Intelligent flexible manufacturing cell structure

Abstract

The utility model provides a kind of intelligent flexible manufacturing unit structure for multi-species small batch intelligent mechanical manufacturing.Mechanical hand is installed at the top of column, numerical control equipment is equipped with master disc, multiple numerical control equipment, stacker, loading and unloading workstation, buffer platform, stereoscopic warehouse and column are all installed on ground;Control center controls stacker to carry out storage between it in the sub-disc in loading and unloading workstation or buffer platform or stereoscopic warehouse, control center controls mechanical hand to grasp the sub-disc on buffer platform to the positioning on the master disc on numerical control equipment, and the machining of the part to be machined on sub-disc is carried out by numerical control equipment.The part of the utility model can be quickly positioned to the workbench of different numerical control equipment and realizes interchange, so that the time positioned to numerical control equipment is shorter, precision is higher, flexible intelligent control production line can be realized, manual intervention is reduced, and the effective working time of numerical control equipment and the stability and reliability of production process are greatly improved.

Description

Technical Field

[0001] This utility model relates to the field of mechanical manufacturing technology, specifically an intelligent flexible manufacturing unit structure for manufacturing multiple varieties of small batches of products. Background Technology

[0002] Current machinery and related processing industries still rely on traditional methods for multi-variety, small-batch production. This involves single-person, single-machine operation with no hardware connectivity between machines and no internet-based software, hindering intelligent networking and collaboration between equipment and personnel. Furthermore, this approach suffers from low production efficiency, low equipment utilization, and high production costs, failing to meet the needs of modern, multi-variety, and smaller-batch production and future development. Therefore, researching an intelligent, flexible manufacturing unit for multi-variety, small-batch production is becoming increasingly important. Summary of the Invention

[0003] To overcome the shortcomings of the existing technology, the purpose of this invention is to provide an intelligent flexible manufacturing unit structure that connects dispersed CNC machining equipment through a network, so as to achieve the purpose of unified scheduling and coordination of each piece of equipment by the control center.

[0004] To achieve the above-mentioned objectives, the robotic arm of the intelligent flexible manufacturing unit structure of this invention is installed on the top of the column. The CNC equipment is equipped with a master disk. Multiple CNC machines, stacker cranes, loading and unloading workstations, buffer platforms, automated warehouses, and columns are all installed on the ground. The control center controls the stacker crane to transfer the sub-disks from the loading and unloading workstations, buffer platforms, or automated warehouses. The control center controls the robotic arm to pick up the sub-disks from the buffer platform and position them on the master disk on the CNC equipment. The CNC equipment then processes the parts to be processed on the sub-disks.

[0005] Furthermore, an externally threaded cylinder is fixedly connected to the upper surface of the mother disc, and an internally threaded cylinder is threadedly connected to the surface of the externally threaded cylinder. A hollow plate is fixedly connected to the upper surface of the internally threaded cylinder, and a pull stud is fitted to the inner wall of the hollow plate. A daughter disc is fixedly connected to the upper surface of the pull stud, and slots are provided on both the left and right sides of the pull stud. A circular plate is fixedly connected to the inner wall of the internally threaded cylinder, and a rectangular hole is provided inside the circular plate. Locking brackets are fitted to the inner walls of the slots, the inner walls of the rectangular hole, and the upper and lower sides of the circular plate. A return spring is fixedly connected to the inner wall of the locking bracket, and connecting blocks are fixedly connected to the surface of the return spring and the upper surface of the circular plate. A connecting block is fitted to the inner wall of the externally threaded cylinder and the bottom of the locking bracket. A conical slider has a support ring fitted to its bottom, and the surface of the support ring is fixedly connected to the inner wall of the external threaded cylinder. The surface of the internal threaded cylinder has air holes located above a circular plate. Circular holes are located on both the left and right sides of the external threaded cylinder, and a three-way pipe is fixedly connected to the inner wall of each circular hole. A solenoid valve is fixedly connected to the left end of the three-way pipe. An air distribution box is fixedly connected to the upper surface of the mother plate, and an air pump is fixedly connected to the upper surface of the air distribution box. An air outlet pipe is fixedly connected to both the air pump's outlet end and the upper surface of the air distribution box. A connecting pipe is fixedly connected to both the surface of the air distribution box and the right end of the three-way pipe. The top end of the three-way pipe is located inside the external threaded cylinder, and a protective mesh is fixedly connected to the top end of the three-way pipe.

[0006] Furthermore, the locking bracket includes a rectangular slider, a retaining ring, a trapezoidal block, a first column, and a circular ring. The surface of the rectangular slider is fitted with the inner wall of the first rectangular hole. The upper and lower sides of the circular plate are fitted with the surface of the retaining ring. The inner wall of the retaining ring is fixedly connected to the surface of the rectangular slider. The upper surface of the rectangular slider is fixedly connected to the bottom of the trapezoidal block. The surface of the trapezoidal block is fitted with the inner wall of the slot. The bottom of the rectangular slider is fixedly connected to the upper surface of the first column. The bottom of the first column is fitted with the surface of the conical slider. The top diameter of the conical slider is smaller than the bottom diameter of the conical slider. A rectangular block is fixedly connected to the upper surface of the conical slider. An annular groove is formed on the surface of the conical slider. A sealing ring is fitted on the inner wall of the annular groove. The surface of the sealing ring is fitted with the inner wall of the external threaded cylinder. The side of the rectangular slider is fixedly connected to the side of the circular ring. The inner wall of the circular ring is fixedly connected to the surface of the return spring.

[0007] Furthermore, a T-shaped groove is provided on the upper surface of the sub-disc, and a positioning hole is provided on the inner side of the pull stud below the sub-disc.

[0008] Furthermore, the mother disc has a second rectangular hole inside, and a rectangular cylinder is fixedly connected to the inner wall of the second rectangular hole. An installation block is fitted to the inner wall of the rectangular cylinder. An installation hole is opened inside the installation block. Limiting blocks are fixedly connected to both the front and rear sides of the installation block. A limiting groove is opened on the upper surface of the rectangular cylinder, and the inner wall of the limiting groove is fixedly connected to the surface of the limiting block.

