Machine tool workpiece correcting and conveying device integrated with industrial robot

Abstract

The invention discloses a machine tool workpiece correcting and conveying device integrated with an industrial robot, and belongs to the field of machine tool machining auxiliary equipment. In order to solve the problems that an existing conveying device cannot accurately correct the posture of a workpiece, the clamping efficiency of a robot is low, and collision is prone to occurring due to the fact that the distance is uneven, the device comprises a machining table, a conveying structure, a limiting frame, a material passing structure, a moving structure, a clamping limiting structure and a containing frame. The limiting frame is provided with an arc-shaped inlet and a circular material passing cavity, and workpiece postures are automatically corrected; the material passing structure accurately controls the distance between the workpieces through a rotating plate and a material receiving groove which rotate intermittently; the clamping and limiting structure is matched with the moving structure, workpiece clamping, transferring and positioning are achieved, and the detachable discharging die of the containing frame is suitable for workpieces of different specifications. According to the device, through cooperation of multiple structures, the workpiece axis is aligned with the robot clamping axis, clamping collision is avoided, the grabbing time of each workpiece is saved by 2-5 seconds, the energy consumption and clamping difficulty of the robot are reduced, the automation and high-efficiency level of a production line is improved, and practicability is high.

Description

Technical Field

[0001] This invention relates to the field of machine tool processing auxiliary equipment, and more specifically to a machine tool workpiece correction and conveying device integrated with an industrial robot. Background Technology In the field of machine tool processing, whether it is metal cutting, grinding, or welding, the workpieces to be processed (such as round shafts, rectangular plates, and irregularly shaped workpieces) must first be transferred from the storage area or the previous process station to the working range of the industrial robot processing equipment via a conveying device. The industrial robot then grasps the workpiece using a gripping structure and positions it at the machine tool processing station. Currently, the mainstream machine tool workpiece conveying devices in the industry mainly include roller conveyors, belt conveyors, and chain conveyors. The core function of these conveying devices is to achieve linear or circular transfer of workpieces. Their design concept is mostly centered around "stable conveying," for example, by setting up a drive motor to drive the conveying carrier (rollers, belts, chains) to move, ensuring the continuous movement of the workpiece in the conveying direction.

[0002] However, in actual production applications, the following technical problems urgently need to be solved in the collaborative operation of existing conveying devices and industrial robot processing equipment: Firstly, the inability to precisely adjust the position and angle of the workpiece during transport makes it difficult for the robot to align it. Existing conveying devices can only provide "unidirectional transport" and cannot actively correct the workpiece's posture according to the robot's subsequent gripping needs. For example, for circular shaft workpieces, when transported on roller conveyors, radial offset can easily occur due to differences in roller speed or deviations in the workpiece's roundness, causing misalignment between the workpiece's axis and the robot's preset gripping axis. For rectangular plate workpieces, when transported on belt conveyors, initial posture deviations may occur (e.g., the long side of the rectangular workpiece forms an angle of 30° to 60° with the transport direction), and the conveying device cannot correct this angle. This forces the industrial robot to first drive the gripping structure to adjust the angle (e.g., rotate the gripper) before gripping, increasing the average time by 2 to 5 seconds per piece and significantly reducing the robot's gripping efficiency. Secondly, existing conveying devices cannot create a uniform spacing between continuously conveyed workpieces. Workpieces are often closely arranged on the conveying carrier (e.g., the distance between adjacent rectangular workpieces is less than 5mm). When the industrial robot grasps, the gripping structure is prone to collision with adjacent workpieces, which may not only cause scratches on the workpiece surface, but also cause the already positioned workpieces to shift, further increasing the difficulty of robot positioning and gripping.

