Automatic feeding and discharging device and method

Abstract

The invention discloses an automatic feeding and discharging device and method. The automatic feeding and discharging device comprises a ground rail robot assembly, a visual transferring assembly, an AGV butt joint table, a wrist quick-changing table, a partition plate containing table, a blank secondary positioning table, an air-blowing cleaning assembly, an intersequence workpiece waiting table and a sampling inspection manual sliding table. Multi-mode paw cooperation can be carried out, rapid switching of different types of wrist and other tail end tools is achieved through the wrist rapid changing table, the diversity of adaptive blank postures (partition plates, barrel pieces and the like) is improved, in addition, aiming at ovality and bending deformation of the vertically-placed barrel pieces, dip angle compensation and posture calibration are carried out through the blank secondary positioning table, and the machining precision is improved. And therefore, the grabbing success rate can be effectively increased, and efficient, accurate and safe feeding and discharging treatment can be carried out on thin-walled cylinders or partition plates and the like.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mechanical manufacturing automation, and in particular to an automatic feeding and discharging device and method. BACKGROUND

[0002] In the processing flow of thin-walled cylinder parts, the existing feeding and discharging operation is still mainly manual operation. During the operation process, the operator needs to transfer the thin-walled cylinder blank multiple times to realize the flow between processes. The blank is usually stored in a basket with an internal partition. There are multiple placement postures such as horizontal and vertical. Although some production scenes have tried to introduce automatic equipment for feeding and discharging exploration, they still rely on manual assistance, such as manual completion of blank arrangement, posture adjustment and other key auxiliary actions. However, the existing feeding and discharging mode of thin-walled cylinder parts has many outstanding problems. First, the labor intensity of manual handling mode is very high. Long-term repetitive handling work is easy to induce occupational health risks. The efficiency of manual operation is limited by physical strength and energy, and it is difficult to adapt to the needs of large-scale production. Second, the automatic feeding and discharging faces corresponding technical bottlenecks. The thin-walled cylinder blank is easy to deform, the surface is irregular, and the basket is easy to deform, resulting in disordered posture of the blank. There is also a situation of feeding and discharging materials such as partitions. This not only puts higher requirements on the working range of the robot, but also increases the difficulty of path planning. The adaptability of traditional grabbing mechanisms is insufficient, which easily causes grabbing failure, thereby restricting the automation process. SUMMARY

[0003] The purpose of the present application is to provide an automatic feeding and discharging device and method to realize efficient, accurate and safe feeding and discharging of materials for cylinder or plate parts.

[0004] To solve the above technical problems, the present application adopts the following technical scheme: an automatic feeding and discharging device, comprising: a ground rail robot assembly, a visual transfer assembly, an AGV docking table, a wrist quick-change table, a partition placing table, a blank secondary positioning table, a gas blowing cleaning assembly, an inter-process workpiece waiting table, and a sampling manual sliding table; The AGV docking table is used to guide the AGV car to move the material frame to the material taking position; The visual transfer assembly is used to detect whether the material frame at the material taking position has material, and can also identify the type and position of the material in the material frame; The wrist quick-change table is configured with multiple wrists, which are used to grab the corresponding type of material; The blank secondary positioning table is used for secondary positioning of the vertically placed material to ensure accurate feeding of the machine tool; The gas blowing cleaning assembly is used to blow and clean the material placed on its working end; The partition placing table and the inter-process workpiece waiting table are respectively used for temporarily storing partitions and cylinder parts; The sampling manual sliding platform is used for placing materials needing manual inspection; The ground rail robot assembly can move to the replacement station of the wrist quick replacement table to replace the corresponding wrist, and can also grasp the corresponding materials in the material frame after replacing the wrist and transport them to the station of the corresponding device.

[0005] Further, the ground rail robot assembly comprises a rail with a first power source, a sliding saddle movably arranged on the rail, a mechanical hand rotatably arranged on the sliding saddle, the sliding saddle being capable of linear motion on the rail, and a second power source arranged on the sliding saddle to drive the mechanical hand to rotate.

