Automatic material taking and placing device of CNC machine tool

Abstract

The application relates to the field of CNC machine tool processing technology, and discloses a CNC machine tool automatic material taking and placing device, which comprises a workbench, a fixing frame is installed on the workbench, 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 base table, two clamping arms are movably installed on the base table, and a connecting rod connected with a second hydraulic cylinder is installed on the same side of the two clamping arms. Through the cooperative control of the fixing frame, the transmission assembly and the multidirectional moving assembly, and in combination with the hydraulic driving structure of the clamping assembly, high-precision positioning and stable clamping of the material are realized, and the device has the advantages of improving the coaxial precision of annular material placement, reducing the end shaking of a mechanical hand, and enhancing the clamping stability.

Description

Technical Field

[0001] This invention relates to the field of CNC machine tool processing technology, specifically to an automatic material handling device for CNC machine tools. Background Technology

[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. Especially for ring-shaped materials (such as bearing rings, gear blanks, flanges, etc.), due to their special geometry and the requirements for machining positioning accuracy, achieving stable, efficient, and precise automatic loading and unloading is particularly important.

[0003] Currently, industrial robot arms are widely used in material handling tasks on CNC machine tools due to their high flexibility and wide working range. These solutions typically use multi-jointed robotic arms in conjunction with end effectors (such as pneumatic grippers, electromagnetic chucks, etc.) to achieve the gripping, moving, and placing of materials.

[0004] The placement of ring-shaped materials on CNC fixtures (such as mandrels and chucks) typically requires extremely high coaxiality between the inner / outer circle center of the material and the machine tool spindle (or fixture reference). After the robot's end effector grasps the material, even slight deviations in its posture (especially the rotation angle around the vertical or horizontal axis), along with inherent errors in the robot's repeatability, can cause eccentricity or tilting during material placement. Such deviations can lead to increased scrap rates or require additional calibration time in precision machining. Furthermore, end effector vibration can occur during long-distance movement or high-speed operation, which is particularly detrimental to the placement of ring-shaped materials requiring high precision, affecting the accuracy and stability of placement. Current technology lacks an automatic material handling device that can simultaneously address these issues, particularly in terms of fixed frame structure, transmission component precision, multi-directional movement control, and clamping stability. Therefore, existing technologies urgently need improvement to address these problems. Summary of the Invention

[0005] The purpose of this invention is to provide an automatic material handling device for CNC machine tools to solve the problems mentioned in the background art.

[0006] To solve the above-mentioned technical problems, the present invention is achieved through the following technical solution:

[0007] This invention relates to an automatic material handling device for CNC machine tools, comprising a worktable, a fixed frame mounted on the worktable, and a transmission assembly for driving the clamping part to move vertically within the fixed frame. The transmission assembly includes 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.

[0008] The clamping assembly includes a base platform on which two clamping arms are movably mounted. Each of the two clamping arms has a connecting rod connected to a second hydraulic cylinder mounted on the same side.

[0009] Furthermore, the fixing frame includes a base frame fixed to the workbench, and uprights are vertically installed at the four corners of the base frame, the uprights being hollow structures.

[0010] Furthermore, the transmission assembly includes a vertical lead screw installed vertically inside the upright and a bearing seat installed at the top of the upright. A transmission shaft is installed between two adjacent bearing seats. The top end of the vertical lead screw extends into the bearing seat and is fitted with the end of the transmission shaft. At the same time, the top ends of the two adjacent transmission shafts are fitted with each other. A vertical drive motor is installed on any one of the bearing seats, and the vertical drive motor is connected to the corresponding vertical lead screw.

[0011] Furthermore, the longitudinal movement assembly includes a vertical movement seat mounted on a vertical lead screw, and a longitudinal guide rod and a longitudinal lead screw that are parallel to each other are installed between the two vertical movement seats;

[0012] Each of the vertical moving seats is equipped with a longitudinal drive motor, which is connected to a corresponding longitudinal lead screw.

[0013] Furthermore, the lateral movement assembly includes a longitudinal movement seat mounted on a longitudinal guide rod and a longitudinal lead screw, with a lateral lead screw and a lateral guide rod mounted on two of the longitudinal movement seats, and a lateral movement seat mounted on the lateral lead screw and the lateral guide rod, wherein a longitudinal drive motor connected to the lateral lead screw is mounted on any one of the longitudinal movement seats.