[0003] The aforementioned problems result in low efficiency in the collaborative operation of existing machine tool workpiece conveying devices and industrial robot processing equipment, and are prone to positioning deviations. This increases the complexity of industrial robot movements and energy consumption, hindering the automation and high-efficiency operation of machine tool processing production lines. Therefore, designing a conveying device that can accurately correct the position and angle of workpieces during the conveying process, avoid conveying jams, and ensure workpiece spacing has become a technical challenge that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0004] Based on this, the purpose of this invention is to provide a machine tool workpiece correction and conveying device integrated with an industrial robot, which solves the technical problems of existing conveying devices being unable to accurately correct workpiece posture, and uneven workpiece spacing leading to low robot gripping efficiency and easy collisions. It realizes posture correction, uniform spacing arrangement and precise positioning during workpiece conveying, and improves the collaborative operation efficiency with industrial robots.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a machine tool workpiece correction and conveying device integrated with an industrial robot, comprising a processing table and a conveying structure disposed on the processing table. A driving device is provided inside the processing table, which is connected to and provides power to the conveying structure. Two symmetrically arranged limiting frames are provided on the conveying structure. Neither limiting frame contacts the conveyor belt of the conveying structure. Each limiting frame has an arc-shaped inlet at its front end, a circular material passage chamber in its middle, and a material discharge channel at its end. Each limiting frame has a placement chamber at its end and contains a set of moving structures. Placement frames are provided at the ends of the two limiting frames. Material passage structures and clamping limiting structures are installed on the limiting frames. The working end of the material passage structure extends into the circular material passage chamber. The clamping limiting structures are located above the material discharge channel and connected to the two sets of moving structures. Through sequential feeding by the material passage structure, clamping and limiting by the clamping limiting structures, and transfer driven by the moving structures, workpieces are conveyed in an orderly manner to the placement frames for the industrial robot to clamp one by one.

[0006] By adopting the above technical solution, the guiding and constraining effect of the arc-shaped inlet and the circular feeding chamber is used to automatically correct the workpiece conveying posture, so that the workpiece axis is aligned with the robot's gripping axis, reducing the robot's additional adjustment actions and improving gripping efficiency; the intermittent feeding design of the feeding structure ensures uniform workpiece spacing and avoids gripping collisions; with the cooperation of the moving structure and the gripping limiting structure, the workpiece is accurately transferred and positioned, reducing the gripping difficulty.

[0007] Furthermore, the placement frame consists of a base plate and a feeding mold. The base plate is fixed between two limiting frames, and the feeding mold is detachably assembled inside the base plate and has a slot adapted to the size of the workpiece.

[0008] By adopting the above technical solution, the feeding mold can be quickly changed according to different specifications of workpieces, thus expanding the adaptability range of the device. At the same time, the slot provides secondary positioning for the workpiece, ensuring the positional accuracy of the workpiece after placement, which facilitates the rapid gripping of industrial robots.

[0009] Furthermore, the material handling structure includes a rotating plate, a mounting plate, and a first driving power supply. The rotating plate is located in a circular material handling chamber and is provided with multiple spaced material receiving slots. The mounting plate is fixed to the upper end of the limiting frame. The rotating plate is rotatably assembled at the lower end of the mounting plate. The first driving power supply is connected to the rotating plate and drives it to rotate intermittently.

[0010] By adopting the above technical solution, the workpiece can be conveyed one piece at a time by utilizing the interval distribution of the receiving trough and the intermittent rotation of the rotating plate, the workpiece spacing can be precisely controlled, and the close arrangement of adjacent workpieces can be avoided. At the same time, the corresponding design of the receiving trough with the arc-shaped inlet and outlet channel ensures the continuity and accuracy of feeding.

[0011] Furthermore, the movable structure includes a second driving power supply, a threaded rod, a limiting rod, a movable frame, a connecting block, and a connecting movable plate. The second driving power supply is fixed in the placement chamber. The threaded rod is connected to the second driving power supply and is rotatably assembled with the limiting rod at intervals. The movable frame is slidably sleeved on the limiting rod and threadedly connected to the threaded rod. One end of the connecting block is connected to the movable frame, and the other end passes through the limiting frame and is connected to the connecting movable plate. The connecting movable plate is fixed to the clamping and limiting structure.

[0012] By adopting the above technical solution, and with the help of the combination structure of threaded rod and limiting rod, the stability and positioning accuracy of the horizontal movement of the moving frame are ensured, thereby driving the clamping and limiting structure to accurately transfer the workpiece and avoid the workpiece from shifting or falling during the transfer process.