[0009] Furthermore, the crossbeam of the robotic arm is fixed to the column, and a horizontal axis linear guide, a drag chain, and a horizontal axis rack are installed on the crossbeam by screws. The horizontal axis linear guide slider is installed on the horizontal axis support plate by screws, and the horizontal axis linear guide slider is slidably connected to the horizontal axis linear guide. A horizontal axis servo reduction motor is installed on the horizontal axis support plate by screws, and a horizontal axis gear is installed at the output end of the horizontal axis servo reduction motor. The horizontal axis gear and the horizontal axis rack mesh with each other. A vertical axis linear guide slider and a vertical axis servo gear motor are mounted on the horizontal axis support plate by screws. The vertical axis gear is mounted on the output end of the vertical axis servo gear motor. The vertical axis linear guide is mounted on the bottom surface of the vertical axis beam by screws. The vertical axis linear guide slider is slidably connected to the vertical axis linear guide. The vertical axis rack is mounted on the vertical axis beam by screws. The vertical axis gear and the vertical axis rack mesh with each other. A vertical axis servo geared motor is mounted on the vertical axis beam by screws. A vertical axis gear is mounted on the output end of the vertical axis servo geared motor. A vertical axis rack is mounted on the vertical axis. A vertical axis is mounted on the vertical axis beam via four vertical axis linear guides. The vertical axis is slidably connected to the vertical axis linear guides. A hollow optical shaft, a first pneumatic safety brake, and a brake seat are installed between the vertical axis beam and the vertical axis.

[0010] Furthermore, a rotating shaft assembly is installed inside the lower support of the vertical shaft, and a connecting bracket and a gripper are installed below the rotating shaft assembly; the output shaft of the rotating shaft servo motor of the rotating shaft assembly is installed in the input hole of the reducer, the output end of the reducer is connected to the connecting shaft disc, the connecting shaft disc is connected to the rotating main shaft as a whole through a key and a pressure plate, the reducer is connected to the rotating shaft housing as a whole through screw one and a transition flange, bearing one, bearing two and bearing three are installed between the rotating shaft housing and the rotating main shaft, and the entire bearing pair is axially and radially positioned through spacer one, spacer two, spacer three, pressure cap and screw two.

[0011] Furthermore, a left sealing ring I, a left sealing ring II, a left guide band, and a left guide pin are installed between the left cylinder and the left piston of the gripper. The left cylinder end cover is installed on the left cylinder with screws, and a left spring is installed between the left cylinder end cover and the left piston. A right sealing ring I, a right sealing ring II, a right guide band, and a right guide pin are installed between the right cylinder and the right piston. The right cylinder end cover is installed on the right cylinder with screws, and a right spring is installed between the right cylinder end cover and the right piston. The left and right cylinders of the gripper are connected by... The screws are installed on the gripper body, and the threaded holes on the gripper body are connected to the connecting bracket with screws. The left and right pistons are cylindrical, and the exposed front part is a T-shaped wedge structure, which is consistent with the shape of the pull pin groove of the coupling on the sub-plate. The lower inner side of the left and right cylinders is a conical structure that matches the short conical surface α of the pull pin of the coupling on the sub-plate. The gripper body is provided with cylinder port A1 and cylinder port A2, and the left cylinder end cover and the right cylinder end cover are provided with cylinder port B1 and cylinder port B2, respectively.

[0012] Furthermore, the lower part of the stacker crane's trolley is equipped with wheels and guide rollers, and also with a horizontal servo reduction motor for the stacker crane. The output end of the horizontal servo reduction motor for the stacker crane is equipped with a gear for horizontal movement of the trolley. The horizontal guide rail for the stacker crane is installed on the ground rail, and the mounting plate is fixed on the ground rail. The rack for horizontal movement of the trolley is fixed to the side of the mounting plate, and the gear for horizontal movement of the trolley meshes with the rack for horizontal movement of the trolley. A lifting frame is installed in the middle of the trolley, and four rollers for vertical movement of the lifting frame are installed on the lifting frame. The vertical servo reduction motor of the stacker crane is fixed at the lower part of the trolley. The drive sprocket is installed at the output end of the vertical servo reduction motor of the stacker crane, and the driven sprocket is installed at the upper part of the lifting frame. The drive sprocket and the driven sprocket are engaged with the chain. The lifting frame and the chain are connected as one unit by the fixing plate and the connecting plate. Four vertical guide rails for the lifting frame and a second pneumatic safety brake are installed on both sides of the trolley. In the pneumatic opening mode, the second pneumatic safety brake moves up and down along the safety light rod. The safety light rod is fixed between the two sides of the trolley by the upper and lower mounting seats. The lifting frame has a two-layer internal structure. The moving layer can roll within four grooves on the inner side of the lifting frame via four vertically moving rollers installed on its sides. The stacker crane's vertical servo reduction motor is mounted on the base plate of the lifting frame. The vertical moving gear of the moving layer is mounted on the output end of the stacker crane's vertical servo reduction motor. The vertical moving rack of the moving layer, which meshes with the vertical moving gear, is installed on the lower part of the moving layer. The upper part of the moving layer is equipped with positioning supports for lifting the sub-panel when the moving layer moves to the buffer platform, loading and unloading workstation, and automated warehouse. The position of the positioning supports is offset from the position of the positioning holes on the sub-panel. The outer dimensions of the sub-panel are larger than the width of the moving layer. The stacker crane is also equipped with drag chain one and drag chain two, as well as auxiliary parts of the control box. Rollers one and two are installed under the crossbars on both sides of the top of the trolley. Rollers one and two can roll on the automated warehouse guide rails. The four rollers on both sides clamp the automated warehouse guide rails in the middle.

[0013] Furthermore, there are multiple loading and unloading workstations. The lower part of the loading and unloading body of the loading and unloading workstation is equipped with steps, an electrical control box, and adjusting pads. The upper part of the loading and unloading body is equipped with a protective cover. Support side plate one and support side plate two are installed inside the protective cover. Positioning pin one and positioning pin two are respectively installed on the upper part of support side plate one and support side plate two. Positioning pin one and positioning pin two respectively cooperate with two positioning holes of the sub-panel. The loading and unloading body has reserved space to facilitate the entry of the stacker crane's moving layer and transfer of the sub-panel.