[0006] Further, the visual transfer assembly comprises a transfer support, the transfer support being located on the top of the AGV docking table, a linear guide rail being arranged on the transfer support, a housing being arranged at the moving end of the linear guide rail, an adjusting support being arranged vertically in the housing, and a 3D camera being arranged at the bottom of the adjusting support.

[0007] Further, the AGV docking table comprises a docking table frame in the shape of a Chinese character "fang", a guide groove being arranged on the docking table frame to guide the material frame into the docking table frame, a ground foot being arranged at the bottom of the docking table frame, and a pair of light barriers being arranged on the docking table frame to detect whether there is a material frame in the docking table frame and to detect whether the position of the material frame is aligned when there is a material frame.

[0008] Further, the wrist quick replacement table sequentially has a three-finger inner support wrist, a four-suction cup wrist and a two-suction cup wrist from top to bottom, the three-finger inner support wrist and the two-suction cup wrist being capable of sucking and positioning the end or surface of a cylindrical part, and the four-suction cup wrist being capable of sucking and positioning a partition plate.

[0009] Further, the blank secondary positioning table comprises a support frame, a positioning table support being arranged obliquely on the support frame, two first V-shaped positioning blocks being symmetrically arranged on the positioning table support, and a baffle being arranged at the bottom of the positioning table support. A reflective photoelectric sensor is further arranged on the support frame.

[0010] Further, the air blowing cleaning assembly comprises a base, an air blowing box being arranged on the base, a sliding door being movably arranged at the top of the air blowing box, a scrap receiving box being arranged at the side wall of the air blowing box, a second V-shaped positioning block being arranged in the air blowing box, a rotary air blowing head being arranged in the air blowing box with the blowing end facing the second V-shaped positioning block, a gas cylinder being arranged at the bottom wall of the base, and the extension shaft of the gas cylinder being connected with the inner wall of the air blowing box.

[0011] Furthermore, it also includes machine tool devices used to process the corresponding material when it is transported to its processing location.

[0012] An automatic loading and unloading method includes the following steps: S1. The AGV trolley moves the material-loaded basket to the AGV docking station and transports the basket to the docking station frame. The basket contains vertical cylindrical parts, horizontal cylindrical parts, or partitions. The vision transfer component detects the position, quantity, and type of the basket. S2. Based on the specific conditions of the material in the detected material box, the ground rail robot component works, and the wrist mounting end of its manipulator moves to the wrist quick-change table, and selects a three-finger inner support wrist, a four-suction cup wrist, or a two-suction cup wrist for installation. S3. After the wrist selection is completed, the robotic arm of the ground rail robot component drives the corresponding wrist to grab the material in the material box. S4. After step S3, the corresponding material is picked up and processed at the machine tool device. S5. After step S3, according to the requirements, grab the corresponding material to the corresponding device station to complete the loading and unloading operation. S5. As required, control the ground rail robot component to grab the material to the manual inspection slide, and the staff will inspect the material at the manual inspection slide at that time.

[0013] The beneficial effects of this invention are reflected in: In this invention, by setting up a ground-rail robot component, a vision transfer component, an AGV docking station, a wrist quick-change station, a partition placement station, a blank secondary positioning station, an air-blowing cleaning component, an inter-sequence workpiece waiting station, and a sampling manual slide, multimodal gripper collaboration can be achieved. The wrist quick-change station enables rapid switching between different types of wrists and other end tools to improve the adaptability to the diversity of blank postures (partitions, cylinders, etc.). In addition, for the ellipticity and bending deformation of vertically placed cylinders, the blank secondary positioning station is used for tilt angle compensation and posture calibration, thereby effectively improving the success rate of gripping. This can meet the requirements for efficient, accurate, and safe loading and unloading of thin-walled cylinders or partitions. Attached Figure Description