[0014] Furthermore, the transverse moving seat is rotatably connected to the base platform, and a first hydraulic rod is installed between the transverse moving seat and the base platform. The first hydraulic rod pushes the base platform to rotate around the rotatable connection point with the transverse moving seat. Two columns are provided on the base platform, and the middle part of the clamping arm is sleeved on the columns.

[0015] Furthermore, a fixing fixture is fixedly installed on the workbench.

[0016] 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.

[0017] 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 limiting component is installed in one screw hole, and a limiting screw is installed in the other screw hole. The bottom surface of the second pneumatic suction cup is provided with a short rod that fits into the sleeve. The short rod is provided with an annular groove that fits into the limiting screw, and the outer side surface of the short rod is provided with a protruding ridge that fits into the limiting component.

[0018] Furthermore, the second pneumatic suction cup includes a suction cup base, on which a cavity is provided. The opening of the cavity is closed by a cover plate, and a limiting seat is provided on the upper surface of the cover plate. The limiting seat is provided with an air nozzle communicating with the cavity.

[0019] This application provides an automatic material handling device for CNC machine tools. Through the coordinated control of a fixed frame, transmission components and multi-directional movement components, combined with the hydraulic drive structure of the clamping components, it achieves high-precision positioning and stable clamping of materials. It has the advantages of improving the coaxiality accuracy of placing ring-shaped materials, reducing the shaking of the robot's end effector, and enhancing clamping stability.

[0020] Of course, any product implementing this invention does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0021] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0023] Figure 2 This is a partial structural diagram of the present invention;

[0024] Figure 3 This is a schematic diagram of the transmission component structure of the present invention;

[0025] Figure 4 This is a schematic diagram of the installation of the longitudinal moving component and the lateral moving component of the present invention;

[0026] Figure 5 This is a schematic diagram of the clamping component of the present invention;

[0027] Figure 6 This is a side view of the clamping assembly of the present invention;

[0028] Figure 7 For the present invention Figure 6 A schematic diagram of the AA cross-section;

[0029] Figure 8 This is a schematic diagram of the fixing clamp of the present invention;

[0030] Figure 9 This is an exploded view of the fixing fixture of the present invention;

[0031] Figure 10 This is an exploded side view of the fixing fixture of the present invention;

[0032] Figure 11 This is an exploded view of the second pneumatic suction cup of the present invention;

[0033] The attached diagram lists the components represented by each number as follows:

[0034] In the diagram: 1. Workbench; 2. Base frame; 3. Upright pole; 4. Shaft seat; 5. Transmission assembly; 501. Vertical lead screw; 502. Vertical drive motor; 503. Transmission shaft; 6. Longitudinal guide rod; 7. Longitudinal lead screw; 8. Vertical moving seat; 9. Longitudinal moving seat; 10. Transverse lead screw; 11. Transverse guide rod; 12. Transverse moving seat; 1201. Through slot; 1202. First hydraulic rod; 13. Clamping assembly; 13 01. Base platform; 1302. Column; 1303. Clamping arm; 1304. Connecting rod; 1305. Second hydraulic cylinder; 14. Fixing fixture; 1401. First pneumatic suction cup; 1402. Sleeve; 1403. Limiting component; 1404. Second pneumatic suction cup; 14041. Suction cup seat; 14042. Cover plate; 14043. Limiting seat; 1405. Short rod; 1406. Annular groove; 1407. Screw hole. Detailed Implementation

[0035] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0036] In the current technology, robotic arms are widely used in CNC machine tool processing to improve production efficiency for material handling. Ring-shaped materials, due to their unique geometry, require extremely high positioning accuracy. Existing robotic arm end effectors suffer from posture deviations and repeatability errors, leading to eccentricity or tilting during material placement. End-effector jitter generated during long-distance movement or high-speed operation further affects placement stability, increasing scrap rates and calibration time.

