An automatic loading and unloading system for machine tools

Abstract

The utility model provides a kind of machine tool automation feeding and discharging system, belong to machining technical field, to solve the problem of low efficiency and high cost of the part processing feeding mode mainly by artificial in prior art;It includes frame and push frame, frame side is equipped with feed bin and discharge bin, feed bin is equipped with first supporting plate and first lifting device, discharge bin is equipped with second supporting plate and second lifting device, both are up and down through frame;Push frame is used to place tray with first docking mechanism, frame top is equipped with mounting plate with second docking mechanism, also be equipped with horizontal moving mechanism, frame side is equipped with manipulator.The base of the end of manipulator is equipped with mounting port, mounting port is equipped with distance adjusting device, base both sides guide rail is equipped with a plurality of tooling, tooling includes slide rail, plate body and clamp.The system realizes automatic feeding and discharging, stacked material saves space, distance adjusting device adapts different part spacing, both sides tooling completes a batch of feeding and discharging once, improves efficiency and reduces time.

Description

Technical Field

[0001] This utility model belongs to the field of mechanical processing technology, specifically relating to an automated loading and unloading system for machine tools. Background Technology

[0002] In the process of large-scale production in the manufacturing industry, the demand for processing various mechanical parts continues to rise, and efficient and stable processing procedures have become the key for enterprises to improve their production capacity and competitiveness. At present, in most small and medium-sized manufacturing enterprises and some traditional processing scenarios, parts processing is still mainly done by manual loading: operators need to take the parts to be processed one by one from the material box or rack, manually align them with the machine tool processing station and place them in position. After the parts are processed, the finished products are manually removed and transferred to the storage area, forming an operation mode of "manual part picking-loading-processing-manual finished product picking". However, this manual loading method has significant limitations: on the one hand, a person can only pick up and place a single or a small number of parts at a time; on the other hand, continuous manual operation is prone to fatigue, which further reduces the stability and safety of the processing. Utility Model Content

[0003] In view of this, the present invention provides an automated loading and unloading system for machine tools to solve the problems of low efficiency and high cost in the existing manual parts loading and unloading mode.

[0004] The technical solution adopted in this utility model is as follows: An automated machine tool loading and unloading system includes a frame and a pusher. One side of the frame has a feed bin and a discharge bin for accommodating the pusher. The feed bin and discharge bin extend through the frame at their upper and lower ends, respectively. The feed bin contains a first pallet and a first lifting device for raising and lowering the first pallet. The discharge bin contains a second pallet and a second lifting device for raising and lowering the second pallet. The pusher is used to hold the pallet, and one side of the pallet has a first docking mechanism. The top of the frame has a mounting plate, and the mounting plate has a second docking mechanism for connecting and cooperating with the first docking mechanism. The top is also equipped with a transverse movement mechanism for moving the mounting plate; it also includes a robot arm located on one side of the frame, one end of which is equipped with a base, and the base has a through mounting port, which is set along the length of the base. The mounting port is equipped with an adjustment device; both sides of the base in the width direction are respectively equipped with guide rails, and the guide rails are equipped with a number of tooling fixtures, which are spaced apart along the length of the guide rails. Each tooling fixture includes a slide rail that is slidably connected to the guide rail, and a plate is provided on the slide rail. The plate is equipped with a clamp; the adjustment device is used to adjust the distance between two adjacent tooling fixtures.

[0005] After adopting the above technical solution, it should be noted that this device also has an operation interface and human-machine interface equipped with infeed and outfeed buttons and indicator lights. The human-machine interface allows for manual and automatic operation of the equipment. In this solution, the frame is the basic support component of the entire device, bearing all components such as the feed bin, discharge bin, mounting plate, and transverse mechanism, ensuring the overall structural stability of the device. The pusher has wheels and a hollowed-out middle section for placing several pallets containing workpieces stacked vertically. The wheels facilitate manual pushing of the pusher to transfer the pallets, and the hollowed-out design allows the first pallet to lift the pallet from the bottom of the pusher. The feed bin is used to accommodate the pusher containing the pallets of workpieces to be processed, and it runs vertically through the frame. The structure facilitates the entry and exit of the pusher and the lifting and lowering of the pallet; the discharge bin is used to accommodate the pusher that receives the pallets of processed workpieces, and its function corresponds to the infeed bin, realizing the division of labor between two workstations; the first pallet is located in the infeed bin and is used to support all the pallets stacked on the pusher, providing a support surface for pallet lifting; the first lifting device drives the first pallet to move up and down, realizing the lifting and transfer of pallets in the infeed bin; the second pallet has the same structure as the first pallet and is located in the discharge bin, used to support the pallets stacked after processing; the second lifting device has the same structure as the first lifting device and drives the second pallet to move up and down, realizing the lifting and stacking of pallets in the discharge bin; the mounting plate is used to install the second docking mechanism, which serves as the pallet between the infeed bin and the discharge bin. The system serves as a receiving carrier for inter-bin transfers; the second docking mechanism cooperates with the first docking mechanism of the pallet to achieve precise positioning and stable receiving of the pallet; the lateral movement mechanism moves the mounting plate between the inlet and outlet bins at the top of the frame, enabling cross-bin transfer of the pallet; the operation interface and human-machine interface are equipped with inlet and outlet buttons and indicator lights. The buttons are used for manual control of the pusher's entry and exit operations, and the indicator lights display the equipment's operating status (such as pusher in position, pallet lifting completed, etc.), and support both manual and automatic operation modes, allowing personnel to switch operation modes according to needs and monitor and adjust equipment operation in real time; the robotic arm is used to move the entire mechanism to achieve the gripping and transfer of parts; the base serves as a load-bearing structure. The base is used to connect the robot and install components such as the adjusting device and guide rails; the mounting port is set along the length of the base to provide installation and operation space for the adjusting device; the adjusting device is used to drive the tooling to move, thereby adjusting the distance between adjacent tooling; the guide rail provides guidance for the sliding of the tooling to ensure that the tooling moves in a straight line; the slide rail in the tooling cooperates with the guide rail to achieve sliding; the plate is used to fix the fixture, which is existing technology and is used to directly grasp parts; working principle: the pallets containing the workpieces to be processed are stacked on the pusher frame by the operator, and the pusher frame is pushed into the feeding bin. The first pallet is initially located below the bottom pallet of the pusher frame. The first lifting device drives the first pallet to rise, lifting all the pallets on the pusher frame;When the top pallet reaches its highest point, the traversing mechanism moves the mounting plate to the top of the feeding hopper. The second docking mechanism cooperates with the first docking mechanism to receive the top pallet to be processed. The robot arm moves the base to the part to be gripped, the fixture grips the part, and the robot arm transfers the part to the processing position of the machine tool. The spacing adjustment device adjusts the spacing of the parts according to the distance of the processing position of the machine tool, drives the tooling to slide along the guide rail, and adjusts the distance between adjacent tooling to align each fixture with each processing position. After processing, the material is gripped and placed back on the pallet. After processing the material on the pallet, the traversing mechanism moves the mounting plate to the top of the discharge hopper. At this time, the second lifting device drives the second pallet to rise until the second pallet supports the pallet. The latch of the second docking mechanism retracts to release the fixation, and the second lifting device drives the second pallet to descend, stacking the pallets layer by layer on the discharge hopper pusher. During this process, the manual mode can be switched through the human-machine interface to adjust the details. The system operates in either manual or automatic mode to achieve continuous cycling, with indicator lights providing real-time feedback on the status of each step. Overall, this solution achieves automatic workpiece loading and unloading through a pusher, feeding bin, discharging bin, docking mechanism, and traversing mechanism, improving batch processing efficiency. Furthermore, by stacking materials upwards, it utilizes a smaller footprint to achieve greater material buffering, making it highly suitable for the automation transformation of traditional factories. The adjustable spacing device, guide rails, and sliding fixtures allow for flexible adjustment of the spacing between adjacent fixtures, enabling the handling of tightly packed products from the tray to be placed on more spaced processing equipment. This reduces the tray size and overall equipment footprint, saving space, improving the versatility and efficiency of the gripping mechanism, and reducing equipment adjustment time. With fixtures on both sides of the base, it can simultaneously grip products to be processed and processed products, completing the loading and unloading of a batch of products in a single cycle.