[0014] Figure 1 This is a perspective view of the present invention; Figure 2 This is a top view of the present invention; Figure 3 This is a schematic diagram of the structure of the vision transfer component in this invention; Figure 4 This is a partial schematic diagram of the visual transfer component in this invention; Figure 5 This is a partial schematic diagram of the wrist quick-change platform in this invention; Figure 6 This is a partial schematic diagram of the three fingers supporting the wrist in this invention; Figure 7 This is a partial schematic diagram of the four-suction cup wrist in this invention; Figure 8 This is a partial schematic diagram of the two suction cup wrists in this invention; Figure 9 This is a partial schematic diagram of the AGV docking station in this invention; Figure 10 This is a schematic diagram illustrating the use of the AGV docking station in this invention; Figure 11 This is a partial schematic diagram of the blank secondary positioning stage in this invention; Figure 12 This is a partial schematic diagram of the air-blowing cleaning component in this invention; Figure 13 This is a top view of the air-blowing cleaning component in this invention.

[0015] In the picture: 1. Machine tool assembly; 2. Ground-rail robot assembly; 3. Vision transfer assembly; 301. Transfer bracket; 302. Linear guide rail; 303. Housing; 304. Adjustment bracket; 305. 3D camera; 4. AGV docking station; 401. Docking station frame; 402. Guide groove; 403. Foot; 404. Through-beam photoelectric sensor; 5. Wrist quick-change station; 6. Partition placement station; 7. Blank secondary positioning station; 701. Support frame; 702. Positioning table bracket; 703, first V-shaped positioning block; 704, baffle; 705, reflective photoelectric sensor; 8, air blowing cleaning assembly; 801, base; 802, air blowing box; 803, sliding door; 804, chip collection box; 805, second V-shaped positioning block; 806, rotating air blowing head; 807, cylinder; 9, inter-sequence workpiece waiting table; 10, manual inspection slide table; 11, three-finger inner support wrist; 12, four-suction cup wrist; 13, two-suction cup wrist. Detailed Implementation

[0016] 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 a part of the embodiments of the present invention, and not all of them. Unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other. 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.

[0017] Please see Figures 1-13The present invention discloses an automatic loading and unloading device, including a ground rail robot component 2, a vision transfer component 3, an AGV docking station 4, a wrist quick change station 5, a partition placement station 6, a blank secondary positioning station 7, an air blowing cleaning component 8, an inter-sequence workpiece waiting station 9, and a sampling manual slide 10.

[0018] In one embodiment, the AGV docking station 4 is used to guide the AGV trolley to move the material frame to the material pick-up station. The vision transfer component 3 is used to detect whether there is material in the material frame at the material pick-up station, and can also identify the type and position of the material in the material frame. The wrist quick change station 5 is equipped with multiple wrists, which are used to grab the corresponding type of material. The blank secondary positioning station 7 is used for the secondary positioning of vertically placed materials to ensure accurate loading on the machine tool. The air blowing cleaning component 8 is used to blow air to clean the material placed at its working end. The partition placement station 6 and the inter-sequence workpiece waiting station 9 are used to temporarily store partitions and cylinders, respectively. The sampling manual slide 10 is used to place materials that need to be manually inspected. The ground rail robot component 2 can move to the wrist quick change station 5 to change the corresponding wrist, and can also grab the corresponding material in the material frame after changing the wrist and transport it to the corresponding device station.

[0019] In specific implementation, through the setup of the ground rail robot component 2, vision transfer component 3, AGV docking station 4, wrist quick-change station 5, partition placement station 6, blank secondary positioning station 7, air blowing cleaning component 8, inter-sequence workpiece waiting station 9, and sampling manual slide 10, multimodal gripper collaboration can be achieved. The wrist quick-change station 5 enables rapid switching of different types of wrists and other end tools to improve the adaptability of blank postures (partitions, cylinders, etc.). In addition, for the ellipticity and bending deformation of vertically placed cylinders, the blank secondary positioning station 7 is used for tilt angle compensation and posture calibration, thereby effectively improving the gripping success rate. This can meet the requirements for efficient, accurate, and safe loading and unloading of thin-walled cylinders or partitions.