[0013] Furthermore, the clamping and limiting structure includes a movable placement frame, a clamping assembly, a blocking assembly, and an auxiliary assembly. The movable placement frame is fixed on the connecting movable plate. The clamping assembly, the blocking assembly, and the auxiliary assembly are all assembled inside the movable placement frame. The auxiliary assembly is connected to the clamping assembly and the blocking assembly to achieve linkage. The blocking assembly blocks the workpiece, and the clamping assembly clamps the workpiece. The upper end of the movable placement frame is provided with a driving cylinder and is connected to the auxiliary assembly.

[0014] By adopting the above technical solution, the clamping assembly and the baffle assembly are linked in reverse by the auxiliary components. That is, the baffle separates when the workpiece is clamped and merges when the workpiece is released. The actions are smooth and orderly, which improves the conveying efficiency. The clamping assembly is vertically lifted and lowered by the drive cylinder to avoid interference with other components during the workpiece transfer process and ensure smooth transfer.

[0015] Furthermore, the clamping assembly includes a bidirectional lead screw slide, a fixed connecting plate, a clamping connecting rod, and a fixture. The bidirectional lead screw slide is fixed inside the movable placement frame, and its working end is equipped with a connecting frame with a sliding groove. The fixed connecting plate is slidably assembled on one side of the connecting frame through a slider and the sliding groove, and is provided with a rack. The top end of the clamping connecting rod is connected to the fixed connecting plate, and the bottom end is detachably connected to the fixture through an assembly connecting rod. The material blocking assembly includes a material blocking plate and a movable connecting frame. The material blocking plate is slidably assembled on the bottom end of the movable placement frame through the fixed connecting rod, and the movable connecting frame is provided with a rack. The auxiliary assembly includes a lifting connecting plate, a movable connecting rod, a transmission gear, and a rotating mounting rod. The lifting connecting plate is connected to the fixed connecting plate, and the movable connecting rod connects the lifting connecting plate to the drive cylinder. The transmission gear is mounted on the rotating mounting rod and meshes with racks one and two.

[0016] By adopting the above technical solutions, the bidirectional screw slide-driven fixture achieves precise clamping and releasing, and the detachable fixture can be adapted to workpieces of different shapes. With the meshing transmission of rack and pinion gears, the linkage control of clamping and blocking actions is realized, eliminating the need for additional drive components, simplifying the structure and reducing energy consumption. The lifting connecting plate drives the overall lifting of the clamping assembly, ensuring the stability of the workpiece transfer process after clamping.

[0017] In summary, the present invention has the following main beneficial effects: 1. This invention uses an arc-shaped inlet at the front end of the limiting frame and a circular material passage chamber in the middle. The arc-shaped inlet guides the workpiece to automatically center itself with a gradually changing arc, and the circular material passage chamber corrects the workpiece posture through the constraint of the inner wall, so that the workpiece axis is precisely aligned with the gripping axis of the industrial robot. No additional angle adjustment is required by the robot, which solves the problem of low gripping efficiency caused by workpiece posture deviation in existing devices. Each workpiece can save 2 to 5 seconds of gripping time, significantly improving gripping efficiency.

[0018] 2. The present invention uses a rotating plate and receiving groove of the material conveying structure in conjunction with a drive power supply. The drive power supply drives the rotating plate to rotate intermittently. The receiving grooves distributed at intervals on the rotating plate sequentially receive the workpieces at the arc-shaped inlet and send them into the discharge channel, realizing single-piece conveying of workpieces. It can accurately control the spacing between workpieces, avoid the clamping and collision problems caused by the close arrangement of workpieces in the existing device, and reduce the risk of workpiece scratches and displacement.

[0019] 3. This invention uses a base plate of a placement frame to cooperate with a detachable feeding mold. At the same time, it uses an assembly frame, positioning pins and assembly connecting rods of a clamping assembly. The feeding mold is detachably assembled in the base plate by bolts, and the clamp is fixed to the bottom of the assembly connecting rod by positioning pins and the assembly frame. The feeding mold and clamp can be quickly changed according to workpieces of different sizes and shapes, which broadens the adaptability of the device and improves the utilization rate of the equipment.