[0006] Preferably, the first lifting device includes a first lead screw, which is driven by a motor. The two ends of the first lead screw are rotatably connected to the upper and lower ends of the feed hopper. A first movable seat is threaded onto the first lead screw, and the first movable seat is connected to the first support plate through a diagonal brace.

[0007] In this technical solution, it should be noted that when it is necessary to lift the pallet in the feeding hopper, the drive mechanism drives the first lead screw to rotate. The first lead screw, through the threaded transmission, causes the first movable seat connected to it to move up and down along the axis of the first lead screw. When the first movable seat moves, it transmits power and motion to the first pallet through the diagonal brace, thereby driving the first pallet and the pallet above it to move up and down synchronously, realizing the lifting and transfer of the pallet from the bottom of the push frame to the top docking position.

[0008] Preferably, the feed hopper is further provided with a first guide rod, which is parallel to the first lead screw, and the first movable seat is slidably sleeved on the first guide rod.

[0009] In this technical solution, it should be noted that by setting a first guide rod, in conjunction with a first lead screw and a first movable seat, the stability and accuracy of the lifting of the first pallet are further improved, effectively preventing the first movable seat from shifting or rotating during movement, avoiding the pallet from tipping over or deviating in position during lifting, ensuring the accurate docking of the pallet with the second docking mechanism, and improving the safety and stability of the equipment operation.

[0010] Preferably, the first docking mechanism includes a drive assembly and a locking block disposed at the bottom of the tray, the bottom of the locking block having a locking groove; the second docking mechanism includes a locking tongue, one end of which is rotatably connected to the mounting plate via a connecting shaft, and the other end extends outside the mounting plate and is opposite to the locking groove; the drive assembly is disposed on the mounting plate and is used to drive the connecting shaft to rotate.

[0011] In this technical solution, it should be noted that in the first docking mechanism, the locking block is fixed to the bottom of the pallet, and the locking groove at its bottom is a positioning structure that cooperates with the second docking mechanism to accommodate the locking tongue and achieve pallet positioning, ensuring that the pallet is stably placed on the mounting plate; the drive component is mounted on the mounting plate and provides power for the movement of the second docking mechanism, driving the connecting shaft to rotate, thereby controlling the extension or retraction of the locking tongue; in the second docking mechanism, one end of the locking tongue rotates with the mounting plate through the connecting shaft, and the other end extends outside the mounting plate and corresponds to the locking groove, used to insert into the locking groove to achieve a stable connection between the pallet and the mounting plate. After the pallet is transferred to the discharge hopper and received by the second pallet, the locking tongue retracts and the connection is released; working principle: when the pallet in the feed hopper is pushed to the highest point by the first lifting device, the drive component starts, driving the connecting shaft to rotate, and the connecting shaft... The first lifting device drives the pallet to rotate around the mounting plate and extend beyond it, waiting to receive the pallet. Then, the first lifting device drives the pallet to descend, and the slot of the bottom locking block of the pallet gradually approaches and engages with the extended locking tongue. The locking tongue guides the slot, allowing the pallet to automatically adjust its position and complete secondary positioning, achieving stable docking between the pallet and the mounting plate. When the pallet moves to the top of the discharge hopper with the mounting plate, and the second pallet rises to receive the pallet, the drive assembly drives the connecting shaft to rotate in the opposite direction, causing the locking tongue to retract, disengage from the slot, and release the connection between the pallet and the mounting plate, allowing the second pallet to drive the pallet to descend and stack. Overall effect: By setting up the cooperation between the first docking mechanism (locking block, slot, drive assembly) and the second docking mechanism (locking tongue, connecting shaft), and utilizing the insertion and guiding effect of the locking tongue and slot, precise docking and secondary positioning between the pallet and the mounting plate are achieved.

[0012] Preferably, the drive assembly includes a first cylinder, which is mounted on a mounting plate. A rack is fixedly connected to the piston rod of the first cylinder, and a gear is fixedly sleeved on the connecting shaft. The gear meshes with the rack.