[0014] Furthermore, the lower part of the cache platform support is equipped with adjustable support legs, two cache platform linear guides are laid flat on the upper part of the support, the cache platform slider is slidably connected to the cache platform linear guides, the movable tray is connected to the cache platform slider, and support plate one and support plate two are fixed on the movable tray. Each support plate one and support plate two is equipped with a positioning pin for positioning with the positioning hole of the sub-pallet. A space is reserved between support plate one and support plate two to facilitate the entry and transfer of the moving layer of the stacker crane to the sub-pallet; the cylinder body is fixed to the support, and the movable... The piston rod end is connected to the lower part of the movable pallet. Guided by the linear guide rail of the buffer platform, the cylinder pushes the movable pallet and the sub-panel on it to achieve left and right limit displacement. Limit switch one and limit switch two are installed at the extreme positions on both sides of the movable pallet, and limit switch one and limit switch two are also installed. Support one and support two are also installed on the upper part of the support. Sensor one and sensor two are respectively installed on support one and support two to determine whether there is a sub-panel on the movable pallet. The cabinet at the bottom of the buffer platform also contains corresponding solenoid valve one, pneumatic system and electrical control box two.

[0015] Furthermore, the automated warehouse is constructed by welding structural components and includes several squares for storing sub-panels. Each square is composed of support plate three and support plate four. Positioning pins three and four are respectively installed on support plate three and support plate four to cooperate with the positioning holes of the sub-panels. A proximity switch is also installed in each square. The upper part of the structural components is provided with automated warehouse guide rails for guiding the rollers one and two of the stacker crane. The automated warehouse has reserved space to facilitate the entry and transfer of sub-panels by the moving layer of the stacker crane.

[0016] The CNC equipment, robotic arm, stacker crane, loading and unloading workstation, buffer platform, automated warehouse, and master disk of this utility model are connected to the control center via a network. This allows the control center to conveniently control and coordinate each piece of equipment and component, issue processing programs, and issue processing instructions. When equipment malfunctions, the control center can coordinate the robotic arm to grab the workpiece and move it to other CNC equipment via the network for subsequent processing of the parts. This effectively realizes the monitoring of the parts processing process, the management of processing time, and equipment management.

[0017] The CNC equipment and the workpiece can be quickly positioned using a mother plate and a daughter plate, with a positioning time of only twenty seconds. The daughter plate, which is used to install the workpiece (or blank), is positioned on the mother plate by positioning pins, which is highly accurate. This allows for the convenient transfer and processing of workpieces between different CNC equipment (with mother plates having the same interface). It also allows for the installation of workpieces (or blanks) on the daughter plate on the line of the CNC equipment. After processing, the daughter plate can be moved to the offline buffer platform and automated warehouse without affecting the processing of the CNC equipment. This reduces the time spent fixing and disassembling workpieces on the equipment and increases the effective processing time of the CNC equipment.

[0018] Compared with the prior art, this utility model has the following advantages: 1. Parts can be quickly positioned on the worktables of different CNC machines and interchanged, making the positioning time on the CNC machine shorter and the accuracy higher.

[0019] 2. The auxiliary time for installing and positioning parts (or blanks) does not occupy the processing time of CNC equipment, which greatly improves the effective working time of CNC equipment, shortens the product manufacturing cycle by nearly 40%, and reduces production costs by 30%.

[0020] 3. It enables flexible and intelligent control of the production line, reducing manual intervention and improving the stability and reliability of the production process; one operator can control multiple devices, greatly reducing the operator's labor intensity and allowing the operator to better monitor the equipment in the production process, detect problems in time, and deal with them promptly.

[0021] 4. Flexible and intelligent control: The control center of the production line can exchange various data with the factory through the MES system, which makes it easier for factory managers to manage the parts processing process. This makes production process management more intuitive and efficient, adapting to the production needs of more varieties and small batches. It provides more personalized product processing methods for special industries and can achieve low-energy consumption and low-loss production. Attached Figure Description

[0022] To make the content of this utility model easier to understand, the present utility model will be further described in detail below with reference to specific embodiments and accompanying drawings, wherein: Figure 1 This is a simplified structural diagram of the present invention.

[0023] Figure 2 yes Figure 1 Top view.

[0024] Figure 3 yes Figure 1 The left view.

[0025] Figure 4 yes Figure 1 A schematic diagram of the connection structure between the mother disk and the daughter disk.

[0026] Figure 5 yes Figure 4 Enlarged view of point A.

[0027] Figure 6 yes Figure 4 Sectional view at BB.

[0028] Figure 7 yes Figure 4 A top view of the sub-disk.

[0029] Figure 8 yes Figure 4 A bottom view of the sub-disc.

[0030] Figure 9 yes Figure 4 Front view of the locking bracket.

[0031] Figure 10 yes Figure 4 Side view of the locking bracket.

[0032] Figure 11 yes Figure 4 The front view of the rectangular tube.

[0033] Figure 12 yes Figure 1 A simplified structural diagram of the robotic arm.

[0034] Figure 13 yes Figure 12The left view.

[0035] Figure 14 yes Figure 13 Top view.

[0036] Figure 15 yes Figure 12 A partial axonometric view of the robotic arm.

[0037] Figure 16 yes Figure 12 A simplified structural diagram of the rotating shaft assembly.

[0038] Figure 17 yes Figure 12 A simplified structural diagram of the gripper.

[0039] Figure 18 yes Figure 1 A simplified structural diagram of a stacker crane.

[0040] Figure 19 yes Figure 18 The left view.

[0041] Figure 20 yes Figure 18 Top view.

[0042] Figure 21 yes Figure 1 A simplified structural diagram of the loading and unloading workstation.

[0043] Figure 22 yes Figure 22 The left view.

[0044] Figure 23 yes Figure 22 AA sectional view.

[0045] Figure 24 yes Figure 1 A simplified diagram of the caching platform's architecture.

[0046] Figure 25 yes Figure 24 The left view.

[0047] Figure 26 yes Figure 24 Top view.

[0048] Figure 27 yes Figure 1 A simplified structural diagram of the automated warehouse.

[0049] Figure 28 This is a logic block diagram of the control system of this utility model.