[0037] To address the aforementioned issues, particularly the insufficient stability of the ring-shaped material clamping mechanism, the first consideration was how to eliminate the cumulative errors caused by the multi-joint structure of the robotic arm. Analysis revealed that replacing the multi-joint swing with rigid transmission could reduce errors in intermediate stages. Further research into the material clamping posture adjustment requirements showed that hydraulic drive could provide stable thrust and achieve precise displacement control. Ultimately, it was determined that a highly rigid three-dimensional positioning system could be constructed by combining a multi-directional moving component with a hydraulic clamping mechanism.

[0038] Please see Figures 1-11As shown, the present invention is an automatic material handling device for CNC machine tools, including a worktable 1, a fixed frame installed on the worktable 1, and a transmission component 5 for driving the clamping part to move in the vertical direction installed inside the fixed frame;

[0039] The transmission assembly 5 includes a longitudinal moving assembly connected to the transmission assembly 5, a lateral moving assembly connected to the longitudinal moving assembly, and a clamping assembly 1313 connected to the lateral moving assembly;

[0040] The transmission component 5 refers to the mechanical transmission system that drives the clamping part to move vertically. Specifically, it can be implemented using a lead screw and nut mechanism in conjunction with a servo motor, used to precisely control the lifting and lowering motion of the clamping part. The longitudinal movement component refers to the mechanism that moves along the length of the machine tool. Specifically, it can be implemented using a linear module with a guide rod and a ball screw, ensuring the linear accuracy of horizontal movement. The transverse movement component refers to the mechanism that moves along the width of the machine tool. Specifically, it can be implemented using a cross roller guide rail in conjunction with a drive motor, forming a motion plane orthogonal to the longitudinal movement.

[0041] The clamping assembly 1313 includes a base 1301, on which two clamping arms 1303 are movably mounted. On the same side of the two clamping arms 1303, a connecting rod 1304 connected to the second hydraulic cylinder 1305 is mounted.

[0042] The gripping arm 1303 refers to the gripping component that directly contacts the material. Specifically, it can be an alloy steel component with anti-slip texture. It forms a four-bar linkage mechanism with the hydraulic cylinder through the connecting rod 1304 to achieve synchronous and symmetrical opening and closing.

[0043] The fixed frame includes a base frame 2 fixed on the workbench 1. Each of the four corners of the base frame 2 is vertically mounted with a pole 3, which is a hollow structure.

[0044] The base frame refers to the support frame installed on the surface of the workbench 1. It can be fixed to the workbench by welding or bolting and is used to bear the load of the upright 3 and subsequent transmission components. The upright 3 refers to the column-shaped support member that is vertically fixed at the corner of the base frame. Its hollow structure allows it to accommodate transmission components or cables, such as lead screws or hydraulic lines, while reducing the overall weight.

[0045] The transmission assembly 5 includes a vertical lead screw 501 vertically installed inside the upright 3 and a bearing 4 installed at the top of the upright 3. A transmission shaft 503 is installed between two adjacent bearings 4. The top end of the vertical lead screw 501 extends into the bearing 4 and is fitted with the end of the transmission shaft 503. At the same time, the top ends of the two adjacent transmission shafts 503 are fitted with each other. A vertical drive motor 502 is installed on any one of the bearings 4 and is connected to the corresponding vertical lead screw 501.

[0046] The vertical lead screw 501 is a threaded rod extending axially along the upright 3. It can be implemented using a trapezoidal thread or a ball screw structure, achieving linear motion through threaded engagement with the vertical moving seat 8. This structure converts the rotational motion of the motor into precise linear displacement, thereby controlling the height position of the clamping part. The bearing seat 4 is a support component fixed to the top of the upright 3. It can be made of cast iron or aluminum alloy castings and contains bearings to support the drive shaft 503. This component provides stable support for the drive shaft 503, ensuring the stability of multi-axis synchronous transmission. The drive shaft 503 is a rotating component connecting adjacent bearing seats 4. It can be implemented using a steel shaft with a coupling, with both ends engaging with the top of the vertical lead screw 501 via keyways or splines. This structure enables mechanical linkage of multiple vertical lead screws 501, eliminating the problem of asynchronous movement caused by independent drives. The vertical drive motor 502 is the power device that drives the rotation of the vertical lead screw 501. It can be implemented using a servo motor and a reducer. This device achieves precise adjustment of the lead screw speed through closed-loop control, thereby controlling the lifting and lowering speed of the clamping part.