[0020] 4. This invention utilizes the cooperation of rack one of the clamping assembly, the transmission gear of the auxiliary assembly, and rack two of the stop assembly, combined with the linkage between the drive cylinder and the lifting connecting plate. When the bidirectional screw slide drives the fixed connecting plate to move, rack one drives the transmission gear to rotate, which in turn drives rack two to move in the opposite direction. This achieves a continuous action of the stop plate separating when the fixture clamps the workpiece and merging when the fixture releases it. No additional drive components are required, which simplifies the structure, improves the conveying efficiency, and ensures the orderly conveying of workpieces.

[0021] 5. This invention utilizes the threaded rod and limiting rod of the movable structure in conjunction with the movable frame. The driving power supply drives the threaded rod to rotate, and the movable frame moves horizontally and smoothly along the limiting rod. Then, through the connecting block and connecting moving plate, the clamping and limiting structure is used to accurately transfer the workpiece. Combined with the shallow groove design of the placement frame's unloading mold, this invention ensures the positioning accuracy during workpiece transfer (horizontal movement positioning accuracy reaches ±0.1mm) and exposes the upper two-thirds area of ​​the workpiece, reducing the positioning difficulty and energy consumption of the industrial robot, while also avoiding the problem of workpiece offset or falling during transfer. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the overall structure of the machine tool workpiece correction and conveying device integrated into the industrial robot of the present invention. Figure 2 This is a schematic diagram of the assembly structure of the limiting frame and the placement frame in this invention; Figure 3 This is a schematic diagram of the installation structure of the limiting frame in this invention; Figure 4 This is a schematic diagram of the internal assembly of the movable structure in this invention; Figure 5 This is a schematic diagram of the overall assembly of the clamping and limiting structure in this invention; Figure 6 This is a schematic diagram of the internal structure of the movable placement rack in this invention; Figure 7 This is an exploded assembly diagram of the clamping assembly in this invention; Figure 8 This is a schematic diagram of the linkage structure between the material blocking component and the auxiliary component in this invention; Figure 9 This is a schematic diagram showing the connection between the clamp and the assembly connecting rod in this invention; In the diagram: 1. Processing table; 2. Conveying structure; 21. Limiting frame; 211. Arc-shaped inlet; 212. Circular material passage chamber; 213. Discharge channel; 214. Placement chamber; 3. Placement frame; 31. Base plate; 32. Discharge mold; 4. Material passage structure; 41. Rotating plate; 411. Receiving groove; 42. Mounting plate; 43. Drive power supply one; 5. Moving structure; 51. Drive power supply two; 52. Threaded rod; 53. Limiting rod; 54. Moving frame; 55. Connecting block; 56. Connecting moving plate; 6. Clamping limiting structure; 61. Moving placement frame; 611. Drive cylinder; 61 2. Moving groove; 62. Clamping assembly; 621. Two-way lead screw slide; 622. Connecting frame; 6221. Slide groove; 623. Fixed connecting plate; 6231. Slider; 6232. Rack one; 624. Clamping connecting rod; 625. Assembly connecting rod; 626. Fixture; 627. Assembly frame; 628. Positioning pin; 63. Stop assembly; 631. Stop plate; 632. Fixed connecting rod; 633. Moving connecting frame; 634. Rack two; 64. Auxiliary assembly; 641. Lifting connecting plate; 642. Moving connecting rod; 643. Transmission gear; 644. Rotating mounting rod. Detailed Implementation

[0023] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0024] The embodiments of the present invention will now be described.

[0025] Example 1 like Figure 1-9 As shown, an industrial robot-integrated machine tool workpiece correction and conveying device includes a processing table 1, a conveying structure 2, a placement rack 3, a material feeding structure 4, a moving structure 5, and a clamping and limiting structure 6. The specific structure and assembly relationship of each component are as follows: Core component structure and assembly Processing table 1: Made of high-strength cast iron, it provides stable support for the overall device. It has a reserved installation chamber inside for placing the drive device (such as a servo motor) of the drive conveyor structure 2. The output end of the drive device is connected to the active roller shaft of the conveyor structure 2 through a coupling to provide power for the belt conveyor.

[0026] Conveying structure 2: A belt conveyor is adopted. The surface of the conveyor belt is provided with anti-slip texture to prevent the workpiece from sliding during the conveying process. Two limit frames 21 are symmetrically arranged on both sides of the belt of conveying structure 2. The limit frames 21 are made of stainless steel and are fixed to the frame of conveying structure 2 by bolts, and maintain a 5mm gap with the conveyor belt to avoid contact friction affecting the conveying.