[0050] In the diagram: 1. Robotic arm; 1-1. Crossbeam; 1-2. Horizontal axis support plate; 1-3. Horizontal axis linear guide slider; 1-4. Horizontal axis linear guide; 1-5. Horizontal axis servo geared motor; 1-6. Vertical axis linear guide slider; 1-7. Vertical axis linear guide; 1-8. Horizontal axis gear; 1-9. Cable chain; 1-10. Horizontal axis rack; 1-20. Vertical axis crossbeam; 1-21. Vertical axis servo geared motor; 1-22. Vertical axis rack; 1-23. Vertical axis servo geared motor; 1-24. Vertical axis gear; 1-25. Vertical axis cable chain; 1-26. Electrical control cabinet; 1-27. Vertical axis gear; 1-30. Vertical axis; 1-31. Vertical axis linear guide; 1-32. Hollow optical axis; 1- 33. First pneumatic safety brake; 1-34. Brake seat; 1-35. Vertical shaft rack; 1-40. Rotary shaft assembly; 1-41. Rotary shaft servo motor; 1-42. Reducer; 1-43. Screw 1; 1-44. Connecting shaft disc; 1-46. Rotary spindle; 1-47. Bearing 1; 1-48. Rotary shaft housing; 1-49. Pressure plate; 1-50. Bearing 2; 1-51. Bearing 3; 1-52. Pressure cap; 1-53. Spacer 1; 1-54. Spacer 2; 1-55. Screw 2; 1-56. Spacer 3; 1-57. Transition flange; 1-60. Handle; 1-60-1. Left cylinder end cover; 1-60-2. Left sealing ring 1; 1-60-3. Left guide belt; 1-60-4. Left... Spring; 1-60-5, Left guide pin; 1-60-6, Left sealing ring II; 1-60-7, Left cylinder; 1-60-8, Left piston; 1-60-11, Right cylinder end cover; 1-60-12, Right seal I; 1-60-13, Right guide band; 1-60-14, Right spring; 1-60-15, Right guide pin; 1-60-16, Right seal II; 1-60-17, Right cylinder; 1-60-18, Right piston; 1-60-19, Handle body; 1-61, Connecting bracket; 2, Column; 3-1, CNC equipment I; 3-2, CNC equipment II; 3-3, CNC equipment III; 3-4, CNC equipment IV; 4, Sub-plate; 4-1, Pull stud; 4-2, T-slot; 4-3, Positioning hole; 5 5-1. Stacker crane; 5-2. Stacker crane horizontal guide rail; 5-3. Trolley horizontal movement rack; 5-4. Guide roller; 5-5. Wheel; 5-6. Trolley horizontal movement gear; 5-7. Stacker crane horizontal servo reduction motor; 5-8. Lifting frame vertical guide rail; 5-9. Safety rod; 5-10. Second pneumatic safety brake; 5-11. Lifting frame; 5-12. Stacker crane vertical servo reduction motor; 5-13. Lifting frame vertical movement roller; 5-14. Moving layer; 5-16. Trolley; 5-18. Positioning support column; 5-19. Moving layer vertical movement roller; 5-20. Moving layer vertical movement gear; 5-21. Moving layer vertical movement rack;5-22. Driven sprocket; 5-23. Chain; 5-24. Connecting plate; 5-25. Fixing plate; 5-26. Ground rail; 5-27. Cable drag chain one; 5-28. Mounting plate; 5-31. Stacker crane vertical servo reduction motor; 5-32. Control box; 5-33. Cable drag chain two; 5-34. Roller one; 5-35. Roller two; 6. Loading and unloading workstation; 6-1. Adjusting shims; 6-2. Steps; 6-3. Loading and unloading body; 6-4. Electrical control box one; 6-6. Protective cover; 6-7. Support side plate one; 6-8. Positioning pin one; 6-9. Positioning pin two; 6-10. Support side plate two; 7. Buffer platform; 7-1. Adjustable support legs; 7-2. Bracket; 7-3. Limiter 1; 7-4. Bracket 1; 7-5. Sensor 1; 7-6. Linear guide rail for buffer platform; 7-7. Buffer platform slider; 7-8. Moving pallet; 7-9. Support plate 1; 7-10. Limiter 2; 7-11. Cylinder; 7-12. Limit switch 1; 7-13. Solenoid valve 1; 7-14. Bracket 2; 7-15. Sensor 2; 7-16. Support plate 2; 7-17. Limit switch 2; 7-18. Pneumatic system; 7-19. Electrical control box 2; 8. Automated warehouse; 8-1. Structural components; 8 -2. Support plate three; 8-3. Positioning pin three; 8-4. Support plate four; 8-5. Positioning pin four; 8-6. Proximity switch; 8-7. Automated warehouse guide rail; 9. Control center; 10. Mother plate; 10-1. External threaded cylinder; 10-2. Internal threaded cylinder; 10-3. Hollow plate; 10-4. Slot; 10-5. Circular plate; 10-6. Rectangular hole one; 10-7. Locking bracket; 10-7-1. Rectangular slider; 10-7-2. Retaining ring; 10-7-3. Trapezoidal block; 10-7-4. Column one; 10-7-5. Circular ring; 10-8. Return spring; 10-9. Connecting block; 10-10. Conical slider; 10-11. Support ring; 10-12. Air hole; 10-13. Round hole; 10-14. T-pipe; 10-15. Solenoid valve II; 10-16. Air distribution box; 10-17. Air pump; 10-18. Air outlet pipe; 10-19. Connecting pipe; 10-20. Rectangular block; 10-21. Protective net; 10-22. Annular groove; 10-23. Sealing ring; 10-24. Rectangular hole II; 10-25. Rectangular cylinder; 10-26. Mounting block; 10-27. Mounting hole; 10-28. Limiting block; 10-29. Limiting groove; 11. Coupling. Detailed Implementation

[0051] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings.