[0047] The longitudinal movement assembly includes a vertical movement seat 8 mounted on a vertical lead screw 501, and a longitudinal guide rod 6 and a longitudinal lead screw 7 that are parallel to each other are installed between the two vertical movement seats 8.

[0048] Each of the vertical moving seats 8 is equipped with a longitudinal drive motor, which is connected to the corresponding longitudinal lead screw 7.

[0049] The longitudinal guide rod 6 is a rigid guide component used to support the lateral moving assembly and limit its movement trajectory. It can be implemented using a chrome-plated 45# steel round rod, with a length of 800-1200 mm and a diameter of 20-30 mm, to eliminate swaying errors generated during lateral movement. The longitudinal lead screw 7 is a transmission component that converts rotary motion into linear motion. It can be implemented using a ball screw pair structure, with a lead of 5-10 mm, to achieve high-precision displacement control of the longitudinal moving seat 9. The longitudinal drive motor is the power source that drives the longitudinal lead screw 7 to rotate. It can be implemented using a servo motor with an encoder, with a power of 200-400 watts, to precisely control the longitudinal movement distance of the clamping assembly 13.

[0050] The lateral movement assembly includes a longitudinal movement seat 9 mounted on a longitudinal guide rod 6 and a longitudinal lead screw 7. A lateral lead screw 10 and a lateral guide rod 11 are mounted on the two longitudinal movement seats 9. A lateral movement seat 12 is mounted on the lateral lead screw 10 and the lateral guide rod 11. A longitudinal drive motor connected to the lateral lead screw 10 is mounted on any one of the longitudinal movement seats 9.

[0051] The longitudinal moving seat 9 refers to the moving component mounted on the longitudinal guide rod 6 and the longitudinal lead screw 7. Specifically, it can be implemented using a metal seat with sliding bearings or linear guides, used to support the transverse lead screw 10 and the guide rod and move longitudinally. The transverse lead screw 10 and the transverse guide rod 11 refer to the transmission and guiding structure arranged on the longitudinal moving seat 9. Specifically, it can be a combination of a ball screw and a carbide guide rod, used to achieve precise displacement of the transverse moving seat 12. The longitudinal drive motor refers to the power device that drives the transverse lead screw 10 to rotate. Specifically, it can be a servo motor or a stepper motor, connected to the transverse lead screw via a coupling, thereby controlling the moving speed and position of the transverse moving seat 12.

[0052] The transverse moving 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. The first hydraulic rod 1202 is located in the through groove 1201. The transverse moving seat 12 has a through groove 1201. The first hydraulic rod 1202 pushes the base 1301 to rotate around the rotatable connection point with the transverse moving seat 12. Two columns 1302 are provided on the base 1301. The middle part of the clamping arm 1303 is sleeved on the column 1302.

[0053] The rotatable connection between the transverse moving seat 12 and the base platform 1301 refers to their relative rotational movement achieved through a hinge or bearing structure. Specifically, this can be achieved using a pin-shaft connection or a slewing bearing structure, allowing the base platform 1301 to adjust its angle around the transverse moving seat 12. The first hydraulic rod 1202 is a hydraulically driven linear actuator, specifically a single-acting or double-acting hydraulic cylinder, providing the driving force to rotate the base platform 1301 through telescopic movement. The column 1302 is a cylindrical support structure vertically fixed to the base platform 1301, specifically a metal rod or a column 1302 with guide grooves, used to constrain the sliding trajectory of the clamping arm. The clamping arm 1303 is fitted onto the column 1302, meaning the clamping arm 1303 has a through hole in its middle that matches the shape of the column. This can be achieved using a sliding bearing or a linear guide pair, ensuring the clamping arm translates along the column's axis.

[0054] During adjustment, the first hydraulic rod 1202 has only the longest and shortest states. In addition, the first hydraulic rod 1202 can also be replaced with a pneumatic telescopic rod.