[0013] In this technical solution, it should be noted that when the latch needs to extend (to receive the feed hopper pallet), the piston rod of the first cylinder retracts, driving the rack fixed on it to move linearly. The rack meshes with the gear, causing the gear to drive the connecting shaft to rotate. The connecting shaft then drives the latch to rotate around it and extend. When the pallet moves to the discharge hopper and is received by the second pallet, and the latch needs to retract, the piston rod of the first cylinder extends, driving the rack to move linearly in the opposite direction. The gear rotates in the opposite direction with the rack, and the connecting shaft drives the latch to rotate in the opposite direction and retract, releasing the fixation on the pallet.

[0014] Preferably, the transverse movement mechanism includes a rodless cylinder mounted on the frame, and a slide is provided at the bottom of the mounting plate, the slide being mounted on the rodless cylinder.

[0015] In this technical solution, it should be noted that the rodless cylinder is mounted on the top of the frame, serving as the power source for the traversing mechanism. It eliminates the need for an externally extended piston rod, saving installation space while providing smooth and continuous linear motion power, enabling precise transfer of the mounting plate across multiple areas. The slide is fixed to the bottom of the mounting plate and connects with the rodless cylinder, receiving its power and transmitting its linear motion to the mounting plate, ensuring the mounting plate moves smoothly and synchronously with the cylinder. The mounting plate is connected to the rodless cylinder via the slide and moves synchronously with the slide, achieving… The process involves transferring a pallet from the feeding hopper to the processing area, and then transferring the processed pallet from the processing area to the discharging hopper. When it is necessary to transfer the pallet from the feeding hopper to the processing area, the rodless cylinder is activated, driving the sliding block that it is paired with to move along the axis of the rodless cylinder. The sliding block moves the mounting plate connected to its bottom from the top of the feeding hopper to the processing area. After the robot arm has completed the processing of all materials on the pallet, the rodless cylinder is activated again, driving the sliding block to move the mounting plate from the processing area to the top of the discharging hopper, where it waits for the second pallet to receive the pallet, thus completing the cross-area transfer of the pallet.

[0016] Preferably, the feed hopper is provided with a second cylinder, a stop rod is hinged to the piston rod of the second cylinder, a connecting rod is hinged to the stop rod, and the end of the connecting rod away from the stop rod is hinged to the cylinder body of the second cylinder.

[0017] In this technical solution, it should be noted that after the pusher, which is filled with a pallet of materials to be processed, is manually pushed into the feeding hopper, the equipment detects the pusher and controls the piston rod of the second cylinder to extend. The piston rod pushes the stop rod to rotate around the hinge point. At the same time, the connecting rod moves with the stop rod and plays a limiting role, so that the stop rod rotates into the moving path of the pusher and blocks and fixes the pusher in the feeding hopper, preventing the pusher from deviating when the pallet is raised or lowered.

[0018] Preferably, the bottom of the tray is provided with a support pin.

[0019] In this technical solution, it should be noted that the support pin is fixed to the bottom of the pallet and is used to support and position the upper pallet when multiple pallets are stacked on top of each other, so as to maintain a fixed distance between adjacent pallets and prevent the upper pallet from directly pressing on the workpiece in the lower pallet and causing damage.

[0020] Preferably, the adjusting device includes a double-headed cylinder, the middle part of which is fixed to the middle of the mounting port, and connecting plates are respectively provided on the piston rods at both ends of the double-headed cylinder; there are three toolings on each side guide rail of the base, two of which are connected to the two connecting plates respectively, and the plate of the other tooling is fixed to the middle of the base.

[0021] In this technical solution, it should be noted that when adjusting the spacing, the piston rod of the double-headed cylinder extends and retracts, driving the tooling on both sides to slide along the guide rail through the connecting plate; since the middle tooling is fixed, the tooling on both sides moves away from or towards the middle tooling respectively (the piston rod extension time increases and the retraction time decreases), realizing the synchronous adjustment of the spacing between adjacent tooling.

[0022] Preferably, a mounting block is provided between two adjacent slide rails, the mounting block is fixed on the base, and a first buffer rod is provided on the mounting block. The first buffer rod is arranged along the length direction of the base, and the two ends of the first buffer rod are respectively facing the two adjacent slide rails.

[0023] After adopting the above technical solution, the mounting block is fixed on the base to provide mounting support for the first buffer rod; the first buffer rod is set along the length of the base, with both ends facing the adjacent slide rail, which is used to block and prevent the two adjacent tooling from colliding directly when the slide rails are close together.

[0024] Preferably, the two ends of the mounting port are provided with second buffer rods, which face the two connecting plates respectively.

[0025] After adopting the above technical solution, the second buffer rod is installed at both ends of the mounting port, facing the connecting plate, to block the connecting plate when it moves to the extreme position, so as to avoid direct collision between the connecting plate and the base or the end of the mounting port.

[0026] Preferably, the base has two guide rails on each side, with the two guide rails located on the upper and lower sides of the mounting opening, respectively.

[0027] By adopting the above technical solution, the dual-rail design improves the stability and guiding accuracy of the tooling sliding, reduces the shaking of the tooling during movement and gripping, ensures that the fixture is accurately aligned with the parts, and improves the reliability of gripping, which is especially suitable for gripping high-precision parts.

[0028] Preferably, the plate is further provided with a detection sensor for detecting parts.

[0029] After adopting the above technical solution, before gripping, the detection sensor detects whether there is a part at the gripping position to ensure that the gripping action is effective; after gripping, the detection sensor detects whether there is a part on the fixture to determine whether the gripping is successful. If the part is not gripped, the feedback signal causes the robot to operate again.

[0030] Preferably, the plate body is further provided with a base plate, the base plate is fixed on the plate body, the base plate is provided with a fixing plate, the included angle between the fixing plate and the base plate is an acute angle, and the detection sensor is installed on the fixing plate.

[0031] After adopting the above technical solution, the acute angle design of the fixing plate and the base plate makes the detection direction of the detection sensor tilted, which can more accurately align with the side or specific part of the part, avoid detection blind spots caused by improper installation angle, and ensure accurate detection of whether the part exists or is being grasped.

[0032] Preferably, the connection between the fixing plate and the base plate is an arc-shaped portion, which is made of an elastic material.

[0033] After adopting the above technical solution, when there is a slight displacement in the position of the part or the sensor is subjected to a slight collision, the arc-shaped part made of elastic material will deform, causing the fixing plate and the detection sensor to adjust their angle, thus avoiding damage to the parts from hard collisions.