[0020] In addition, the partition placement platform 6 and the inter-sequence workpiece waiting platform 9 are convenient for temporary storage of partitions and cylinders, thus preserving the space required for emergency handling or buffering in the entire loading and unloading process. The setting of the manual inspection slide 10 also facilitates the periodic transfer of random materials to it in conjunction with the ground rail robot component 2 for manual inspection and processing by staff, thus facilitating actual use.

[0021] In one embodiment, the ground-rail robot assembly 2 includes a track with a first power source, a saddle slidably mounted on the track, a manipulator rotatably mounted on the saddle, the saddle being able to move linearly on the track, and a second power source for driving the manipulator to rotate on the saddle.

[0022] In specific implementation, the track of the ground rail robot component 2 can be welded from large-size I-beams and processed after tempering. The overall structure is stable and not easily deformed. The saddle is driven by a servo motor and guided by a high-precision ball linear guide, which has the effect of fast response speed and accurate positioning. The setting method of the ground rail robot component 2 is common knowledge in the field, so its specific structural composition and working mechanism will not be described in detail in this article.

[0023] In one embodiment, the vision transfer assembly 3 includes a transfer bracket 301 located on top of the AGV docking platform 4. A linear guide rail 302 is horizontally mounted on the transfer bracket 301. A housing 303 is mounted at the moving end of the linear guide rail 302. An adjustment bracket 304 is vertically mounted inside the housing 303. A 3D camera 305 is mounted at the bottom of the adjustment bracket 304.

[0024] In practice, the linear guide rail 302 enables the 3D camera 305 to move and be fixed laterally, and the mounting point of the adjustment bracket 304 and the 3D camera 305 can be set with a hinge, thereby enabling it to rotate. With the use of the motor device, the 3D camera 305 can achieve multi-directional adjustment of its illumination angle, avoiding unclear image recognition caused by lighting.

[0025] In one embodiment, the AGV docking station 4 includes a docking station frame 401 with a U-shaped shape. A guide groove 402 is installed on the docking station frame 401 to guide the material frame into the docking station frame 401. A foot 403 is installed at the bottom of the docking station frame 401. A through-beam photoelectric sensor 404 is also installed on the docking station frame 401. The through-beam photoelectric sensor 404 is used to detect whether there is a material frame in the docking station frame 401, and also to detect whether the position of the material frame is aligned when there is a material frame.

[0026] In practice, the docking platform frame 401 uses a steel structure frame as a whole, equipped with feet 403 and guide grooves 402 to ensure stable docking and positioning accuracy in complex factory processes. The photoelectric sensor 404 can monitor the presence or absence of the material frame and the setting of the material in the frame in real time, thus forming a complete safety control process.

[0027] In one embodiment, a three-finger inward-supporting wrist 11, a four-suction cup wrist 12, and a two-suction cup wrist 13 are placed sequentially from top to bottom on the wrist quick-change table 5. The three-finger inward-supporting wrist 11 is a pneumatic gripper, while the four-suction cup wrist 12 and the two-suction cup wrist 13 are negative pressure suction cups. When the corresponding wrist approaches and contacts the corresponding material, it can grasp or suction and position it. The three-finger inward-supporting wrist 11 and the two-suction cup wrist 13 can respectively suction and position the end or surface of the cylinder, while the four-suction cup wrist 12 can suction and position the partition.

[0028] In practice, the wrist quick-change platform 5 has a box-type structure. Each wrist is connected and switched to the robot via a quick-change connector. Each wrist is positioned with the wrist quick-change platform 5 using a long pin. Each wrist is equipped with a limit switch to detect the presence or absence of a gripper. Each wrist uses a 3-finger pneumatic gripper, a set of vacuum suction cups, and a pair of vacuum suction cups to respectively adapt to the gripping of vertically placed cylinders, partitions, and horizontally placed cylinders.

