixing fixture 14 includes a first pneumatic suction cup 1401 fixedly mounted on the workbench 1 and a second pneumatic suction cup 1404 connected to the first pneumatic suction cup 1401 .

[0039] The first pneumatic suction cup 1401 is provided with a sleeve 1402, and two screw holes 1407 are provided on the side wall of the sleeve 1402. A limiting piece 1403 is installed in one screw hole 1407, and a limiting screw is installed in the other screw hole 1407. The bottom surface of the second pneumatic suction cup 1404 is provided with a short rod 1405 that cooperates with the sleeve 1402. The short rod 1405 is provided with an annular groove 1406 that cooperates with the limiting screw. At the same time, the outer surface of the short rod 1405 is provided with a ridge that cooperates with the limiting piece 1403.

[0040] The first pneumatic suction cup 1401 is used to be fixed on the workbench 1. After the short rod 1405 is installed in the sleeve 1402, it is limited by a limit screw to limit the installed short rod 1405 and the second pneumatic suction cup 1404 to move up and down along the short rod 1405. A groove is provided on the inner wall of the sleeve 1402, and a limit block is provided on one side of the limit piece 1403. The limit block is provided with a groove body that cooperates with the convex ridge. The back of the limit block is rotatably connected to a screw, and the screw is installed in the screw hole 1407. The screw is rotated to drive the limit block to approach or move away from the short rod 1405. When approaching the short rod 1405, the limit block fits with the short rod 1405 to prevent the short rod 1405 from rotating. The rotation angle needs to be adjusted. By controlling the limit block to move away from the short rod 1405, the second pneumatic suction cup 1404 and the short rod 1405 can be rotated.

[0041] The second pneumatic suction cup 1404 includes a suction cup seat 14041, which is provided with a cavity. The opening of the cavity is closed by a cover plate 14042. A limit seat 14043 is provided on the upper surface of the cover plate 14042. The limit seat 14043 is provided with an air nozzle connected to the cavity. Different limit seats 14043 are replaced according to the shape of the parts. The bottom surface of the limit groove provided in the middle of the limit seat 14043 is the same as the cross-section of the part. At the same time, the upper surfaces of multiple air nozzles are located in the same horizontal plane and support the parts.

[0042] The suction cup seat refers to the main structure that carries the pneumatic adsorption function, which can be specifically realized by casting aluminum alloy to form a disc-shaped structure with a mounting flange, and its internal cavity is used to accommodate the adsorption mechanism. The cover plate refers to the sealing component covering the opening of the cavity, which can be specifically realized by a stainless steel plate fixed with bolts, and is used to maintain the negative pressure environment inside the cavity. The limiter refers to the positioning structure that constrains the displacement of the cover plate, which can be specifically realized by a steel block with threaded holes, and is fixedly connected to the suction cup seat by bolts. The air nozzle refers to the airflow channel connected to the vacuum generating device, which can be specifically realized by a copper tubular structure with a standard interface, and is used to establish a connection between the cavity and the external vacuum pump.

[0043] The installed lateral moving assembly is close to the operator's side, and during operation, the lateral driving motor drives the lateral driving motor to move closer to the operator's side until the lateral moving assembly moves to the end; The first hydraulic rod 1202 needs to be extended to its maximum length to push the base 1301 and the installed columns 1302 into a vertical state; At this time, the second hydraulic cylinder 1305 extends, driving the angle formed by the two connecting rods 1304 to decrease, thereby increasing the openings at the other ends of the two clamping arms 1303, making it easier to place the annular workpiece. The clamping end of the clamping arm 1303 is provided with a groove to limit the workpiece. When the second hydraulic cylinder 1305 is shortened, the angle formed by the two connecting rods 1304 installed is increased, and the workpiece is clamped by the clamping arm 1303. After the clamping is completed, the first hydraulic rod 1202 is retracted, and the base 1301 and the clamping arm 1303 are horizontal; The clamped workpiece is moved to the top of the fixed fixture 14 by adjusting its position through three groups of moving components, and is opened by the clamping arm 1303 to complete the part placement.

[0044] The center coordinates of the upper surface of the workbench 1 are 0,0,0, the coordinates of the material picking position are set to x1,y1,z1, and the coordinates of the material discharging position are set to x2,y2,z12. The driving motor drives the clamping assembly 1313 to reciprocate between the two points.