[0034] In summary, due to the adoption of the above technical solution, the beneficial effects of this utility model are: In this invention, the automatic loading and unloading of workpieces is achieved through the design of a pusher, feeding bin, discharging bin, docking mechanism, and traversing mechanism, improving the batch processing efficiency of workpieces. Furthermore, this solution utilizes a smaller footprint to achieve greater material buffering by stacking materials upwards, making it highly suitable for the automation transformation of traditional factories. By incorporating an adjustable spacing device, guide rails, and sliding fixtures, the spacing between adjacent fixtures can be flexibly adjusted. Products tightly arranged on the tray can be gripped and then placed onto processing equipment with more space, thus reducing the tray size and overall equipment footprint, saving space, improving the versatility and efficiency of gripping, and reducing equipment adjustment time. The fixtures on both sides of the base further enhance the versatility and efficiency of gripping, reducing equipment adjustment time. The presence of fixtures on both sides of the base allows for simultaneous gripping of products to be processed and processed products, completing the loading and unloading of a batch of products in a single cycle. Attached Figure Description

[0035] This utility model will be described by way of example and with reference to the accompanying drawings, wherein: Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 This is a three-dimensional structural diagram of the frame and pusher of this utility model; Figure 3 This is a three-dimensional structural diagram of the frame of this utility model; Figure 4 This is a three-dimensional structural diagram of the first pallet and the first lifting device of the present invention; Figure 5 This is a three-dimensional structural diagram of the mounting plate and rodless cylinder of this utility model; Figure 6 This is a three-dimensional structural diagram of the second docking mechanism of this utility model; Figure 7 This is a three-dimensional structural diagram of the pusher of this utility model; Figure 8 for Figure 7 Enlarged view of point A in the middle; Figure 9 This is a three-dimensional structural diagram of the second cylinder of this utility model; Figure 10 This is a three-dimensional structural diagram of the robotic arm of this utility model; Figure 11 This is a three-dimensional structural diagram of the base of this utility model; Figure 12 This is a three-dimensional structural diagram of the base of this utility model without tooling. Figure 13 This is a three-dimensional structural diagram of the base of this utility model without a double-headed cylinder. Figure 14 This is a three-dimensional structural diagram of the plate body of this utility model; Wherein: 100-Frame, 101-Feeding bin, 102-Discharging bin, 200-Push frame, 201-Pallet, 202-Support pin, 203-Clamping block, 204-Clamping slot, 300-Workpiece, 400-Second cylinder, 401-Stop rod, 402-Connecting rod, 500-First support plate, 501-Diagonal brace, 502-First moving seat, 503-Lead screw, 504-Guide rod, 505-Motor, 600-Rodless cylinder, 601-Slide, 602-Mounting plate, 603 - First cylinder, 604-Rack, 605-Connecting shaft, 606-Gear, 607-Clamping tongue, 700-Second support plate, 800-Manipulator, 900-Base, 901-Guide rail, 902-Mounting port, 903-Second buffer rod, 10-Tooling, 11-Slide rail, 12-Plate body, 13-Clamp, 14-Base plate, 15-Fixing plate, 16-Arc-shaped part, 17-Detection sensor, 20-Double-head cylinder, 21-Connecting plate, 30-Mounting block, 31-First buffer rod. Detailed Implementation

[0036] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. The components of the embodiments of this utility model described and shown in the accompanying drawings can typically be arranged and designed in various different configurations.

[0037] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0038] It should be noted that, where there is no conflict, the embodiments and features in the embodiments of this utility model can be combined with each other.

[0039] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0040] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0041] It should be noted that, where there is no conflict, the embodiments and features in the embodiments of this utility model can be combined with each other.

