Quick change structure for feeding and discharging of machine tool tray

Abstract

The utility model discloses a quick-change structure for feeding and discharging of a machine tool tray, which relates to the technical field of industrial robots and comprises a zero-point quick-change unit and a fluid pipeline unit. One part of the zero-point quick-change unit is connected with the tray, the other part is connected with the robot, and the robot can drive the tray to move after the two parts of the zero-point quick-change unit are butted; the fluid pipeline unit is connected with the zero-point quick-change unit and used for providing power for the zero-point base of the tray in the feeding and discharging process. The zero-point quick-change unit is arranged at the tail end of the robot, so that the robot drives the tray to move to achieve feeding and discharging, and the fluid pipeline unit is arranged on the zero-point quick-change unit to move along with movement of the tray so as to provide power for a zero-point base of the tray in the feeding and discharging process. Therefore, the tray and the zero-point base are locked and unlocked; the whole quick-change structure is simple in structure, pipelines and signal lines are easy to arrange, and the requirements for tray grabbing and power supply can be met.

Description

Technical Field

[0001] The utility model relates to the technical field of industrial robots, in particular to a quick-change structure for loading and unloading materials on a machine tool pallet. Background Art

[0002] When machining workpieces in traditional mechanical processing, the manual loading and unloading of workpieces is used, which greatly affects production efficiency. People have begun to carry out automation transformation. In order to realize the full automation of the processing process, it is necessary to use the zero-point system of the machine tool to control the workpiece gripper to automatically clamp the workpiece. However, the end effector of the existing loading and unloading robot can usually only grab the pallet with the workpiece fixed and place it on the zero-point base. It is also necessary to set a power mechanism on the machine tool to provide a power source for the zero-point base for locking and unlocking. The power mechanism cooperates with the end effector of the loading and unloading robot to complete the loading and unloading of the pallet, which makes the structure, pipelines and signal lines of the entire loading and unloading unit complicated. Therefore, it is necessary to design a quick-change structure that can meet the requirements of pallet grabbing and power supply. Utility Model Content

[0003] The utility model provides a quick-change structure for loading and unloading materials on a machine tool pallet to solve the above technical problems.

[0004] In order to achieve the above purpose, the technical solution of the utility model is:

[0005] A quick-change structure for loading and unloading a machine tool pallet, comprising a zero-point quick-change unit and a fluid pipeline unit;

[0006] The zero-point quick-change unit is divided into two parts, one part is connected to the pallet, and the other part is connected to the robot. After the two parts are connected, the robot can drive the pallet to move;

[0007] The fluid pipeline unit is connected to the zero point quick change unit to provide power for the zero point base during loading and unloading;

[0008] The fluid pipeline unit includes a fluid quick-connect connector and a driver. The fluid quick-connect connector includes a first fluid plug and a second fluid plug. The second fluid plug is installed on the zero point base and docks with an interface of the zero point base. The driver is connected to the zero point quick-change unit and drives the first fluid plug.

[0009] During loading, the driver drives the first fluid plug to align with the second fluid plug, and the robot drives the tray to move and align with the zero-point base so that the first fluid plug is docked with the second fluid plug. During the process of docking the tray with the zero-point base, the driver adjusts the distance between the first fluid plug and the tray to match the distance between the zero-point base and the tray.

[0010] When unloading, the driver drives the first fluid plug to align with the second fluid plug. During the separation of the tray and the zero-point base, the driver adjusts the distance between the first fluid plug and the tray to match the distance between the zero-point base and the tray. The robot drives the tray away from the zero-point base to separate the first fluid plug from the second fluid plug.

[0011] Preferably, the driver is a linear actuator, the docking direction between the tray and the zero point base is the first movement direction, the linear actuator drives the first fluid plug to move along the first movement direction; the first fluid plug docks with the second fluid plug along a second movement direction perpendicular to the first movement direction.

[0012] Preferably, the fluid pipeline unit further comprises a guide assembly, and the guide assembly is used for positioning and guiding the first fluid plug and the second fluid plug.