[0027] Limiting frame 21: The arc-shaped inlet 211 at the front end adopts a gradual arc design, with the opening size gradually decreasing from the outside to the inside, guiding the workpiece to automatically center; the inner diameter of the circular material passage chamber 212 in the middle end is adapted to the maximum outer diameter of the workpiece to be processed, and the workpiece corrects its posture by the guiding effect of the inner wall of the chamber after entering; the discharge channel 213 at the end is a rectangular structure with a width slightly larger than the width of the workpiece, ensuring that the workpiece is output in a straight line; the placement chamber 214 inside the end of each limiting frame 21 is a rectangular cavity used to accommodate the various components of the moving structure 5.

[0028] Placement frame 3: The base plate 31 is fixed between the ends of the two limit frames 21 by welding. The top of the base plate is provided with a groove. The feeding mold 32 is detachably installed in the groove by bolts. The groove shape of the feeding mold 32 is adapted to the workpiece, such as a semi-circular groove for shaft workpieces and a rectangular groove for plate workpieces. The groove depth is one-third of the workpiece height, ensuring that the upper two-thirds of the workpiece area is exposed, which is convenient for the robot to grip.

[0029] Material handling structure 4: Mounting plate 42 is fixed to the top of two limit brackets 21 by bolts. Rotating plate 41 is rotatably mounted below mounting plate 42 by bearings. Four receiving grooves 411 are evenly distributed on rotating plate 41. The groove shape of receiving groove 411 is adapted to the workpiece, and the groove spacing is equal. Drive power supply 43 adopts stepper motor. Its output shaft is connected to the central shaft of rotating plate 41 through coupling to realize intermittent rotation. Each rotation angle is 90°, ensuring that one receiving groove 411 is aligned with the arc-shaped inlet 211 and the other is aligned with the discharge channel 213.

[0030] Moving structure 5: Drive power supply 2 51 is a servo motor, fixed on the inner wall of placement chamber 214; threaded rod 52 is rotatably installed in placement chamber 214 through bearing, one end of which is connected to the output shaft of drive power supply 2 51 through a coupling, and the other end is positioned by bearing; limit rod 53 is arranged parallel to threaded rod 52, and both ends are fixed on the inner wall of placement chamber 214; one side of moving frame 54 has a threaded hole that mates with threaded rod 52, and the other side has a sliding hole that slidably mates with limit rod 53; the lower end of connecting block 55 is fixed to moving frame 54 by bolts, and the upper end extends upward through the elongated hole at the top of limit frame 21 and is fixed to connecting moving plate 56 by bolts; connecting moving plate 56 is a rectangular steel plate, which is fixed to moving placement frame 61 of clamping and limiting structure 6 by bolts.

[0031] Clamping and limiting structure 6: The movable placement frame 61 is a frame structure, made of aluminum alloy to reduce weight. The top of the frame is fixed with bolts to the drive cylinder 611. The piston rod of the drive cylinder 611 is connected to the movable connecting rod 642 of the auxiliary component 64 by threads. The bottom of the movable placement frame 61 is provided with three movable slots 612, which are respectively used for the clamping connecting rod 624 and two fixed connecting rods 632 to move.

[0032] Clamping assembly 62: A bidirectional lead screw slide 621 is fixed to the inner wall of the movable placement frame 61, and a connecting frame 622 is fixed to its two sliders by bolts; a sliding groove 6221 is provided on one side of the connecting frame 622, and the slider 6231 of the fixed connecting plate 623 is embedded in the sliding groove 6221 to achieve sliding fit; a rack 6232 is fixed to the other side of the fixed connecting plate 623 by bolts; the top end of the clamping connecting rod 624 is fixed to the bottom end of the fixed connecting plate 623 by bolts, and the bottom end is connected to the assembly connecting rod 625 by threads; the bottom end of the assembly connecting rod 625 is fixed to the assembly frame 627 of the fixture 626 by a positioning pin 628, and the clamping surface of the fixture 626 is provided with a rubber pad to prevent damage to the workpiece.