[0042] Example 1

[0043] like Figures 1-14As shown in the figure, an automated loading and unloading system for machine tools is disclosed in this embodiment of the present invention, including a frame 100 and a pusher 200. One side of the frame 100 is provided with a feed bin 101 and a discharge bin 102 for accommodating the pusher 200. The upper and lower ends of the feed bin 101 and the discharge bin 102 respectively penetrate the frame 100. The feed bin 101 is provided with a first pallet 500 and a first lifting device for raising and lowering the first pallet 500. The discharge bin 102 is provided with a second pallet 700 and a second lifting device for raising and lowering the second pallet 700. The pusher 200 is used to place a pallet 201, and one side of the pallet 201 is provided with a first docking mechanism. The top of the frame 100 is provided with a mounting plate 602, and the mounting plate 602 is provided with a second docking mechanism for connecting and cooperating with the first docking mechanism. The frame 100 is also equipped with a transverse movement mechanism at its top for moving the mounting plate 602; it also includes a robot arm 800 located on one side of the frame 100, with a base 900 at one end of the robot arm 800, and a mounting port 902 extending through the base 900 along its length. An adjustment device is provided within the mounting port 902. Guide rails 901 are provided on both sides of the base 900 in its width direction. Several tooling fixtures 10 are provided on the guide rails 901, spaced apart along the length of the guide rails 901. Each tooling fixture 10 includes a slide rail 11 slidably connected to the guide rail 901, a plate 12 on the slide rail 11, and a clamp 13 on the plate 12. The adjustment device is used to adjust the distance between two adjacent tooling fixtures 10. It should be noted that this device also includes an operating interface and a human-machine interface with infeed and outfeed buttons and indicator lights. The human-machine interface allows for both manual and automatic operation of the equipment. In this design, the frame 100 is the basic supporting component of the entire device, bearing all components such as the feed bin 101, discharge bin 102, mounting plate 602, and transverse mechanism, ensuring the overall structural stability of the device. The pusher 200 is equipped with wheels and has a hollowed-out center for placing several pallets 201 containing workpieces 300 that are stacked vertically. The wheels facilitate manual pushing of the pusher 200 to transfer the pallets 201, and the hollowed-out design allows the first pallet 500 to be pushed from the bottom of the pusher 200. The feeding bin 101 is used to hold the pusher 200 containing the pallets 201 of workpieces 300 to be processed. The structure of the pusher 200 passing through the frame 100 facilitates the entry and exit of the pusher 200 and the lifting and lowering of the pallets 201. The discharging bin 102 is used to hold the pusher 200 that receives the pallets 201 of workpieces 300 after processing. Its function corresponds to that of the feeding bin 101, realizing the division of labor between two workstations. The first pallet 500 is located in the feeding bin 101 and is used to support all the pallets 201 stacked on the pusher 200, providing a support surface for the lifting and lowering of the pallets 201. The first lifting device drives the first pallet 500 to move up and down, realizing the lifting and transfer of the pallets 201 in the feeding bin 101.The second pallet 700 has the same structure as the first pallet 500 and is located inside the discharge hopper 102, used to support the pallets 201 stacked after processing. The second lifting device has the same structure as the first lifting device, driving the second pallet 700 to move up and down, realizing the lifting and stacking of the pallets 201 inside the discharge hopper 102. The mounting plate 602 is used to install the second docking mechanism, serving as a receiving carrier for the transfer of the pallets 201 between the infeed hopper 101 and the discharge hopper 102. The second docking mechanism cooperates with the first docking mechanism of the pallets 201 to achieve precise positioning and stable support of the pallets 201. The transverse movement mechanism drives the mounting plate 602 to move between the infeed hopper 101 and the discharge hopper 102 at the top of the frame 100, realizing the lifting and stacking of the pallets 201. 1. Cross-warehouse transfer; the operation interface and human-machine interface are equipped with inbound and outbound buttons and indicator lights. The buttons are used for manual control of the pusher 200's entry and exit operations, and the indicator lights show the equipment's operating status (such as pusher 200 in position, pallet 201 lifting completed, etc.). It supports both manual and automatic operation modes, allowing personnel to switch operation modes according to needs and monitor and adjust equipment operation in real time; the robot arm 800 is used to drive the entire mechanism to move, realizing the gripping and transfer of parts; the base 900 serves as the load-bearing foundation, used to connect the robot arm 800 and install components such as the adjustment device and guide rail 901; the mounting port 902 is set along the length of the base 900, providing installation and operation space for the adjustment device; the adjustment device is used for... The tooling 10 is driven to move, thereby adjusting the spacing between adjacent tooling 10s; the guide rail 901 provides guidance for the sliding of the tooling 10, ensuring that the tooling 10 moves in a straight line; the slide rail 11 in the tooling 10 cooperates with the guide rail 901 to achieve sliding; the plate 12 is used to fix the clamp 13, which is existing technology and is used to directly grip parts; working principle: the pallet 201 containing the workpiece 300 to be processed is manually stacked on the pusher 200, and the pusher 200 is pushed into the feeding bin 101. The first pallet 500 is initially located below the bottom pallet 201 of the pusher 200. The first lifting device drives the first pallet 500 to rise, lifting all the pallets 201 on the pusher 200; when the top pallet 201 reaches the bottom of the pusher 200, the first lifting device drives the first pallet 500 to rise, lifting all the pallets 201 on the pusher 200; when the top pallet 201 reaches the bottom of the pusher 200, the first lifting device drives the first pallet 500 to rise, lifting all the pallets 201 on the pusher 200. At the highest point, the lateral movement mechanism moves the mounting plate 602 to the top of the feeding bin 101. The second docking mechanism cooperates with the first docking mechanism to receive the top pallet 201 to be processed. The robot arm 800 moves the base 900 to the part to be gripped. The fixture 13 grips the part. The robot arm 800 transfers the part to the processing position of the machine tool. The distance adjustment device adjusts the spacing of the parts according to the distance of the processing position of the machine tool. The tooling 10 is driven to slide along the guide rail 901. The distance between adjacent tooling 10 is adjusted so that each fixture 13 is aligned with each processing position. After processing, the material is gripped and put back into the pallet 201. After processing the material on the pallet 201 is completed, the lateral movement mechanism moves the mounting plate 602 to the top of the discharge bin 102.At this time, the second lifting device drives the second pallet 700 to rise until the second pallet 700 receives the pallet 201. The latch 607 of the second docking mechanism retracts and releases the fixation. The second lifting device then drives the second pallet 700 to descend, stacking the pallets 201 layer by layer on the pusher 200 of the discharge bin 102. During this process, the manual mode can be switched to adjust the details of the actions through the human-machine interface, or the automatic mode can be used to achieve continuous cycling. The indicator lights provide real-time feedback on the status of each step. Overall effect: In this solution, the automatic feeding and transfer of workpiece 300 is achieved through the pusher 200, the feeding bin 101, the discharge bin 102, the docking mechanism, and the transverse movement mechanism. The material unloading mechanism improves the processing efficiency of 300 batches of workpieces. Furthermore, this solution utilizes a smaller footprint to achieve greater material buffering by stacking materials upwards, making it highly suitable for the automation transformation of traditional factories. By incorporating an adjustable distance device, guide rail 901, and sliding fixtures 10, the spacing between adjacent fixtures 10 can be flexibly adjusted, allowing for precise placement of gripped parts onto the machine tool's processing station. This enhances the versatility and efficiency of the gripping process, reduces equipment adjustment time, and, with fixtures 10 on both sides of the base 900, enables simultaneous gripping of products to be processed and processed products, completing the loading and unloading of a batch of products in a single cycle.

[0044] like Figure 4 As shown, in this embodiment, the first lifting device includes a first lead screw 503, which is driven by a motor 505. Both ends of the first lead screw 503 are rotatably connected to the upper and lower ends of the feeding hopper 101. A first movable seat 502 is threaded onto the first lead screw 503, and the first movable seat 502 is connected to the first pallet 500 via a diagonal brace 501. It should be noted that when the pallet 201 inside the feeding hopper 101 needs to be lifted, the drive mechanism drives the first lead screw 503 to rotate. Through threaded transmission, the first movable seat 502, which is threaded to it, moves up and down along the axial direction of the first lead screw 503. When the first movable seat 502 moves, it transmits power and motion to the first pallet 500 via the diagonal brace 501, thereby driving the first pallet 500 and the pallet 201 above it to move up and down synchronously, realizing the lifting and transfer of the pallet 201 from the bottom of the pusher 200 to the top docking position.