[0013] Preferably, the first fluid plug is installed on the push plate, and the linear actuator drives the push plate to move along the first movement direction; the guide assembly includes two pairs of guide pins and guide holes, and the guide pins and guide holes are respectively arranged on the push plate and the zero point base, or the guide holes and guide pins are respectively arranged on the push plate and the zero point base.

[0014] Preferably, the zero-point quick-change unit comprises a first butt joint and a second butt joint which can be butt jointed with each other, the first butt joint is mounted on the pallet, and the first butt joint can be connected to the robot end through the second butt joint.

[0015] Preferably, the zero-point quick-change unit further includes a third docking joint and a fourth docking joint that can dock with each other, and the second docking joint can be connected to the robot end through the docked third docking joint and the fourth docking joint.

[0016] Preferably, it also includes an information reading and writing unit, which includes: a chip, a reader / writer and a first circuit channel module. The chip is installed on the tray, the reader / writer is connected to the second docking connector, and the two parts of the first circuit channel module are respectively connected to the third docking connector and the fourth docking connector. After the two parts of the first circuit channel module are docked, they are used for network signal transmission of the reader / writer.

[0017] Preferably, the zero-point quick-change unit also includes a sensor and a second circuit channel module, the sensor is used for stroke control of the second docking joint, the two parts of the second circuit channel module are respectively connected to the third docking joint and the fourth docking joint, and the two parts of the second circuit channel module are used for electrical signal transmission of the sensor after docking.

[0018] Beneficial effects:

[0019] The present application discloses a quick-change structure for loading and unloading machine tool pallets. A zero-point quick-change unit is arranged at the end of the robot to realize loading and unloading by the robot driving the pallet to move, and a fluid pipeline unit is arranged on the zero-point quick-change unit to move with the pallet to provide power for the zero-point base of the pallet during the loading and unloading process, so as to complete the locking and opening of the pallet and the zero-point base. The entire quick-change structure has a simple structure and simple layout of pipelines and signal lines, which can meet the needs of pallet grabbing and power supply. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, a brief introduction is given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0021] Figure 1 It is a structural schematic diagram of a quick-change structure for loading and unloading a machine tool pallet disclosed in the utility model;

[0022] Figure 2 This is a front view of a quick-change structure for loading and unloading a machine tool pallet disclosed in the utility model;

[0023] Figure 3 This is a left view of a quick-change structure for loading and unloading a machine tool pallet disclosed in the utility model;

[0024] Figure 4 It is a top view of a quick-change structure for loading and unloading a machine tool pallet disclosed in the utility model;

[0025] Figure 5 for Figure 4 A partial enlarged view of middle A.

[0026] 1. Zero point quick change unit; 11. First docking joint; 12. Second docking joint; 13. Third docking joint; 14. Fourth docking joint; 15. First mounting plate; 16. Second mounting plate; 2. Fluid pipeline unit; 21. Fluid quick plug connector; 211. First fluid plug; 212. Second fluid plug; 22. Driver; 23. Push plate; 24. Guide pin; 25. Mounting seat; 31. Chip; 32. Reader / writer; 33. First circuit channel module; 41. Sensor; 42. Second circuit channel module; 5. Pallet; 6. Zero point base; 7. Machine tool platform. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solution and advantages of the embodiment of the utility model clearer, the technical solution in the embodiment of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiment of the utility model. Obviously, the described embodiment is a part of the embodiment of the utility model, not all of the embodiments. Based on the embodiment of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0028] A quick-change structure for loading and unloading machine tool pallets, combined with Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 As shown, it includes a zero-point quick-change unit 1 and a fluid pipeline unit 2; the zero-point quick-change unit 1 is divided into two parts, one part is connected to the pallet 5, and the other part is connected to the robot. After the two parts are connected, the robot can drive the pallet 5 to move; the fluid pipeline unit 2 is connected to the zero-point quick-change unit 1 to provide power for the zero-point base 6 during the loading and unloading process. The zero-point quick-change unit 1 is set at the end of the robot to realize the robot driving the pallet 5 to move and realize loading and unloading, and the fluid pipeline unit 2 is set on the zero-point quick-change unit 1 to move with the pallet 5 to provide power for the zero-point base 6 during the loading and unloading process, so as to complete the locking and opening of the pallet 5 and the zero-point base 6; the whole quick-change structure has a simple structure, and the pipelines and signal lines are simply arranged, which can meet the requirements of the pallet 5 grabbing and power supply.