[0055] When the first hydraulic rod 1202 is extended to its longest length, 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 its shortest length, the base 1301 and the components installed on the base 1301 are in a horizontal state.

[0056] A fixing fixture 14 is fixedly installed on the workbench 1.

[0057] A fixing fixture is a device used to stably hold materials during processing. It can be implemented using pneumatic suction cups, mechanical grippers, or hydraulic clamping structures. Its function is to fix the material in a designated position through rigid connection or suction force, preventing displacement caused by vibration or external forces during processing. Fixed installation refers to connecting the fixture to the worktable using bolts, welding, or integrated casting. Specifically, it can be achieved using pre-embedded threaded holes and fasteners, ensuring no relative movement between the fixture and the worktable, thus providing a stable positioning reference for the material.

[0058] The fixed clamp 14 includes a first pneumatic suction cup 1401 fixedly installed on the workbench 1 and a second pneumatic suction cup 1404 connected to the first pneumatic suction cup 1401.

[0059] The first pneumatic suction cup 1401 is provided with a sleeve 1402. Two screw holes 1407 are opened on the side wall of the sleeve 1402. A limiting member 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 fits in the sleeve 1402. The short rod 1405 is provided with an annular groove 1406 that fits in with the limiting screw. At the same time, the outer side surface of the short rod 1405 is provided with a protruding ridge that fits in with the limiting member 1403.

[0060] The first pneumatic suction cup 1401 is used to fix it on the worktable 1. After the short rod 1405 is installed in the sleeve 1402, it is limited by the limiting screw, which limits the short rod 1405 and the second pneumatic suction cup 1404 to move up and down along the short rod 1405.

[0061] The inner wall of the sleeve 1402 is provided with a groove, and a limiting block is provided on one side of the limiting member 1403. The limiting block is provided with a groove that mates with the protrusion. A screw is rotatably connected to the back of the limiting block. The screw is fitted into the screw hole 1407. Rotating the screw causes the limiting block to move closer to or away from the short rod 1405. When it moves closer to the short rod 1405, the limiting block fits against the short rod 1405 to prevent the short rod 1405 from rotating. The rotation angle needs to be adjusted. By controlling the limiting block to move away from the short rod 1405, the second pneumatic suction cup 1404 and the short rod 1405 can be rotated.

[0062] The second pneumatic suction cup 1404 includes a suction cup base 14041, a cavity is provided on the suction cup base 14041, the opening of the cavity is closed by a cover plate 14042, a limiting seat 14043 is provided on the upper surface of the cover plate 14042, and an air nozzle communicating with the cavity is provided on the limiting seat 14043.

[0063] Different limiting seats 14043 are replaced according to the shape of the part. The bottom surface of the limiting groove in the middle of the limiting 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 part.

[0064] The suction cup holder is the main structure supporting the pneumatic adsorption function. It can be made of cast aluminum alloy into a disc-shaped structure with a mounting flange, and its internal cavity houses the adsorption mechanism. The cover plate is a sealing component covering the cavity opening, typically a bolted stainless steel plate, used to maintain a negative pressure environment inside the cavity. The limiting component is a positioning structure that restricts the displacement of the cover plate, typically a steel block with threaded holes, fixed to the suction cup holder with bolts. The air nozzle is the airflow channel connecting to the vacuum generator, typically a copper tubular structure with a standard interface, used to establish the connection between the cavity and an external vacuum pump.

[0065] The installed lateral movement component is located close to the operator's side. During operation, the lateral drive motor moves the lateral drive motor closer to the operator's side until the lateral movement component moves to the end.

[0066] The first hydraulic rod 1202 needs to be extended to its longest state to push the base 1301 and the installed column 1302 into a vertical state;

[0067] At this time, the second hydraulic cylinder 1305 extends, which reduces the included angle formed by the two connecting rods 1304 installed, thereby increasing the opening at the other end of the two clamping arms 1303, making it easier to place the ring-shaped workpiece.

[0068] 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, it drives the angle formed by the two connecting rods 1304 to increase, and the workpiece is clamped by the clamping arm 1303.