[0052] Many specific details are set forth in the following description in order to provide a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Those skilled in the art can make similar extensions without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0053] like Figure 1 , Figure 2 , Figure 3 As shown, the robot 1 of this utility model, an intelligent flexible manufacturing unit structure, is installed on the top of the column 2. The CNC equipment consists of multiple CNC devices, including CNC device 1 3-1, CNC device 2 3-2, CNC device 3-3, and CNC device 4 3-4. Each of the CNC devices 1 3-1, 2 3-2, 3 3-3, and 4 3-4 is equipped with a master disk 10. The multiple CNC devices, stacker crane 5, loading and unloading workstation 6, buffer platform 7, automated warehouse 8, and column 2 are all installed on the ground. The control center 9 controls the stacker crane 5 to move any sub-pallet 4 from any storage location in the automated warehouse 8 to the loading and unloading workstation 6, where operators can inspect or replace the blanks with new ones. The control center 9 controls the stacker crane 5 to move the sub-pallet 4 containing parts or blanks in the loading and unloading workstation 6 to the buffer platform 7 next to the loading and unloading workstation 6. Under the control of the control center 9, the buffer platform 7 moves towards the CNC equipment. The robot arm 1 grabs the coupling 11 on the sub-pallet 4 on the buffer platform 7 and transports the sub-pallet 4 containing parts or blanks to one of the designated CNC equipment. Under the control of the control center 9, the sub-pallet 4 docks with the master pallet 10 on the CNC equipment. After the CNC equipment receives the processing program for the parts to be processed from the control center 9, the CNC equipment begins to process the parts or blanks installed on the sub-pallet 4. The sub-pallets 4 between CNC equipment can be exchanged by the robot arm 1 under the control of the control center 9.

[0054] Control center 9 can coordinate and control various CNC equipment systems through the network, schedule and plan the status of each CNC equipment, the information of the machining process, and the parts to be processed. It can also realize the programmed scheduling and control of the machining of several CNC equipment by one person, reducing the number of operators and saving auxiliary time in the machining process. The time for installing parts and blanks can be done manually in the loading and unloading workstation 6 to install or replace blanks or parts on the sub-panel 4 during the machining process of CNC equipment. Alternatively, the installed blanks and parts on the sub-panel 4 can be temporarily stored in the designated workstation in the automated warehouse 8 by the stacker crane 5, so that the corresponding sub-panel 4 can be picked up by the robot arm 1 and moved to the designated position planned by the program for the next operation and processing according to the processing needs.

[0055] Control center 9 can also monitor the equipment during the production process, detect problems in a timely manner, and handle them promptly. If one of the CNC machines malfunctions during the processing, the signal for interrupting the processing of the CNC machine will be fed back to control center 9. Control center 9 can use robot arm 1 to move the sub-panel 4 (including the parts or blanks installed on it) on the malfunctioning CNC machine to other CNC machines for positioning and processing. The positioning of the parts or blanks with sub-panel 4 can be repeated on other CNC machines, and subsequent processing can continue. Similarly, different steps of a part or blank can be processed on different CNC machines, which improves the flexibility and efficiency of the machining process.

[0056] like Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Figure 9 , Figure 10 , Figure 11 As shown, an externally threaded cylinder 10-1 is fixedly connected to the upper surface of the mother disc 10. An internally threaded cylinder 10-2 is threadedly connected to the surface of the externally threaded cylinder 10-1. A hollow plate 10-3 is fixedly connected to the upper surface of the internally threaded cylinder 10-2. A pull stud 4-1 is fitted into the inner wall of the hollow plate 10-3. A daughter disc 4 is fixedly connected to the upper surface of the pull stud 4-1. A positioning hole 4-3 is provided on the inner side of the pull stud 4-1 below the daughter disc 4. A slot 10- is provided on both the left and right sides of the pull stud 4-1. 4. A circular plate 10-5 is fixedly connected to the inner wall of the internally threaded cylinder 10-2. A rectangular hole 10-6 is opened inside the circular plate 10-5. Locking brackets 10-7 are fitted to the inner wall of the slot 10-4, the inner wall of the rectangular hole 10-6, and the upper and lower sides of the circular plate 10-5. A return spring 10-8 is fixedly connected to the inner wall of the locking bracket 10-7. Connecting blocks 10-9 are fixedly connected to the surface of the return spring 10-8 and the upper surface of the circular plate 10-5. A tapered slider 10-10 is fitted to both the inner wall of the threaded cylinder 10-1 and the bottom of the locking bracket 10-7. A support ring 10-11 is fitted to the bottom of the tapered slider 10-10. The surface of the support ring 10-11 is fixedly connected to the inner wall of the external threaded cylinder 10-1. An air hole 10-12 is opened on the surface of the internal threaded cylinder 10-2. Circular holes 10-13 are opened on both the left and right sides of the external threaded cylinder 10-1. A tee is fixedly connected to the inner wall of the circular holes 10-13. Pipe 10-14, the left end of the three-way pipe 10-14 is fixedly connected to solenoid valve 10-15, the upper surface of the mother plate 10 is fixedly connected to the air distribution box 10-16, the upper surface of the air distribution box 10-16 is fixedly connected to the air pump 10-17, the air outlet end of the air pump 10-17 and the upper surface of the air distribution box 10-16 are both fixedly connected to the air outlet pipe 10-18, and the surface of the air distribution box 10-16 and the right end of the three-way pipe 10-14 are both fixedly connected to the connecting pipe 10-19.

[0057] The locking bracket 10-7 includes a rectangular slider 10-7-1, a retaining ring 10-7-2, a trapezoidal block 10-7-3, a column 10-7-4, and a circular ring 10-7-5. The surface of the rectangular slider 10-7-1 is in contact with the inner wall of the rectangular hole 10-6. The upper and lower sides of the circular plate 10-5 are in contact with the surface of the retaining ring 10-7-2. The inner wall of the retaining ring 10-7-2 is fixedly connected to the surface of the rectangular slider 10-7-1. The upper surface of the rectangular slider 10-7-1 is in contact with... The bottom of trapezoidal block 10-7-3 is fixedly connected, the surface of trapezoidal block 10-7-3 is in contact with the inner wall of slot 10-4, the bottom of rectangular slider 10-7-1 is fixedly connected with the upper surface of column 10-7-4, the bottom of column 10-7-4 is in contact with the surface of conical slider 10-10, the side of rectangular slider 10-7-1 is fixedly connected with the side of ring 10-7-5, and the inner wall of ring 10-7-5 is fixedly connected with the surface of return spring 10-8.