[0033] Material stop assembly 63: The material stop plate 631 is an arc-shaped plate that fits against the surface of the workpiece. Its top end is fixed to the connecting rod 632 by bolts. The top end of the fixed connecting rod 632 passes through the moving groove 612 and is fixed to the moving connecting frame 633 by bolts. The rack 634 is fixed to one side of the moving connecting frame 633 by bolts.

[0034] Auxiliary component 64: The lifting connecting plate 641 is a rectangular plate, which is embedded in the assembly cavity of the fixed connecting plate 623 on both sides and is fixedly connected by bolts; the bottom end of the movable connecting rod 642 is fixed to the center position of the lifting connecting plate 641 by bolts; the rotating mounting rod 644 is rotatably mounted inside the movable placement frame 61 through bearings, and transmission gears 643 are sleeved at both ends of the rod, which mesh with rack 1 6232 and rack 2 634 respectively.

[0035] Working principle Workpiece conveying and posture correction: Start the drive device, the belt of the conveyor structure 2 drives the workpiece to move towards the limit frame 21. The workpiece enters the circular material passage chamber 212 through the arc-shaped inlet 211. Under the constraint of the inner wall of the chamber, the workpiece automatically adjusts its posture so that the axis is consistent with the conveying direction. The drive power supply 43 drives the rotating plate 41 to rotate intermittently. The receiving groove 411 receives the workpieces at the arc-shaped inlet 211 in sequence. Each rotation sends one workpiece into the discharge channel 213, ensuring that the workpiece spacing is uniform (the spacing is equal to the spacing of the receiving groove 411).

[0036] Workpiece clamping and blocking linkage: In the initial state, the two clamps 626 of the clamping assembly 62 are in a separated state, and the two blocking plates 631 of the blocking assembly 63 are in a combined state, blocking the workpiece in the discharge channel 213; when the bidirectional lead screw slide 621 is activated, its two connecting frames 622 move relative to each other, driving the fixed connecting plate 623 to move relative to each other synchronously, the rack one 6232 drives the transmission gear 643 to rotate, thereby driving the rack two 634 to move in the opposite direction, causing the two blocking plates 631 to separate; at the same time, the fixed connecting plate 623 drives the clamping connecting rod 624 and the clamps 626 to move relative to each other, clamping the workpiece.

[0037] Workpiece transfer and placement: Start the drive cylinder 611, the piston rod retracts and drives the lifting connecting plate 641 to rise, which in turn drives the clamping assembly 62 and the clamped workpiece to rise vertically, avoiding interference with the discharge channel 213 during movement; start the drive power supply 51 of the two sets of moving structures 5, the threaded rod 52 rotates and drives the moving frame 54 to move horizontally along the limit rod 53, and drives the clamping limit structure 6 to move above the discharge mold 32 of the placement frame 3 through the connecting block 55 and the connecting moving plate 56; the piston rod of the drive cylinder 611 extends and drives the workpiece to fall into the slot of the discharge mold 32, the bidirectional screw slide 621 rotates in the opposite direction, the clamp 626 separates, and the workpiece placement is completed.

[0038] Reset cycle: The clamping limit structure 6 is reset to above the discharge channel 213 under the drive of the moving structure 5. The bidirectional screw slide 621 continues to rotate in the opposite direction. The clamp 626 is completely separated. The baffle plate 631 of the baffle assembly 63 is merged. The rotating plate 41 of the material conveying structure 4 rotates to send the next workpiece into the discharge channel 213. The above process is repeated.

[0039] Although embodiments of the present invention have been shown and described, these specific embodiments are merely explanations of the invention and are not intended to limit it. The specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. After reading this specification, those skilled in the art may make modifications, substitutions, and variations to the embodiments as needed without departing from the principles and spirit of the invention, but such modifications, substitutions, and variations are protected by patent law as long as they are within the scope of the claims of the present invention.