[0069] After clamping is completed, the first hydraulic rod 1202 retracts, and the base platform 1301 and clamping arm 1303 become horizontal;

[0070] After clamping, the workpiece is moved to the top of the fixed fixture 14 by adjusting its position through three sets of moving components, and then opened by the clamping arm 1303 to complete the placement of the part.

[0071] The center coordinates of the upper surface of the worktable 1 are 0,0,0. The coordinates of the picking position are set as x1,y1,z1, and the coordinates of the unloading position are x2,y2,z12. The drive motor drives the clamping assembly 1313 to reciprocate between the two points.

[0072] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. An automatic material handling device for a CNC machine tool, comprising a worktable (1), characterized in that: A fixed frame is installed on the workbench (1); The fixed frame is equipped with a transmission component (5) that drives the clamping part to move in the vertical direction. The transmission assembly (5) includes a longitudinal moving assembly connected to the transmission assembly (5), a lateral moving assembly connected to the longitudinal moving assembly, and a clamping assembly (13) connected to the lateral moving assembly. The clamping assembly (13) includes a base (1301), on which two clamping arms (1303) are movably mounted. On the same side of the two clamping arms (1303), a connecting rod (1304) connected to the second hydraulic cylinder (1305) is installed. The lateral movement component includes a lateral movement seat (12); The transverse moving 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). The first hydraulic rod (1202) pushes the base (1301) to rotate around the rotatable connection point with the transverse moving seat (12). Two columns (1302) are provided on the base (1301). The middle part of the clamping arm (1303) is sleeved on the columns (1302). The fixed frame includes a base frame (2) fixed on the workbench (1), and uprights (3) are vertically installed at the four corners of the base frame (2). The uprights (3) are hollow structures. The transmission assembly (5) includes a vertical lead screw (501) installed vertically inside the upright (3) and a bearing seat (4) installed at the top of the upright (3). A transmission shaft (503) is installed between two adjacent bearing seats (4). The top end of the vertical lead screw (501) extends into the bearing seat (4) and is fitted with the end of the transmission shaft (503). At the same time, the top ends of two adjacent transmission shafts (503) are fitted with each other. A vertical drive motor (502) is installed on any one of the bearing seats (4). The vertical drive motor (502) is connected to the corresponding vertical lead screw (501). A fixing clamp (14) is fixedly installed on the workbench (1); The fixing clamp (14) includes a first pneumatic suction cup (1401) and a second pneumatic suction cup (1404) connected to the first pneumatic suction cup (1401). The first pneumatic suction cup (1401) is used to fix it on the worktable (1). The first pneumatic suction cup (1401) is provided with a sleeve (1402), and two screw holes (1407) are opened on the side wall of the sleeve (1402). A limiting member (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 fits in the sleeve (1402). The short rod (1405) is provided with an annular groove (1406) that fits in with the limiting screw. At the same time, the outer side surface of the short rod (1405) is provided with a protruding ridge that fits in with the limiting member (1403). The second pneumatic suction cup (1404) includes a suction cup base (14041), the suction cup base (14041) is provided with a cavity, the opening of the cavity is closed by a cover plate (14042), a limiting seat (14043) is provided on the upper surface of the cover plate (14042), and an air nozzle communicating with the cavity is provided on the limiting seat (14043).

2. The automatic loading and unloading device for CNC machine tools according to claim 1, characterized in that: The longitudinal movement assembly includes a vertical movement seat (8) mounted on a vertical lead screw (501), and a longitudinal guide rod (6) and a longitudinal lead screw (7) that are parallel to each other are installed between the two vertical movement seats (8). In this case, a longitudinal drive motor is installed on any one of the vertical moving seats (8), and the longitudinal drive motor is connected to the corresponding longitudinal lead screw (7).

3. The automatic loading and unloading device for a CNC machine tool according to claim 2, characterized in that: The lateral movement assembly includes a longitudinal movement seat (9) mounted on a longitudinal guide rod (6) and a longitudinal lead screw (7). A transverse lead screw (10) and a transverse guide rod (11) are mounted on the two longitudinal moving seats (9), and a transverse moving seat (12) is mounted on the transverse lead screw (10) and the transverse guide rod (11). Each of the longitudinal moving seats (9) is equipped with a longitudinal drive motor connected to the transverse lead screw (10).

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