[0045] The preferred embodiments of the present invention disclosed above are intended only to help illustrate the present invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the present invention to the specific embodiments described. Obviously, many modifications and variations are possible based on the content of this specification. These embodiments are selected and described in detail in this specification to better explain the principles and practical applications of the present invention, thereby enabling those skilled in the art to better understand and utilize the present invention. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A CNC machine tool automatic loading and unloading device, comprising a workbench (1), characterized in that: A fixing frame is installed on the workbench (1); A transmission assembly (5) for driving the clamping portion to move in a vertical direction is installed in the fixing frame; The transmission assembly (5) comprises a longitudinal moving assembly connected to the transmission assembly (5), a transverse moving assembly connected to the longitudinal moving assembly, and a clamping assembly (13) connected to the transverse moving assembly; The clamping assembly (13) comprises a base (1301) on which two clamping arms (1303) are movably mounted. A connecting rod (1304) connected to a second hydraulic cylinder (1305) is mounted on the same side of the two clamping arms (1303).

2. The automatic loading and unloading device for CNC machine tools according to claim 1, characterized in that: The fixing frame comprises a base frame (2) fixed on the workbench (1); Vertical poles (3) are vertically mounted at the four corners of the base frame (2), and the vertical poles (3) are hollow structures.

3. The automatic loading and unloading device for CNC machine tools according to claim 2, characterized in that: The transmission assembly (5) comprises a vertical screw rod (501) vertically mounted inside the vertical rod (3) and a shaft seat (4) mounted on the top end of the vertical rod (3); A transmission shaft (503) is installed between two adjacent shaft seats (4), and the top end of the vertical screw rod (501) extends into the interior of the shaft seat (4) and is installed in cooperation with the end of the transmission shaft (503), while the top ends of the two adjacent transmission shafts (503) cooperate with each other; A vertical drive motor (502) is mounted on any one of the shaft seats (4), and the vertical drive motor (502) is connected to a corresponding vertical screw rod (501).

4. The automatic loading and unloading device for CNC machine tools according to claim 3, characterized in that: The longitudinal movement assembly comprises a vertical movement seat (8) mounted on a vertical screw rod (501), and a longitudinal guide rod (6) and a longitudinal screw rod (7) parallel to each other are mounted between the two vertical movement seats (8); Wherein, a longitudinal drive motor is installed on any one of the vertical movable seats (8), and the longitudinal drive motor is connected to the corresponding longitudinal screw rod (7).

5. The automatic loading and unloading device for CNC machine tools according to claim 4, characterized in that: The transverse movement assembly includes a longitudinal movement seat (9) mounted on the longitudinal guide rod (6) and the longitudinal screw rod (7); A transverse screw rod (10) and a transverse guide rod (11) are mounted on the two longitudinal movable seats (9), and a transverse movable seat (12) is mounted on the transverse screw rod (10) and the transverse guide rod (11); Wherein, any one of the longitudinal movable seats (9) is equipped with a longitudinal drive motor connected to the transverse screw rod (10).

6. The automatic loading and unloading device for CNC machine tools according to claim 5, characterized in that: The transverse movable seat (12) is rotatably connected to the base (1301); A first hydraulic rod (1202) is installed between the transverse moving seat (12) and the base (1301), and the first hydraulic rod (1202) pushes the base (1301) to rotate around the rotation connection point with the transverse moving seat (12); Two columns (1302) are provided on the base (1301), and the middle portion of the clamping arm (1303) is sleeved on the columns (1302).

7. The automatic loading and unloading device for CNC machine tools according to claim 1, characterized in that: A fixing fixture (14) is fixedly mounted on the workbench (1).

8. The automatic loading and unloading device for CNC machine tools according to claim 1, characterized in that: The fixing fixture (14) comprises a first pneumatic suction cup (1401) fixedly mounted on the workbench (1) and a second pneumatic suction cup (1404) connected to the first pneumatic suction cup (1401).

9. The automatic loading and unloading device for CNC machine tools according to claim 8, characterized in that: The first pneumatic suction cup (1401) is provided with a sleeve (1402), and two screw holes (1407) are provided on the side wall of the sleeve (1402); A limiting member (1403) is installed in one of the screw holes (1407), and a limiting screw is installed in the other screw hole (1407); The bottom surface of the second pneumatic suction cup (1404) is provided with a short rod (1405) that fits in the sleeve (1402), and the short rod (1405) is provided with an annular groove (1406) that fits with the limit screw. At the same time, the outer surface of the short rod (1405) is provided with a ridge that fits with the limit member (1403).

10. The automatic loading and unloading device for CNC machine tools according to claim 9, characterized in that: The second pneumatic suction cup (1404) comprises a suction cup seat (14041), a cavity is provided on the suction cup seat (14041), the opening of the cavity is closed by a cover plate (14042), a limit seat (14043) is provided on the upper surface of the cover plate (14042), and an air nozzle connected to the cavity is provided on the limit seat (14043).

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