Claims

1. A machine tool workpiece alignment and conveying device integrated with an industrial robot, characterized in that: It includes a processing table (1) and a conveying structure (2) disposed on the processing table (1). The processing table (1) is equipped with a driving device, which is connected to the conveying structure (2) and provides power to it. The conveying structure (2) is provided with two symmetrically arranged limiting frames (21). Neither of the two limiting frames (21) is in contact with the belt conveyor of the conveying structure (2). An arc-shaped inlet (211) is formed between the front ends of the two limiting frames (21), a circular material passage chamber (212) is formed between the middle ends, and a material discharge channel (213) is formed between the ends. A placement chamber (214) is opened inside the end of each limiting frame (21), and a set of moving structures (5) is assembled in each placement chamber (214). The two limiting frames (21) are provided with a placement frame (3) at their ends. The placement frame (3) is used to place the workpiece and make the position of the workpiece correspond to the gripping structure of the industrial robot. The two limiting frames (21) are equipped with a material handling structure (4). The working end of the material handling structure (4) extends into the circular material handling chamber (212) and is used to transport the workpiece at the arc-shaped inlet (211) to the discharge channel (213) in sequence. The two limiting frames (21) are also provided with clamping limiting structures (6). The clamping limiting structures (6) are located above the discharge channel (213) and connected to the working ends of the two sets of moving structures (5). The two sets of moving structures (5) can drive the clamping limiting structures (6) to move horizontally along the upper end of the limiting frame (21). The clamping limiting structures (6) can clamp and limit the workpiece in the discharge channel (213) and transport it to the placement frame (3) to realize the sequential loading of workpieces so that the industrial robot can clamp them one by one.

2. The machine tool workpiece correction and conveying device integrated with an industrial robot according to claim 1, characterized in that: The placement frame (3) consists of a base plate (31) and a feeding mold (32). The base plate (31) is fixedly installed between two limit frames (21). The feeding mold (32) is detachably assembled inside the base plate (31). The feeding mold (32) has slots that are adapted to the size of the workpiece. Different specifications of workpieces can be adapted by changing the feeding mold (32).

3. The machine tool workpiece correction and conveying device integrated with an industrial robot according to claim 1, characterized in that: The material feeding structure (4) includes a rotating plate (41), a mounting plate (42), and a drive power supply (43). The rotating plate (41) is located in the circular material feeding chamber (212). The rotating plate (41) is provided with a plurality of spaced material receiving slots (411). Each material receiving slot (411) corresponds to the arc-shaped inlet (211) and the discharge channel (213). The mounting plate (42) is fixed on the upper end of the two limit frames (21), and the rotating plate (41) is rotatably mounted on the lower end of the mounting plate (42). The first driving power supply (43) is installed above the mounting plate (42) and its working end is connected to the rotating plate (41). The first driving power supply (43) drives the rotating plate (41) to rotate intermittently, and the workpiece is sequentially fed from the arc-shaped inlet (211) into the discharge channel (213).

4. The machine tool workpiece correction and conveying device integrated with an industrial robot according to claim 1, characterized in that: Each of the moving structures (5) includes a second driving power supply (51), a threaded rod (52), a limiting rod (53), a moving frame (54), a connecting block (55), and a connecting moving plate (56). The second driving power supply (51) is fixed on one side inside the placement chamber (214). The threaded rod (52) and the limiting rod (53) are rotatably assembled in the placement chamber (214) at intervals, and one end of the threaded rod (52) is connected to the working end of the second driving power supply (51). The movable frame (54) is slidably sleeved on the limiting rod (53) and threadedly connected to the threaded rod (52). The second driving power source (51) drives the threaded rod (52) to rotate so as to drive the movable frame (54) to move horizontally along the limiting rod (53). One end of the connecting block (55) is fixed on the movable frame (54), and the other end extends through the limiting frame (21) to its top and is fixed to the connecting movable plate (56). The connecting movable plate (56) is connected to the clamping limiting structure (6), and the clamping limiting structure (6) moves synchronously through the movable frame (54).

5. The machine tool workpiece correction and conveying device integrated with an industrial robot according to claim 1, characterized in that: The clamping and limiting structure (6) includes a movable placement frame (61), a clamping assembly (62), a blocking assembly (63), and an auxiliary assembly (64). The movable placement frame (61) is fixed on two connecting movable plates (56). The clamping assembly (62), the blocking assembly (63), and the auxiliary assembly (64) are all assembled inside the movable placement frame (61), and the working ends of the clamping assembly (62) and the blocking assembly (63) extend into the discharge channel (213). The auxiliary component (64) is connected to the clamping component (62) and causes the clamping component (62) to be linked with the blocking component (63). The blocking component (63) is used to block the workpiece in the discharge channel (213), and the clamping component (62) is used to clamp the blocked workpiece.