[0045] like Figure 4As shown, in this embodiment, the feeding bin 101 is further provided with a first guide rod 504, which is parallel to the first lead screw 503. The first movable seat 502 is slidably sleeved on the first guide rod 504. It should be noted that by setting the first guide rod 504, in conjunction with the first lead screw 503 and the first movable seat 502, the stability and accuracy of the lifting of the first pallet 500 are further improved, effectively preventing the first movable seat 502 from shifting or rotating during movement, avoiding the pallet 201 from tipping over or deviating in position during lifting, ensuring the accurate docking of the pallet 201 with the second docking mechanism, and improving the safety and stability of the equipment operation.

[0046] like Figures 5-8As shown, in this embodiment, the first docking mechanism includes a drive assembly and a locking block 203 disposed at the bottom of the tray 201, wherein the bottom of the locking block 203 is provided with a locking groove 204; the second docking mechanism includes a locking tongue 607, one end of which is rotatably connected to the mounting plate 602 via a connecting shaft 605, and the other end extends outside the mounting plate 602 and is positioned opposite to the locking groove 204; the drive assembly is disposed on the mounting plate 602 and is used to drive the connecting shaft 605 to rotate. It should be noted that in the first docking mechanism, the locking block 203 is fixed to the bottom of the tray 201, and the locking groove 204 at its bottom is a positioning structure that cooperates with the second docking mechanism to accommodate the locking tongue 607 to achieve positioning of the tray 201 and ensure that the tray 201 is stably placed on the mounting plate 602; the drive assembly is mounted on the mounting plate 602 and provides power for the movement of the second docking mechanism, driving the connecting shaft 605 to rotate, thereby controlling the extension or retraction of the locking tongue 607; in the second docking mechanism, one end of the locking tongue 607 is connected to the connecting shaft 605 via a connecting shaft 605 The pallet 607 rotates with the mounting plate 602, and extends beyond the mounting plate 602 and corresponds to the slot 204. It is used to insert into the slot 204 to achieve a stable connection between the pallet 201 and the mounting plate 602. After the pallet 201 is transferred to the discharge hopper 102 and received by the second pallet 700, the latch 607 retracts to release the connection. Working principle: When the pallet 201 in the feed hopper 101 is pushed to the highest point by the first lifting device, the drive assembly is activated, driving the connecting shaft 605 to rotate. The connecting shaft 605 drives the latch 607 to rotate around it and extend out. Outside the mounting plate 602, it awaits the receiving of the pallet 201; subsequently, the first lifting device drives the pallet 201 to descend, and the slot 204 of the bottom locking block 203 of the pallet 201 gradually approaches and engages with the protruding locking tongue 607. The locking tongue 607 guides the slot 204, allowing the pallet 201 to automatically adjust its position and complete secondary positioning, achieving a stable connection between the pallet 201 and the mounting plate 602; when the pallet 201 moves with the mounting plate 602 to the top of the discharge hopper 102, and the second pallet 700 rises to receive the pallet 201, the drive assembly... The drive connecting shaft 605 rotates in the opposite direction, causing the latch 607 to retract and disengage from the slot 204, thus releasing the connection between the tray 201 and the mounting plate 602, so that the second tray 700 can drive the tray 201 to descend and stack. Overall effect: By setting the cooperation between the first docking mechanism (latch block 203, slot 204, drive assembly) and the second docking mechanism (latch 607, connecting shaft 605), the precise docking and secondary positioning of the tray 201 and the mounting plate 602 can be achieved by utilizing the insertion and guiding effect of the latch 607 and the slot 204.

[0047] like Figure 6As shown, in this embodiment, the drive assembly includes a first cylinder 603, which is mounted on a mounting plate 602. A rack 604 is fixedly connected to the piston rod of the first cylinder 603, and a gear 606 is fixedly sleeved on the connecting shaft 605. The gear 606 and the rack 604 mesh with each other. It should be noted that when the latch 607 needs to be extended (to receive the pallet 201 in the feed hopper 101), the piston rod of the first cylinder 603 retracts, driving the rack 604 fixed thereon to move linearly. The rack 604 meshes with the gear 606, causing the gear 606 to drive the connecting shaft 605 to rotate. The connecting shaft 605 then drives the latch 607 to rotate around it and extend. When the pallet 201 moves to the discharge hopper 102 and is received by the second pallet 700, and the latch 607 needs to be retracted, the piston rod of the first cylinder 603 extends, driving the rack 604 to move linearly in the opposite direction. The gear 606 rotates in the opposite direction with the rack 604. The connecting shaft 605 drives the latch 607 to rotate in the opposite direction and retract, releasing the fixation on the pallet 201.

[0048] like Figure 5 As shown, in this embodiment, the transverse movement mechanism includes a rodless cylinder 600, which is mounted on the frame 100. A slide 601 is provided at the bottom of the mounting plate 602, and the slide 601 is mounted on the rodless cylinder 600. It should be noted that the rodless cylinder 600 is mounted on the top of the frame 100, serving as the power source for the transverse movement mechanism. It eliminates the need for an externally extended piston rod, saving installation space, and provides smooth and continuous linear movement power, enabling precise transfer of the mounting plate 602 across multiple areas. The slide 601 is fixed to the bottom of the mounting plate 602 and connects with the rodless cylinder 600, receiving the power from the rodless cylinder 600 and transmitting its linear motion to the mounting plate 602, ensuring that the mounting plate 602 moves smoothly and synchronously with the rodless cylinder 600. The mounting plate 602 is connected to the rodless cylinder 600 via the slide 601 and moves synchronously with the slide 601, enabling the pallet 201 to be processed to move from the feed hopper. The process involves moving pallet 201 from the feed hopper 101 to the processing area, and then moving the processed pallet 201 from the processing area to the discharge hopper 102. When it is necessary to transfer the pallet 201 to be processed from the feed hopper 101 to the processing area, the rodless cylinder 600 is activated, driving the sliding block 601 that cooperates with it to move along the axial direction of the rodless cylinder 600. The sliding block 601 drives the mounting plate 602 connected to the bottom to move from the top of the feed hopper 101 to the processing area. After the robot arm 800 completes the processing of all materials on the pallet 201, the rodless cylinder 600 is activated again, driving the sliding block 601 to move the mounting plate 602 from the processing area to the top of the discharge hopper 102, waiting for the second pallet 700 to receive the pallet 201, thus completing the cross-regional transfer of the pallet 201.