[0029] In one embodiment, the blank secondary positioning stage 7 includes a support frame 701, a positioning stage bracket 702 is obliquely mounted on the support frame 701, two symmetrically distributed first V-shaped positioning blocks 703 are provided on the positioning stage bracket 702, a baffle 704 is installed at the bottom of the positioning stage bracket 702, and a reflective photoelectric sensor 705 is also provided on the support frame 701.

[0030] In practice, the blank secondary positioning table 7 is used for secondary positioning of vertically placed cylindrical parts. The three-finger inward wrist 11 supports the cylindrical part and places it on the support frame 701. The first V-shaped positioning block 703 achieves radial positioning, and then the part slides to the lower baffle 704 under gravity to achieve axial positioning. Finally, the two suction cup wrist 13 picks it up and moves it to the next station. In addition, the positioning fixture surface that contacts the cylindrical part is made of nylon to prevent scratches and bumps. The reflective photoelectric sensor 705 can monitor the presence or absence of the cylindrical part in real time to ensure the safety and reliability of the overall gripping and placement. The purpose of the blank secondary positioning table 7 is to ensure that cylindrical parts of different sizes can be placed on it at the corresponding angle. The secondary positioning of the cylindrical part is performed through it to facilitate accurate gripping and loading in the subsequent process.

[0031] In one embodiment, the air-blowing cleaning assembly 8 includes a base 801, an air-blowing box 802 mounted on the base 801, a sliding door 803 slidably mounted on the top of the air-blowing box 802, a lint collection box 804 disposed on the side wall of the air-blowing box 802, a second V-shaped positioning block 805 installed inside the air-blowing box 802, a rotating air-blowing head 806 with its blowing end facing the second V-shaped positioning block 805 also disposed inside the air-blowing box 802, and a cylinder 807 disposed on the bottom wall of the base 801, the telescopic shaft of the cylinder 807 being connected to the inner wall of the air-blowing box 802.

[0032] In practice, the air-blowing cleaning component 8 is used to clean the positioning surface of the cylinder side end. The upper sliding door 803 is driven by the cylinder 807 to ensure that the air-blowing box 802 is in a closed state during the air-blowing process. The cylinder is positioned by the second V-shaped positioning block 805. The rotating air-blowing head 806 blows and cleans the positioning surface of the cylinder. In addition, the chip collection box 804 is located below the cylinder in this state. It can also be equipped with a water guide to facilitate the timely cleaning of blown-off aluminum chips and cutting fluid.

[0033] In one embodiment, the apparatus further includes a machine tool device 1 for processing the material when the corresponding material is transported to its processing location.

[0034] This device also includes an automatic loading and unloading method, comprising the following steps: S1. The AGV trolley moves the material-loaded frame to the AGV docking station 4 and transports the frame to the docking station frame 401. The frame contains vertical cylindrical parts, horizontal cylindrical parts or partitions, and the vision transfer component 3 detects their position, quantity and type.

[0035] S2. Based on the specific conditions of the material in the detected material box, the ground rail robot component 2 works, and the wrist mounting end of its robotic arm moves to the wrist quick-change table 5, and selects to install a three-finger inner support wrist 11, a four-suction cup wrist 12, or a two-suction cup wrist 13.

[0036] S3. After the wrist selection is completed, the robotic arm of the ground rail robot component 2 drives the corresponding wrist to grab the material in the material box. Specifically, the ground rail robot component 2 can perform the following actions based on the recognition content of the vision transfer component 3. S300, visual transfer component 3 identifies the material as a partition, ground rail robot component 2 goes to wrist quick change table 5 to change four suction cup wrist 12, picks up the partition in the material basket and transfers it to partition placement table 6. S301, the vision transfer component 3 identifies the material as a horizontally placed cylindrical piece, the ground rail robot component 2 changes the two suction cup wrists 13 to the wrist quick change table 5, picks up the horizontally placed cylindrical piece in the basket and transfers it to the upper conveyor channel of the machine tool device 1. S302, the vision transfer component 3 identifies the material as a vertically placed cylindrical part. The ground rail robot component 2 changes to the three-finger inner support wrist 11 at the wrist quick change table 5. The vertically placed cylindrical part in the inner support basket is then transferred to the blank secondary positioning table 7. At this time, the cylindrical part setting method changes to an inclined position. After the blank secondary positioning table 7 is filled with 2 pieces, the ground rail robot component 2 changes to the two suction cup wrist 13 to pick up the inclined cylindrical part from the secondary positioning and transfer it to the upper conveyor channel of the machine tool device 1.