[0029] Specifically, the zero point base 6 is fixedly mounted on the machine tool platform 7 by a first set of screws and a T-slot on the upper surface of the machine tool platform 7, and the pallet 5 and the zero point base 6 are docked by a zero point quick change structure so that the pallet 5 is supported on the zero point base 6. The first movement direction of the pallet 5 is perpendicular to the machine tool platform 7, and the second movement direction, the third movement direction and the first movement direction are perpendicular to each other. The robot drives the pallet 5 to move along the first movement direction, the second movement direction and the third movement direction to complete the loading and unloading of the pallet 5.

[0030] Preferably, the fluid pipeline unit 2 includes a fluid quick-connect connector 21 and a driver 22, the fluid quick-connect connector 21 includes a first fluid plug 211 and a second fluid plug 212, the second fluid plug 212 is installed on the zero point base 6 and docked with the interface of the zero point base 6, the driver 22 is connected to the zero point quick change unit 1 and drives the first fluid plug 211; the driver 22 is connected to the zero point quick change unit 1 so that the position of the second fluid plug 212 can be adjusted while the fluid pipeline unit 2 moves with the robot.

[0031] During loading, the driver 22 drives the first fluid plug 211 to align with the second fluid plug 212, and the robot drives the tray 5 to move and align with the zero-point base 6 so that the first fluid plug 211 is docked with the second fluid plug 212, so as to provide power for the zero-point base 6 before the tray 5 is docked with the zero-point base 6. During the process of the tray 5 docking with the zero-point base 6, the driver 22 adjusts the distance between the first fluid plug 211 and the tray 5 to match the distance between the zero-point base 6 and the tray 5; after the first fluid plug 211 is docked with the second fluid plug 212 on the zero-point base 6, its position remains unchanged. During the docking process of the tray 5 and the zero-point base 6, the distance between the tray 5 and the zero-point base 6 gradually decreases. Since the position of the fixed part of the driver 22 will move with the tray 5, if the distance of the first fluid plug 211 relative to the fixed part of the driver 22 remains unchanged, it will interfere with the docking of the tray 5 and the zero-point base 6, so it is necessary to adaptively adjust the position of the first fluid plug 211 relative to the fixed part of the driver 22.

[0032] During unloading, the driver 22 drives the first fluid plug 211 to align with the second fluid plug 212. During the separation of the tray 5 from the zero-point base 6, the driver 22 adjusts the distance between the first fluid plug 211 and the tray 5 to match the distance between the zero-point base 6 and the tray 5. The robot drives the tray 5 away from the zero-point base 6 to separate the first fluid plug 211 from the second fluid plug 212. During the separation of the tray 5 from the zero-point base 6, the distance between the tray 5 and the zero-point base 6 gradually increases, and the first fluid plug 211 docks with the second fluid plug 212 to keep its position unchanged. Since the position of the fixed part of the driver 22 moves with the tray 5, it is necessary to adaptively adjust the position of the first fluid plug 211 relative to the fixed part of the driver 22 to match the change in the distance between the tray 5 and the zero-point base 6.

[0033] Specifically, the first fluid plug 211 may be a male plug or a female plug, and the corresponding second fluid plug 212 may be a female plug or a male plug. In this embodiment, the first fluid plug 211 is a male plug to facilitate the installation of pipelines and docking.