[0058] The top diameter of the conical slider 10-10 is smaller than the bottom diameter of the conical slider 10-10. A rectangular block 10-20 is fixedly connected to the upper surface of the conical slider 10-10. The air hole 10-12 is located above the circular plate 10-5. The top end of the three-way pipe 10-14 is located inside the external threaded cylinder 10-1. A protective net 10-21 is fixedly connected to the top end of the three-way pipe 10-14. A T-shaped groove 4-2 is opened on the upper surface of the sub-disc 4. An annular groove 10-22 is opened on the surface of the conical slider 10-10. A sealing ring 10-23 is fitted on the inner wall of the annular groove 10-22. The surface of the sealing ring 10-23 is in contact with the inner wall of the external threaded cylinder 10-1. The return spring 10-8 is made of high-strength spring steel (65Mn), with a preload designed to be 0.6N-1.2N, ensuring reliable clamping of the trapezoidal block 10-7-3 (vibration resistance ≥5G). When the pull pin 4-1 is inserted into the hollow plate 10-3, the bottom surface of the pull pin 4-1 first contacts the inclined surface of the trapezoidal block 10-7-3. Then, through the pressure of the pull pin 4-1 on the inclined surface of the trapezoidal block 10-7-3, the distance between the two trapezoidal blocks 10-7-3 on the left and right sides can be increased, and the return spring 10-8 can be stretched. After block 10-7-3 is aligned with slot 10-4, the pull force of return spring 10-8 on ring 10-7-5 allows trapezoidal block 10-7-3 to be automatically inserted into slot 10-4, and trapezoidal block 10-7-3 and slot 10-4 to fit tightly together. At this time, through the cooperation of trapezoidal block 10-7-3, slot 10-4, pull pin 4-1 and hollow plate 10-3, the processed parts on sub-plate 4 can be directly positioned and fixed. T-slot 4-2 is used to install the parts to be processed or blanks.

[0059] The conical slider 10-10 is supported by the support ring 10-11, and the internal threaded cylinder 10-2 is connected to the outside through the air hole 10-12. At this time, the air pressure above the conical slider 10-10 is always the same as the outside air pressure when the conical slider 10-10 moves up or down, thus allowing the conical slider 10-10 to move smoothly. The connection between the conical slider 10-10 and the external threaded cylinder 10-1 is sealed by the sealing ring 10-23. When the internal threaded cylinder 10- 2. After unscrewing from the external threaded cylinder 10-1, clamp the rectangular block 10-20 with pliers, and then use pliers to remove the tapered slider 10-10 from the external threaded cylinder 10-1. This makes it easier for the user to replace the tapered slider 10-10 or the sealing ring 10-23. After the internal threaded cylinder 10-2 is separated from the external threaded cylinder 10-1, the protective net 10-21 can prevent foreign objects from entering the tee pipe 10-14. The protective net 10-21 is made of stainless steel and has a hole diameter of 1mm.

[0060] When the air pump 10-17 is turned on and the solenoid valve 10-15 is turned off, the air pressure below the conical slider 10-10 is increased by the air pump 10-17. After the air pump 10-17 has been turned on for 5 seconds, the thrust generated by the air pressure difference between the upper and lower parts of the conical slider 10-10 is greater than the pulling force of the return spring 10-8 on the ring 10-7-5. At this time, the conical slider 10-10 can be moved upward. Through the design of the slope angle (α=15°) of the conical slider 10-10 and the displacement ratio (1:0.8) of the column 10-7-4, the trapezoidal block 10-7-3 can automatically separate from the slot 10-4 when the conical slider 10-10 moves upward. After the trapezoidal block 10-7-3 separates from the slot 10-4, the daughter plate 4 can be directly removed from the mother plate 10.

[0061] The mother plate 10 has a rectangular hole 10-24 inside. A rectangular tube 10-25 is fixedly connected to the inner wall of the rectangular hole 10-24. An installation block 10-26 is fitted to the inner wall of the rectangular tube 10-25. An installation hole 10-27 is opened inside the installation block 10-26. Limiting blocks 10-28 are fixedly connected to both the front and rear sides of the installation block 10-26. A limiting groove 10-29 is opened on the upper surface of the rectangular tube 10-25. The inner wall of the limiting groove 10-29 is fixedly connected to the surface of the limiting block 10-28. The bottom surface of the installation block 10-26 is flush with the bottom surface of the mother plate 10. When the limiting block 10-28 is inserted into the limiting groove 10-29, the cooperation between the limiting block 10-28 and the limiting groove 10-29 prevents the mounting block 10-26 from moving horizontally within the rectangular tube 10-25. Simultaneously, the rectangular tube 10-25 is provided with multiple limiting grooves 10-29. Furthermore, by inserting the limiting block 10-28 into the limiting grooves 10-29 at different positions, the position of the mounting block 10-26 on the master disc 10 can be changed. This allows the position of the mounting hole 10-27 on the quick-clamping fixture to be adjusted according to the hole positions on the mounting brackets of different data machines, enabling the quick-clamping fixture to be installed on various data machines.

[0062] The working principle of connecting and separating the mother plate 10 and the daughter plate 4 is as follows: First, insert the mounting block 10-26 into the rectangular tube 10-25 and the limiting block 10-28 into the limiting groove 10-29. At this time, through the cooperation of the limiting block 10-28 and the limiting groove 10-29, the mounting block 10-26 cannot move horizontally within the rectangular tube 10-25. Then, insert the bolt into the mounting hole 10-27 and fix the mother plate 10 onto the CNC machine using the bolt. Next, insert the bolt into the fixing hole of the part to be processed and tighten the nut on the bolt. Then, insert the nut into the T-slot 4-2 and tighten the bolt. At this time, through the cooperation of the bolt, nut, and T-slot 4-2, the part to be processed is fixed on the daughter plate 4. When fixing the workpiece to be processed on the CNC machine, the pull stud 4-1 is inserted into the hollow plate 10-3. The bottom surface of the pull stud 4-1 first contacts the inclined surface of the trapezoidal block 10-7-3. Then, through the pressure of the pull stud 4-1 on the inclined surface of the trapezoidal block 10-7-3, the distance between the two trapezoidal blocks 10-7-3 on the left and right sides is increased, and the return spring 10-8 is stretched. When the trapezoidal block 10-7-3 is aligned with the slot 10-4, the tension of the return spring 10-8 on the ring 10-7-5 allows the trapezoidal block 10-7-3 to automatically insert into the slot 10-4 and make the trapezoidal block 10-7-3 and the slot 10-4 fit tightly together. At this time, through the cooperation of the trapezoidal block 10-7-3, the slot 10-4, the pull stud 4-1 and the hollow plate 10-3, the workpiece on the sub-plate 4 can be directly positioned and fixed. After the workpiece is processed, turn on the air pump 10-17 and close the solenoid valve 10-15. The air pump 10-17 increases the air pressure below the conical slider 10-10, causing it to move upwards. Then, through the inclined surface of the conical slider 10-10 and the column 10-7-4, the trapezoidal block 10-7-3 automatically separates from the slot 10-4. Once separated, the daughter plate 4 can be directly removed from the mother plate 10. After the daughter plate 4 is removed, turn off the air pump 10-17 and open the solenoid valve 10-15. The air below the conical slider 10-10 can then be discharged through the solenoid valve 10-15, and the slider 10-10 automatically moves back to its initial position due to its own weight.