[0049] like Figure 9As shown, in this embodiment, a second cylinder 400 is provided inside the feeding hopper 101. A stop rod 401 is hinged to the piston rod of the second cylinder 400, and a connecting rod 402 is hinged to the stop rod 401. The end of the connecting rod 402 away from the stop rod 401 is hinged to the cylinder body of the second cylinder 400. It should be noted that after the pusher 200, which is filled with a pallet 201 of materials to be processed, is pushed into the feeding hopper 101 by a manual operator, the equipment detects the pusher 200 and controls the piston rod of the second cylinder 400 to extend. The piston rod pushes the stop rod 401 to rotate around the hinge point. At the same time, the connecting rod 402 moves with the stop rod 401 and acts as a limit, so that the stop rod 401 rotates into the moving path of the pusher 200, blocking and fixing the pusher 200 inside the feeding hopper 101, and preventing the pusher 200 from shifting when the pallet 201 is raised or lowered.

[0050] like Figure 7 As shown, in this embodiment, the bottom of the tray 201 is provided with a support pin 202. It should be noted that the support pin 202 is fixed to the bottom of the tray 201 and is used to support and position the upper tray 201 when multiple trays 201 are stacked on top of each other, so as to maintain a fixed distance between adjacent trays 201 and prevent the upper tray 201 from directly pressing on the workpiece 300 in the lower tray 201 and causing damage.

[0051] Example 2

[0052] like Figures 10-14 As shown, this embodiment is largely the same as the above embodiment, except that the adjusting device includes a double-headed cylinder 20. The middle part of the double-headed cylinder 20 is fixed in the middle of the mounting port 902, and connecting plates 21 are respectively provided on the piston rods at both ends of the double-headed cylinder 20. There are three tooling fixtures 10 on each side guide rail 901 of the base 900. The plate bodies 12 of two of the tooling fixtures 10 are respectively connected to the two connecting plates 21, and the plate body 12 of the third tooling fixture is fixed in the middle of the base 900. It should be noted that the double-headed cylinder 20 provides power for adjusting the distance, and the middle fixed position ensures that the piston rods at both ends extend and retract symmetrically. The connecting plates 21 are used to connect the piston rods and the plate bodies 12 of the tooling fixtures 10 to transmit the cylinder power. Among the three tooling fixtures 10 on each side, the middle tooling fixture 10 is fixed as the adjustment reference, and the tooling fixtures 10 on both sides are connected to the piston rods through the connecting plates 21 and move with the piston rods. Overall working principle: When adjusting the spacing, the piston rod of the double-headed cylinder 20 extends and retracts, driving the tooling 10 on both sides to slide along the guide rail 901 via the connecting plate 21. Since the middle tooling 10 is fixed, the tooling 10 on both sides moves away from or towards the middle tooling 10 respectively (the piston rod extension time increases, and the retraction time decreases), realizing the synchronous adjustment of the spacing between adjacent tooling 10. In this scheme, the double-headed cylinder 20 is used as the spacing adjustment device, which has a simple structure and stable adjustment, and can realize the synchronous symmetrical adjustment of the tooling 10 on both sides, ensuring the accuracy of the spacing adjustment.

[0053] like Figure 12 As shown, in this embodiment, a mounting block 30 is provided between two adjacent slide rails 11. The mounting block 30 is fixed on the base 900, and a first buffer rod 31 is provided on the mounting block 30. The first buffer rod 31 is arranged along the length direction of the base 900, and its two ends face the two adjacent slide rails 11 respectively. It should be noted that the mounting block 30 is fixed on the base 900 to provide mounting support for the first buffer rod 31; the first buffer rod 31 is arranged along the length direction of the base 900, and its two ends face the adjacent slide rails 11, which is used to block and prevent the two adjacent tooling 10 from colliding directly when the slide rails 11 are close together.

[0054] like Figure 13 As shown, in this embodiment, the mounting port 902 is provided with second buffer rods 903 at both ends, and the second buffer rods 903 face the two connecting plates 21 respectively. It should be noted that the second buffer rods 903 are installed at both ends of the mounting port 902, facing the connecting plates 21, and are used to block the connecting plates 21 when they move to their extreme positions, so as to prevent the connecting plates 21 from directly colliding with the base 900 or the end of the mounting port 902.

[0055] like Figure 12 As shown, in this embodiment, the base 900 has two guide rails 901 on each side, with the two guide rails 901 located on the upper and lower sides of the mounting opening 902, respectively. It should be noted that the dual guide rail design improves the stability and guiding accuracy of the tooling 10's sliding motion, reduces the shaking of the tooling 10 during movement and gripping, ensures that the clamp 13 accurately aligns with the part, and enhances the reliability of gripping, making it particularly suitable for gripping high-precision parts.

[0056] like Figure 14 As shown, in this embodiment, the plate 12 is also equipped with a detection sensor 17 for detecting parts. It should be noted that before gripping, the detection sensor 17 detects whether there is a part at the gripping position to ensure that the gripping action is effective; after gripping, it detects whether there is a part on the fixture 13 to determine whether the gripping is successful. If it is not gripped, a feedback signal causes the robot arm 800 to operate again.

[0057] like Figure 14As shown, in this embodiment, the plate 12 is further provided with a base plate 14, which is fixed to the plate 12. A fixing plate 15 is provided on the base plate 14, and the angle between the fixing plate 15 and the base plate 14 is an acute angle. The detection sensor 17 is mounted on the fixing plate 15. It should be noted that the base plate 14 is fixed to the plate 12, providing a mounting base for the fixing plate 15; the fixing plate 15 forms an acute angle with the base plate 14, making its detection direction more closely match the part gripping position. Overall working principle: The acute angle design between the fixing plate 15 and the base plate 14 tilts the detection direction of the detection sensor 17, enabling more precise alignment with the side or specific part of the part, avoiding detection blind spots caused by improper installation angles, and ensuring accurate detection of whether the part exists or is gripped. Overall effect: By mounting the sensor on the base plate 14 and the acute-angle fixing plate 15, the detection angle is optimized, the detection blind spot is reduced, the detection accuracy is improved, the reliability of the gripping action is further guaranteed, and the detection needs of parts with different shapes are adapted.