[0034] Preferably, the driver 22 is a linear actuator, the docking direction of the tray 5 and the zero point base 6 is the first movement direction, the linear actuator drives the first fluid plug 211 to move along the first movement direction; the first fluid plug 211 docks with the second fluid plug 212 along the second movement direction perpendicular to the first movement direction. The robot drives the tray 5 and the driver 22 to move along the third movement direction, so that the tray 5 and the zero point base 6 are aligned in the third movement direction; the linear actuator drives the first fluid plug 211 to move along the first movement direction to align with the second fluid plug 212, and the robot drives the tray 5 and the driver 22 to move along the second movement direction to achieve the docking of the first fluid plug 211 and the second fluid plug 212 during loading and the separation of the first fluid plug 211 and the second fluid plug 212 during unloading. When the tray 5 and the zero point base 6 are docked, the linear actuator acts to match the relative position of the first fluid plug 211 and the fixed part of the linear actuator to the gradually decreasing distance between the tray 5 and the zero point base 6. When the tray 5 and the zero-point base 6 are separated, the linear actuator operates to make the relative position of the first fluid plug 211 and the fixed part of the linear actuator match the gradually increasing distance between the tray 5 and the zero-point base 6 .

[0035] Specifically, in this embodiment, the linear actuator uses a cylinder. When the first fluid plug 211 needs to be aligned with the second fluid plug 212, the cylinder is ventilated to adjust the position of the first fluid plug 211; when the tray 5 and the driver 22 are docked or separated, the cylinder is de-aired and in a free state to adaptively adjust the distance between the first fluid plug 211 and the tray 5, ensuring that the distance between the first fluid plug 211 and the tray 5 matches the distance change between the zero point base 6 and the tray 5 during the docking or separation process.

[0036] Preferably, the fluid pipeline unit 2 further comprises a guide assembly, which is used for positioning and guiding the first fluid plug 211 and the second fluid plug 212 to assist the first fluid plug 211 to accurately dock with the second fluid plug 212 .

[0037] Preferably, the first fluid plug 211 is installed on the push plate 23, and the linear actuator drives the push plate 23 to move along the first movement direction; the guide assembly includes two pairs of guide pins 24 and guide holes, and the guide pins 24 and guide holes are respectively arranged on the push plate 23 and the zero point base 6, or the guide holes and guide pins 24 are respectively arranged on the push plate 23 and the zero point base 6.

[0038] Specifically, the output end of the cylinder is fixedly mounted with a push plate 23 by a second set of screws, and two first fluid plugs 211 pass through the two ends of the push plate 23 side by side; a mounting seat 25 is fixedly mounted at the interface of the zero point base 6, and two second fluid plugs 212 are mounted on the zero point base 6 through the mounting seat 25, and the two second fluid plugs 212 pass through the two ends of the mounting seat 25 and are respectively connected with the two-way interfaces of the zero point base 6. In this embodiment, a guide pin 24 is mounted at the end of the push plate 23, and a guide hole is provided on the mounting seat 25; before the two first fluid plugs 211 are respectively connected with the two second fluid plugs 212, the two sets of guide pins 24 are first inserted into the guide holes for positioning and guiding.

[0039] Preferably, the zero-point quick-change unit 1 includes a first docking joint 11 and a second docking joint 12 that can dock with each other, the first docking joint 11 is installed on the tray 5, and the first docking joint 11 can be connected to the robot end through the second docking joint 12. The robot drives the tray 5 to move by driving the second docking joint 12 to dock with the first docking joint 11 on the tray 5, and can remove the unloading tray 5 and then take the loading tray 5.

[0040] Specifically, the first docking joint 11 can be a male or female head, and the corresponding second docking joint 12 can be a female or male head. In this embodiment, the first docking joint 11 adopts a Latin structure, and the second docking joint 12 adopts a zero-point chuck structure. The first docking joint 11 is installed on the tray 5. The first docking joint 11 does not need to be provided with a fluid pipeline and has a relatively small volume. The second docking joint 12 is connected to the end of the robot to facilitate the layout of the fluid pipeline to provide power.

[0041] Specifically, the mounting base 25 is installed on the side of the zero point base 6 by the third set of screws, and the first docking joint 11 is installed on the side of the pallet 5 by the fourth set of screws, so that the docking of the first docking joint 11 and the second docking joint 12, and the docking of the first fluid plug 211 and the second fluid plug 212 will not interfere with the docking of the pallet 5 and the zero point base 6; and it can also reduce the height of the combination of the pallet 5 and the zero point base 6, which is beneficial to lowering the center of gravity of the workpiece.