[0063] like Figure 12 , Figure 13 , Figure 14 , Figure 15As shown, the robotic arm 1 mainly consists of a crossbeam 1-1 and components mounted on its upper part. The crossbeam 1-1 is fixed to the column 2. Three horizontal linear guides 1-4, a drag chain 1-9, and a horizontal rack 1-10 are installed on the crossbeam 1-1 by screws. The horizontal linear guide slider 1-3 is installed on the horizontal support plate 1-2 by screws. The horizontal linear guide slider 1-3 is slidably connected to the horizontal linear guide 1-4. The horizontal servo reduction motor 1-5 is installed on the horizontal support plate 1-2 by screws. The horizontal gear 1-8 is installed at the output end of the horizontal servo reduction motor 1-5. The horizontal gear 1-8 and the horizontal rack 1-10 mesh with each other. The horizontal servo reduction motor 1-5 drives the horizontal gear 1-8 to rotate, thereby driving the horizontal gear 1-8 to move on the horizontal rack 1-10. This allows the horizontal support plate 1-2 to move linearly back and forth in the horizontal direction on the crossbeam 1-1 under the guidance of the horizontal linear guide 1-4 and the linear guide slider 1-3.

[0064] A vertical axis linear guide slider 1-6 and a vertical axis servo reducer motor 1-21 are mounted on the horizontal axis support plate 1-2 by screws. A vertical axis gear 1-27 is mounted on the output end of the vertical axis servo reducer motor 1-21. A vertical axis linear guide 1-7 is mounted on the bottom surface of the vertical axis beam 1-20 by screws. The vertical axis linear guide slider 1-6 is slidably connected to the vertical axis linear guide 1-7. A vertical axis rack 1-22 is mounted on the vertical axis beam 1-20 by screws. The vertical axis gear 1-27 and the vertical axis rack 1-22 mesh with each other. The output shaft of the vertical axis servo reducer motor 1-21 rotates, driving the vertical axis gear 1-27 to move on the vertical axis rack 1-22. Guided by the vertical axis linear guide slider 1-6 and the vertical axis linear guide 1-7, the entire vertical axis beam 1-20 reciprocates in the vertical direction. The vertical axis drag chain 1-25 contains pipelines, which can protect the pipelines when the vertical axis beam 1-20 moves in the vertical direction.

[0065] A vertical axis servo geared motor 1-23 is mounted on the vertical axis beam 1-20 via screws. A vertical axis gear 1-24 is mounted on the output end of the vertical axis servo geared motor 1-23. A vertical axis rack 1-35 is mounted on the vertical axis 1-30. The vertical axis 1-30 is mounted on four vertical axis linear guides 1-31 in the vertical direction of the vertical axis beam 1-20. The vertical axis 1-30 is slidably connected to the vertical axis linear guides 1-31. A hollow optical shaft 1-32, a first pneumatic safety brake 1-33, and a brake seat 1-34 are installed between the vertical axis beam 1-20 and the vertical axis 1-30. The first pneumatic safety brake 1-33 is an externally purchased component, and its model and specification are RBPS-3500-. A; The vertical shaft 1-30 reciprocates up and down through the rotation of the output shaft of the vertical shaft servo reducer motor 1-23 and the vertical shaft gear 1-24 mounted on it, which rolls on the vertical shaft rack 1-35. During the vertical shaft 1-30's reciprocating movement, the first pneumatic safety brake 1-33 is in the state of being ventilated and the spring open. Conversely, when the vertical shaft 1-30 stops moving, the first pneumatic safety brake 1-33 is in the state of being ventilated and the spring is tightened. The vertical shaft servo reducer motor 1-23 is interlocked and cannot be energized to prevent the vertical shaft 1-30 from falling. In extreme cases of sudden power and air outages, the safety of the vertical shaft 1-30 can also be guaranteed.

[0066] A rotating shaft assembly 1-40 is installed in the lower bracket of the vertical shaft 1-30, and a connecting bracket 1-61 and a gripper 1-60 are installed below the rotating shaft assembly 1-40.

[0067] like Figure 16 As shown, the output shaft of the rotary axis servo motor 1-41 of the rotary axis assembly 1-40 is installed in the input hole of the reducer 1-42. The output end of the reducer 1-42 is connected to the connecting shaft disc 1-44. The connecting shaft disc 1-44 is connected to the rotary spindle 1-46 as a whole by a key and a pressure plate 1-49. The reducer 1-42 is connected to the rotary axis housing 1-48 as a whole by screws 1-43 and transition flange 1-57. A bearing is installed between the rotary axis housing 1-48 and the rotary spindle 1-46. Bearing 1-47, bearing 2-50, and bearing 3-51 are axially and radially positioned by spacers 1-53, 2-54, 3-56, gland 1-52, and screw 2-55 to ensure necessary rotational accuracy. The rotation of the rotary shaft servo motor 1-41 drives the rotary spindle 1-46 to rotate synchronously, thereby driving the connecting bracket 1-61 and gripper 1-60 mounted on the rotary spindle 1-46 to rotate, so as to realize the gripper 1-60 to grasp the sub-disc 4.