[0037] S4. After step S3, the corresponding material is picked up and processed at machine tool device 1. S400, the machine tool unit 1 is equipped with a robot arm on the gantry, which can grab the material at the upper conveyor channel and move it to the processing end of the machine tool unit 1. S401, Machine tool unit 1 operates and completes processing; S402, The gantry robot of machine tool device 1 takes away the processed material, rotates 180°, and places the new unprocessed material to the processing end of machine tool device 1; S403, The gantry robot of machine tool device 1 places the processed material taken from the machine tool into the lower conveyor. S404, the ground rail robot component 2 is replaced by the wrist quick change table 5 with the second suction cup wrist 13, which picks up the processed material in the lower conveying channel and transfers it to the air blowing cleaning component 8 for cleaning. S406, The rear transport mechanism (such as a robot) transfers the materials in the workpiece waiting table 9 between processes to the next processing step.

[0038] After steps S5 and S3, according to requirements, the corresponding materials are picked up and placed at the corresponding workstation of the device to complete the loading and unloading operation.

[0039] S5. As required, the control system of the ground rail robot component 2 picks up the material and places it at the manual inspection slide 10. At that time, the staff inspects the material at the manual inspection slide 10. If there is an inspection request, the ground rail robot component 2 uses the two suction cup wrists 13 to transfer the material in the air blowing cleaning component 8 to the manual inspection slide 10. The manual inspection slide 10 has "inspection qualified" and "inspection unqualified" buttons. When the staff performs the inspection, if the inspection is qualified, the staff puts it back and presses the "inspection qualified" button; if the inspection is unqualified, the staff puts it back and presses the "inspection unqualified" button. The cleaned or inspected material is transferred by the ground rail robot component 2 to the inter-process workpiece waiting table 9 using the two suction cup wrists 13.

[0040] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0041] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0042] Additionally, "multiple" refers to two or more.

[0043] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An automatic loading and unloading device, characterized in that, Including: Floor rail robot component (2), vision transfer component (3), AGV docking station (4), wrist quick-change station (5), partition placement station (6), blank secondary positioning station (7), air blowing cleaning component (8), in-process workpiece waiting station (9), sampling manual sliding table (10); The AGV docking station (4) is used to guide the AGV cart to move the material frame to the material pickup station; The vision transfer component (3) is used to detect whether there is material in the material frame at the material pickup station, and can also identify the type and position of the material in the material frame; Multiple wrists are configured on the wrist quick-change station (5), which are used to grasp corresponding types of materials; The blank secondary positioning station (7) is used for the secondary positioning of vertically placed materials to ensure accurate loading of the machine tool; The air blowing cleaning component (8) is used to blow and clean the materials placed at its working end; The partition placement station (6) and the in-process workpiece waiting station (9) are respectively used to temporarily store partitions and cylinder parts; The sampling manual sliding table (10) is used to place materials that need to be manually inspected; The floor rail robot component (2) can move to the replacement station of the wrist quick-change station (5) to replace the corresponding wrist, and can also grasp the corresponding materials in the material frame after replacing the wrist and transport them to the working stations of the corresponding devices.

2. The automatic loading and unloading device according to claim 1, characterized in that: The floor rail robot component (2) includes a track with a first power source, a saddle is slidably arranged on the track, a manipulator is rotatably arranged on the saddle, the saddle can move linearly on the track, and a second power source for driving the manipulator to rotate is also arranged on the saddle.