[0042] Preferably, the zero-point quick-change unit 1 further includes a third docking joint 13 and a fourth docking joint 14 that can dock with each other, and the second docking joint 12 can be connected to the robot end through the docked third docking joint 13 and the fourth docking joint 14. The second docking joint 12 is transferred by the additional third docking joint 13 and the fourth docking joint 14, and the second docking joint 12 can be easily replaced so that the robot can grab other types of pallets or other fixtures.

[0043] Specifically, in this embodiment, the zero-point quick-change unit 1 further includes a first mounting plate 15, which is fixedly mounted on the side of the second butt joint 12 away from the tray 5 by the fifth set of screws, the cylinder body of the cylinder is fixedly mounted on the side of the first mounting plate 15 facing the tray 5 by the sixth set of screws, and the push plate 23 is located below the first mounting plate 15; the fourth butt joint 14 is fixedly mounted on the side of the first mounting plate 15 away from the tray 5 by the seventh set of screws. The first mounting plate 15 is provided to facilitate the installation of various components and ensure structural rigidity.

[0044] Specifically, the third docking joint 13 can be a male or female head, and the corresponding fourth docking joint 14 can be a female or male head. In this embodiment, the third docking joint 13 adopts a zero-point positioning locking unit, the fourth docking joint 14 adopts a zero-point positioning flange, and the fluid pipeline interface of the fourth docking joint 14 is connected to the fluid pipeline interface of the second docking joint 12 through a fluid pipe, so that the fluid is supplied to the second docking joint 12 through the third docking joint 13, the fourth docking joint 14, and the fluid pipe in sequence. The third docking joint 13 is connected to the robot end through the second mounting plate 16, the second mounting plate 16 is fixedly installed at the robot end by the eighth set of screws, and the third docking joint 13 is fixedly installed on the side of the second mounting plate 16 away from the robot end by the ninth set of screws.

[0045] Preferably, an information reading and writing unit is also included, which includes: a chip 31, a reader / writer 32 and a first circuit channel module 33. The chip 31 is installed on the tray 5, the reader / writer 32 is connected to the second docking connector 12, and the two parts of the first circuit channel module 33 are respectively connected to the third docking connector 13 and the fourth docking connector 14. After the two parts of the first circuit channel module 33 are docked, they are used for network signal transmission of the reader / writer 32. The storage information of the chip 31 on the tray 5 is read and written by the reader / writer 32 to perform information management.

[0046] Specifically, the chip 31 uses an electronic tag or a radio frequency card, and the reader 32 uses a Sigu SG-HR-I5 card reader to read and write information through RFID technology. The chip 31 is fixedly mounted on the side of the tray 5, and the reader 32 is fixedly mounted on the side of the first mounting plate 15 facing the tray 5.

[0047] Preferably, the zero-point quick-change unit 1 also includes a sensor 41 and a second circuit channel module 42, the sensor 41 is used for stroke control of the second docking connector 12, the two parts of the second circuit channel module 42 are respectively connected to the third docking connector 13 and the fourth docking connector 14, and the two parts of the second circuit channel module 42 are used for electrical signal transmission of the sensor 41 after docking.

[0048] Specifically, a sensor 41 is also provided on the cylinder to control the stroke of the cylinder, so that the cylinder controls the position of the first fluid plug 211. In this embodiment, the sensor 41 is a proximity switch.

[0049] Specifically, the two parts of the first circuit channel module 33 are respectively fixedly mounted on the third docking joint 13 and the fourth docking joint 14 and are located on the same side, the two parts of the second circuit channel module 42 are respectively fixedly mounted on the third docking joint 13 and the fourth docking joint 14 and are located on the same side, and the first circuit channel module 33 and the second circuit channel module 42 are located on both sides of the third docking joint 13.