6. The machine tool workpiece correction and conveying device integrated with an industrial robot according to claim 5, characterized in that: The clamping assembly (62) includes a bidirectional screw slide (621), a fixed connecting plate (623), a clamping connecting rod (624), and a clamp (626). The bidirectional screw slide (621) is fixed inside one side of the movable placement frame (61), and connecting frames (622) are installed at both working ends of the slide. Each connecting frame (622) has a groove (6221). Two fixed connecting plates (623) are symmetrically arranged in the movable placement frame (61). One side of the plate is provided with a slider (6231) embedded in the sliding groove (6221), and the other side is provided with a rack (6232). The slider (6231) and the sliding groove (6221) are slidably assembled on one side of the connecting frame (622). Two clamping connecting rods (624) are symmetrically slidably assembled at the bottom of the movable placement frame (61) and located in the movable groove (612). The top of the rods is fixed to the bottom of the fixed connecting plate (623), and the bottom is provided with a connecting rod (625). The two fixtures (626) are detachably connected to the bottom of the assembly connecting rod (625) via the assembly frame (627) and fixed by the positioning pin (628). The fixtures (626) can be changed according to the shape of the workpiece. The bidirectional screw slide (621) drives the two connecting frames (622) to move relative to each other, thereby causing the fixtures (626) to clamp or release the workpiece.

7. The machine tool workpiece correction and conveying device integrated with an industrial robot according to claim 5, characterized in that: The baffle assembly (63) includes two symmetrically arranged baffle plates (631) and two movable connecting frames (633). The two baffle plates (631) are located in the discharge channel (213), and each of them is provided with a fixed connecting rod (632) at its top. The fixed connecting rod (632) is slidably assembled in the movable groove (612) at the bottom of the movable placement frame (61) and its top extends into the movable placement frame (61). The two movable connecting frames (633) are respectively fixed to the top of the two fixed connecting rods (632), and a rack (634) is provided on one side of each frame.

8. The machine tool workpiece correction and conveying device integrated with an industrial robot according to claim 5, characterized in that: The auxiliary component (64) includes a lifting connecting plate (641), a movable connecting rod (642), two transmission gears (643) and two rotating mounting rods (644). The lifting connecting plate (641) is located inside the movable placement frame (61), and its two sides are embedded in and connected to the assembly chambers of the two fixed connecting plates (623). The movable connecting rod (642) is fixed in the middle position of the lifting connecting plate (641), and its top end is connected to the working end of the drive cylinder (611) at the upper end of the movable placement frame (61). The drive cylinder (611) drives the lifting connecting plate (641) to move the clamping assembly (62) vertically. The two rotating mounting rods (644) are rotatably mounted in the movable placement frame (61) and are respectively located between rack one (6232) and rack two (634). Each of the transmission gears (643) is fixed on the rotating mounting rod (644) and meshes with the corresponding rack one (6232) and rack two (634) to realize the reverse linkage between the clamping assembly (62) and the blocking assembly (63).

9. The machine tool workpiece correction and conveying device integrated with an industrial robot according to claim 5, characterized in that: The upper end of the movable placement frame (61) is fixed with a drive cylinder (611). The drive cylinder (611) is connected to the movable connecting rod (642) of the auxiliary component (64). The movable placement frame (61) has multiple moving slots (612) to provide moving space for the clamping connecting rod (624) of the clamping component (62) and the fixed connecting rod (632) of the blocking component (63).

10. The machine tool workpiece correction and conveying device integrated with an industrial robot according to claim 2, characterized in that: The feeding structure (4) conveys one workpiece to the discharge channel (213) at a time. After the clamping and limiting structure (6) puts the workpiece into the unloading mold (32) and resets it, the feeding structure (4) conveys the next workpiece. The groove depth of the unloading mold (32) is relatively shallow, so that two-thirds of the upper area of ​​the workpiece is exposed, which is convenient for industrial robots to pick up the material.

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