[0058] like Figure 14 As shown, in this embodiment, the connection between the fixing plate 15 and the base plate 14 is an arc-shaped portion 16, which is made of an elastic material. It should be noted that the arc-shaped portion 16, made of an elastic material, connects the fixing plate 15 and the base plate 14. When subjected to a collision, it can deform to avoid a hard impact. Simultaneously, in conjunction with the acute angle structure of the fixing plate 15 and the base plate 14, it allows the fixing plate 15 to finely adjust its angle within a certain range. Overall working principle: When there is a slight displacement of the part's position or the sensor is subjected to a minor collision, the arc-shaped portion 16 made of elastic material deforms, causing the fixing plate 15 and the detection sensor 17 to adjust their angles, thus avoiding damage to the parts from a hard collision. Overall effect: The elastic arc-shaped portion 16, through deformation, avoids hard damage caused by collisions.

[0059] The circuits, electronic components, and modules involved are all existing technologies, which can be fully implemented by those skilled in the art, and need not be elaborated upon. The content protected by this utility model does not involve any improvement to the software and methods.

[0060] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0061] The above description of the disclosed embodiments enables those skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An automated loading and unloading system for machine tools, characterized in that, The device includes a frame (100) and a pusher (200). One side of the frame (100) is provided with a feed bin (101) and a discharge bin (102) for accommodating the pusher (200). The upper and lower ends of the feed bin (101) and the discharge bin (102) respectively penetrate the frame (100). The feed bin (101) is provided with a first pallet (500) and a first lifting device for lifting the first pallet (500). The discharge bin (102) is provided with a second pallet (700) and a second lifting device for lifting the second pallet (700). The pusher (200) is used to place the tray (201), and a first docking mechanism is provided on one side of the tray (201); the top of the frame (100) is provided with a mounting plate (602), and a second docking mechanism is provided on the mounting plate (602) for connecting and cooperating with the first docking mechanism; the top of the frame (100) is also provided with a transverse movement mechanism for driving the mounting plate (602) to move; It also includes a robotic arm (800) located on one side of the frame (100), one end of the robotic arm (800) is provided with a base (900), the base (900) is provided with a mounting port (902) through it, the mounting port (902) is provided along the length direction of the base (900), and the mounting port (902) is provided with an adjustment device. The base (900) has guide rails (901) on both sides in the width direction. The guide rails (901) are provided with a plurality of tooling (10). The tooling (10) is spaced apart along the length direction of the guide rails (901). The tooling (10) includes a slide rail (11) that is slidably connected to the guide rails (901). The slide rail (11) is provided with a plate (12). The plate (12) is provided with a clamp (13). The distance adjustment device is used to adjust the distance between two adjacent tooling (10).

2. The automated machine tool loading and unloading system according to claim 1, characterized in that, The first lifting device includes a first lead screw (503), which is driven by a motor (505). The two ends of the first lead screw (503) are rotatably connected to the upper and lower ends of the feed hopper (101). A first movable seat (502) is threaded onto the first lead screw (503), and the first movable seat (502) is connected to the first support plate (500) through a diagonal brace (501).

3. The automated machine tool loading and unloading system according to claim 2, characterized in that, The feed hopper (101) is also provided with a first guide rod (504), which is parallel to the first lead screw (503), and the first movable seat (502) is slidably sleeved on the first guide rod (504).

4. The automated machine tool loading and unloading system according to claim 1, characterized in that, The first docking mechanism includes a drive assembly and a locking block (203) located at the bottom of the tray (201), wherein the bottom of the locking block (203) is provided with a locking groove (204); the second docking mechanism includes a locking tongue (607), one end of which is rotatably connected to the mounting plate (602) via a connecting shaft (605), and the other end extends outside the mounting plate (602) and is positioned opposite to the locking groove (204); the drive assembly is located on the mounting plate (602) and is used to drive the connecting shaft (605) to rotate; The drive assembly includes a first cylinder (603) mounted on a mounting plate (602). A rack (604) is fixedly connected to the piston rod of the first cylinder (603). A gear (606) is fixedly sleeved on the connecting shaft (605). The gear (606) meshes with the rack (604).

5. The automated machine tool loading and unloading system according to claim 1, characterized in that, The traverse mechanism includes a rodless cylinder (600) mounted on a frame (100), and a slide (601) is provided at the bottom of the mounting plate (602), which is mounted on the rodless cylinder (600).

6. The automated machine tool loading and unloading system according to claim 1, characterized in that, The feed hopper (101) is equipped with a second cylinder (400). A stop rod (401) is hinged to the piston rod of the second cylinder (400). A connecting rod (402) is hinged to the stop rod (401). The end of the connecting rod (402) away from the stop rod (401) is hinged to the cylinder body of the second cylinder (400).

7. The automated machine tool loading and unloading system according to claim 1, characterized in that, The bottom of the tray (201) is provided with a support pin (202).

8. The automated machine tool loading and unloading system according to claim 1, characterized in that, The adjusting device includes a double-headed cylinder (20), the middle part of which is fixed in the middle of the mounting port (902). The piston rods at both ends of the double-headed cylinder (20) are respectively provided with connecting plates (21). There are three tooling (10) on each side guide rail (901) of the base (900). The plate body (12) of two tooling (10) is connected to the two connecting plates (21) respectively, and the plate body (12) of the other tooling (10) is fixed in the middle of the base (900).

9. The automated machine tool loading and unloading system according to claim 8, characterized in that, An installation block (30) is provided between two adjacent slide rails (11). The installation block (30) is fixed on the base (900). A first buffer rod (31) is provided on the installation block (30). The first buffer rod (31) is arranged along the length direction of the base (900), and the two ends of the first buffer rod (31) are respectively facing the two adjacent slide rails (11). The mounting port (902) is provided with a second buffer rod (903) at both ends, and the second buffer rod (903) faces the two connecting plates (21) respectively.

10. The automated machine tool loading and unloading system according to claim 1, characterized in that, The plate (12) is also provided with a detection sensor (17) for detecting parts. The plate (12) is also provided with a base plate (14). The base plate (14) is fixed on the plate (12). The base plate (14) is provided with a fixing plate (15). The detection sensor (17) is installed on the fixing plate (15). The connection between the fixing plate (15) and the base plate (14) is an arc-shaped part (16). The arc-shaped part (16) is made of elastic material.

Images