[0050] Working principle of this application device:

[0051] When the robot is loading or unloading materials, it first drives the second mounting plate 16 and the third docking joint 13 to move and dock to the fourth docking joint 14 .

[0052] When loading:

[0053] The robot drives the second docking joint 12 to dock with the first docking joint 11 on the tray 5 to be loaded, so that the robot drives the tray 5 to be loaded to move to the loading position of the machine tool. The robot drives the tray 5 to be loaded to move so that the tray 5 and the zero point base 6 are aligned in the third movement direction, and the first fluid plug 211 and the second fluid plug 212 are aligned in the third movement direction. The cylinder drives the push plate 23 to extend downward so that the first fluid plug 211 is aligned with the second fluid plug 212 in the first movement direction. The robot then drives the tray 5 to be loaded to move along the second movement direction so that the first fluid plug 211 is docked with the second fluid plug 212. At this time, the tray 5 and the zero point base 6 are aligned in the second movement direction and the third movement direction. After the first fluid plug 211 and the second fluid plug 212 are connected, they provide power to the zero point base 6, and the zero point base 6 is unlocked. The robot drives the tray 5 to move downward along the first movement direction, and the cylinder is in a free state. As the tray 5 continues to approach the zero point base 6, the cylinder freely contracts to perform adaptive adjustment until the tray 5 and the zero point base 6 are docked. The power of the zero point base 6 is disconnected through the first fluid plug 211 and the second fluid plug 212, and the zero point base 6 locks the tray 5. The first docking joint 11, the second docking joint 12, the third docking joint 13, and the fourth docking joint 14 provide power to unlock the second docking joint 12, and the robot drives the first mounting plate 15, the second docking joint 12 thereon, and the cylinder to move along the second movement direction to separate the first fluid plug 211 from the second fluid plug 212, and the second docking joint 12 from the first docking joint 11, and move out of the loading position of the machine tool to complete the loading.

[0054] When unloading:

[0055] The robot drives the first mounting plate 15, the second docking joint 12 thereon and the cylinder to move along the third movement direction so that the first fluid plug 211 is aligned with the second fluid plug 212 in the third movement direction, and the second docking joint 12 is aligned with the first docking joint 11 in the third movement direction. The robot drives the first mounting plate 15, the second docking joint 12 thereon and the cylinder to move along the first movement direction so that the second docking joint 12 is aligned with the first docking joint 11 in the first movement direction. The cylinder drives the push plate 23 to adjust the position so that the first fluid plug 211 is aligned with the second fluid plug 212 in the first movement direction. The fluid pipelines on the first docking joint 11, the second docking joint 12, the third docking joint 13 and the fourth docking joint 14 provide power to unlock the second docking joint 12. The robot drives the first mounting plate 15, the second docking joint 12 thereon and the cylinder to move along the second movement direction so that the first fluid plug 211 is docked with the second fluid plug 212, and the second docking joint 12 is docked with the first docking joint 11. The power of the second docking joint 12 is disconnected, and the second docking joint 12 locks the first docking joint 11. After the first fluid plug 211 and the second fluid plug 212 are connected, they provide power to the zero point base 6, and the zero point base 6 is unlocked. The robot drives the tray 5 to move along the first movement direction and separate from the zero point base 6. At this time, the cylinder is in a free state. As the tray 5 continues to move away from the zero point base 6, the cylinder freely extends to perform adaptive adjustment until the tray 5 is completely separated from the zero point base 6. The robot drives the tray 5 to move along the second movement direction to separate the first fluid plug 211 from the second fluid plug 212, and moves out of the loading position of the machine tool to the storage position of the tray 5 to complete unloading.

[0056] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the utility model, rather than to limit it. Although the utility model has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the utility model.