3. The automatic loading and unloading device according to claim 1, characterized in that: The vision transfer component (3) includes a transfer bracket (301), the transfer bracket (301) is located on the top of the AGV docking station (4), a linear guide rail (302) is arranged on the transfer bracket (301), a housing (303) is arranged at the moving end of the linear guide rail (302), an adjustment bracket (304) is vertically arranged in the housing (303), and a 3D camera (305) is arranged at the bottom of the adjustment bracket (304).

4. The automatic loading and unloading device according to claim 1, characterized in that: The AGV docking station (4) includes a docking station frame (401) with a U-shaped outer shape, a guide groove (402) for guiding the material frame into the docking station frame (401) is arranged on the docking station frame (401), feet (403) are arranged at the bottom of the docking station frame (401), and a through-beam photoelectric sensor (404) is also arranged on the docking station frame (401). The through-beam photoelectric sensor (404) is used to detect whether there is a material frame in the docking station frame (401), and is also used to detect whether the position of the material frame is aligned when there is a material frame.

5. The automatic loading and unloading device according to claim 1, characterized in that: A three-finger internal support wrist (11), a four-suction cup wrist (12), and a two-suction cup wrist (13) are sequentially placed from top to bottom on the wrist quick-change station (5). The three-finger internal support wrist (11) and the two-suction cup wrist (13) can respectively suck and position the end or surface of the cylinder part, and the four-suction cup wrist (12) can suck and position the partition.

6. The automatic loading and unloading device according to claim 1, characterized in that: The blank secondary positioning table (7) includes a support frame (701), a positioning table bracket (702) is inclinedly arranged on the support frame (701), two symmetrically distributed first V-shaped positioning blocks (703) are arranged on the positioning table bracket (702), and a baffle (704) is arranged at the bottom of the positioning table bracket (702). The support frame (701) is also equipped with a reflective photoelectric sensor (705).

7. The automatic loading and unloading device according to claim 1, characterized in that: The air-blowing cleaning assembly (8) includes a base (801), an air-blowing box (802) is provided on the base (801), a sliding door (803) is slidably provided on the top of the air-blowing box (802), a chip collection box (804) is provided on the side wall of the air-blowing box (802), a second V-shaped positioning block (805) is provided inside the air-blowing box (802), and a rotating air-blowing head (806) with the air-blowing end facing the second V-shaped positioning block (805) is also provided inside the air-blowing box (802). A cylinder (807) is provided on the bottom wall of the base (801), and the telescopic shaft of the cylinder (807) is connected to the inner wall of the air-blowing box (802).

8. The automatic loading and unloading device according to claim 1, characterized in that: It also includes a machine tool device (1) for processing the material when the corresponding material is transported to its processing location.

9. An automatic loading and unloading method, comprising the automatic loading and unloading device according to any one of claims 1-8, characterized in that, Includes the following steps: S1. The AGV trolley drives the material frame loaded with materials to the AGV docking station (4) and transports the material frame to the docking station frame (401). The material frame contains vertical cylindrical parts, horizontal cylindrical parts or partitions. The visual transfer component (3) detects its position, quantity and type. S2. According to the specific situation of the material in the detected material box, the ground rail robot component (2) works, and the wrist mounting end of its robot arm moves to the wrist quick change table (5) and selects the three-finger inner support wrist (11), four suction cup wrist (12) or two suction cup wrist (13) for installation. S3. After the wrist selection is completed, the robotic arm of the ground rail robot component (2) drives the corresponding wrist to grab the material in the material box; S4. After step S3, the corresponding material is picked up and processed at the machine tool device (1); S5. After step S3, according to the requirements, grab the corresponding material to the corresponding device station to complete the loading and unloading operation. S5. As required, control the ground rail robot component (2) to grab the material to the manual inspection slide (10), and the staff will inspect the material at the manual inspection slide (10) at that time.

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