Claims

1. A quick-change structure for loading and unloading machine tool pallets, characterized in that: It comprises a zero point quick-change unit (1) and a fluid pipeline unit (2); The zero-point quick-change unit (1) is divided into two parts, one part is connected to the pallet (5), and the other part is connected to the robot. After the two parts are connected, the robot can drive the pallet (5) to move; The fluid pipeline unit (2) is connected to the zero point quick change unit (1) to provide power for the zero point base (6) during the loading and unloading process; The fluid pipeline unit (2) comprises a fluid quick-connect connector (21) and a driver (22); the fluid quick-connect connector (21) comprises a first fluid plug (211) and a second fluid plug (212); the second fluid plug (212) is mounted on the zero point base (6) and docked with an interface of the zero point base (6); the driver (22) is connected to the zero point quick-change unit (1) and drives the first fluid plug (211); During loading, the driver (22) drives the first fluid plug (211) to align with the second fluid plug (212), and the robot drives the tray (5) to move and align with the zero-point base (6) so that the first fluid plug (211) is docked with the second fluid plug (212). During the process of docking the tray (5) with the zero-point base (6), the driver (22) adjusts the distance between the first fluid plug (211) and the tray (5) to match the distance between the zero-point base (6) and the tray (5); During unloading, the driver (22) drives the first fluid plug (211) to align with the second fluid plug (212); during the separation of the tray (5) and the zero-point base (6), the driver (22) adjusts the distance between the first fluid plug (211) and the tray (5) to match the distance between the zero-point base (6) and the tray (5); the robot drives the tray (5) to move away from the zero-point base (6) so as to separate the first fluid plug (211) from the second fluid plug (212).

2. A quick-change structure for loading and unloading machine tool pallets according to claim 1, characterized in that: The driver (22) is a linear actuator, the docking direction of the tray (5) and the zero-point base (6) is a first movement direction, and the linear actuator drives the first fluid plug (211) to move along the first movement direction; the first fluid plug (211) docks with the second fluid plug (212) along a second movement direction perpendicular to the first movement direction.

3. The quick-change structure for loading and unloading machine tool pallets according to claim 2 is characterized in that: The fluid pipeline unit (2) further comprises a guide assembly, which is used for positioning and guiding the first fluid plug (211) and the second fluid plug (212).

4. The quick-change structure for loading and unloading machine tool pallets according to claim 3 is characterized in that: The first fluid plug (211) is installed on the push plate (23), and the linear actuator drives the push plate (23) to move along the first movement direction; the guide assembly includes two pairs of guide pins (24) and guide holes, and the guide pins (24) and guide holes are respectively arranged on the push plate (23) and the zero point base (6), or the guide holes and guide pins (24) are respectively arranged on the push plate (23) and the zero point base (6).

5. The quick-change structure for loading and unloading machine tool pallets according to claim 1 is characterized in that: The zero-point quick-change unit (1) comprises a first docking joint (11) and a second docking joint (12) which can dock with each other, the first docking joint (11) is installed on a tray (5), and the first docking joint (11) can be connected to a robot end through the second docking joint (12).

6. The quick-change structure for loading and unloading machine tool pallets according to claim 5 is characterized in that: The zero-point quick-change unit (1) further comprises a third docking joint (13) and a fourth docking joint (14) which can dock with each other, and the second docking joint (12) can be connected to the robot end through the docked third docking joint (13) and the fourth docking joint (14).

7. The quick-change structure for loading and unloading machine tool pallets according to claim 6 is characterized in that: The device also comprises an information reading and writing unit, the information reading and writing unit comprising: a chip (31), a reader / writer (32) and a first circuit channel module (33), the chip (31) being mounted on a tray (5), the reader / writer (32) being connected to a second docking connector (12), two parts of the first circuit channel module (33) being respectively connected to a third docking connector (13) and a fourth docking connector (14), and the two parts of the first circuit channel module (33) being docked for network signal transmission of the reader / writer (32).

8. The quick-change structure for loading and unloading machine tool pallets according to claim 6 is characterized in that: The zero-point quick-change unit (1) further comprises a sensor (41) and a second circuit channel module (42); the sensor (41) is used for stroke control of the second docking joint (12); two parts of the second circuit channel module (42) are respectively connected to the third docking joint (13) and the fourth docking joint (14); and the two parts of the second circuit channel module (42) are used for electrical signal transmission of the sensor (41) after docking.

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