[0068] The robotic arm 1, through coordinated control of the horizontal axis servo reducer motor 1-5 on the horizontal axis support plate 1-2, the vertical axis servo reducer motor 1-21 on the horizontal axis support plate 1-2, the vertical axis servo reducer motor 1-23 on the vertical axis beam 1-20, and the rotary axis servo motor 1-41 on the vertical axis 1-30, can realize the movement of the gripper 1-60 in the horizontal, vertical, and other spatial directions, and cooperate with the rotation of the rotary spindle 1-46 to CNC equipment 1-3-1, CNC equipment 2-3-2, and CNC equipment 3-3. The grasping action is realized on the master disk 10 on the CNC equipment 3-4 and the daughter disk 4 on the buffer platform 7. The horizontal axis servo reduction motor 1-5, the vertical axis servo reduction motor 1-21, and the vertical axis servo reduction motor 1-23 are all connected to the electrical control cabinet 1-26 and communicate with the control center 9 through the pipelines in the cable chain 1-9 and the vertical axis cable chain 1-25. The moving parts of the robot arm 1 are equipped with corresponding lubrication devices to ensure the lubrication of linear guides, gears, racks, etc., so that the robot arm 1 can achieve long-term reliable operation.

[0069] like Figure 17As shown, a left sealing ring 1-60-2, a left sealing ring 2-1-60-6, and a left guide belt 1-60-3 are installed between the left cylinder 1-60-7 and the left piston 1-60-8 of the gripper 1-60, and a left guide pin 1-60-5 is also installed. The left cylinder end cover 1-60-1 is installed on the left cylinder 1-60-7 by screws, and a left spring 1-60-4 is installed between the left cylinder end cover 1-60-1 and the left piston 1-60-8; a right sealing ring 1-60-12, a right sealing ring 2-1-60-16, and a right guide belt 1-60-13 are installed between the right cylinder 1-60-17 and the right piston 1-60-18. The gripper 1-60 is equipped with a right guide pin 1-60-15, and the right cylinder end cover 1-60-11 is mounted on the right cylinder 1-60-17 with screws. A right spring 1-60-14 is installed between the right cylinder end cover 1-60-11 and the right piston 1-60-18. The left cylinder 1-60-7 and right cylinder 1-60-17 of the gripper 1-60 are mounted on the gripper body 1-60-19 with screws. The threaded holes on the gripper body 1-60-19 are connected to the connecting screws. The brackets 1-61 are connected together. The front of the left piston 1-60-8 and the right piston 1-60-18 has a T-shaped wedge structure, which matches the shape of the pull stud groove of the coupling 11 on the sub-disc 4. The lower inner side of the left cylinder 1-60-7 and the right cylinder 1-60-17 has a conical surface structure that matches the short conical surface α of the pull stud of the coupling 11 on the sub-disc 4. Before the gripper 1-60 grips the sub-disc 4, compressed air is simultaneously introduced from the cylinder ports A1 and A2 of the left and right cylinders. Guided by the left guide belt 1-60-3 and the right guide belt 1-60-13, pistons 60-8 and 1-60-18 retract to their limit positions, counteracting the spring force. This allows gripper 1-60 to disengage from coupling 11 of sub-disc 4. Conversely, before gripper 1-60 grips sub-disc 4, it moves to the short conical surface α of coupling 11 on sub-disc 4 to form a fit. Simultaneously, pressure is released from cylinder ports A1 and A2 of both the left and right cylinders, allowing pistons 1-60-8 and 1-60-18 to... Driven by spring force, the left piston 1-60-8 and right piston 1-60-18 are cylindrical. The wedge-shaped structure of their exposed parts mates with the pull stud groove of the coupling 11 on the sub-disc 4, and simultaneously with the short conical surface α of the coupling 11 on the sub-disc 4, achieving complete positioning and connection between the gripper 1-60 and the coupling 11 on the sub-disc 4. If a greater clamping force is required, compressed air can be simultaneously supplied to the cylinder ports B1 and B2 to increase the clamping force of the gripper 1-60 and meet different load conditions. The cylinder ports A1 and A2 on the gripper body 1-60-19 and the cylinder ports B1 and B2 on the left cylinder end cover 1-60-1 and right cylinder end cover 1-60-11 can be interlocked via solenoid valves to improve safety during use. During the gripping process of gripper 1-60, if the air and power are suddenly cut off, the left spring 1-60-4 and the right spring 1-60-14 can still provide locking force to hold the sub-disc 4.By detecting the air pressure at the cylinder ports A1 and A2, it is possible to indirectly determine whether the gripper 1-60 is clamping or releasing. By detecting the air pressure at the cylinder ports B1 and B2, it is possible to directly determine whether the gripper 1-60 is increasing its clamping force, which facilitates automated control.

[0070] like Figure 18 , Figure 19 , Figure 20 As shown, the lower part of the trolley 5-16 of the stacker crane 5 is equipped with wheels 5-5 and guide rollers 5-4, and also with a horizontal servo geared motor 5-7. A gear 5-6 for horizontal movement of the trolley is installed at the output end of the horizontal servo geared motor 5-7. The horizontal guide rail 5-1 of the stacker crane is mounted on the ground rail 5-26, and the mounting plate 5-28 is also fixed to the ground rail 5-26. The rack 5-2 for horizontal movement of the trolley is fixed to the side of the mounting plate 5-28. The gear 5-6 for horizontal movement of the trolley meshes with the rack 5-2 for horizontal movement of the trolley. The output shaft of the horizontal servo reduction motor 5-7 of the stacker crane rotates, driving the gear 5-6 for horizontal movement of the trolley to rotate. Through the rack 5-2 for horizontal movement of the trolley meshing with the gear 5-6, and under the guidance of the guide roller 5-4, the wheel 5-5 rolls on the horizontal guide rail 5-1 of the stacker crane, realizing the horizontal movement of the trolley 5-16.

[0071] A lifting frame 5-11 is installed in the middle of the trolley 5-16. Four vertical rollers 5-13 are mounted on the lifting frame 5-11 for vertical movement. A vertical servo reduction motor 5-31 of the stacker crane is fixed to the lower part of the trolley 5-16. A drive sprocket is mounted on the output end of the vertical servo reduction motor 5-31, and a driven sprocket 5-22 is mounted on the upper part of the lifting frame 5-11. The drive sprocket, driven sprocket 5-22, and chain 5-23 mesh with each other. The lifting frame 5-11 and chain 5-23 are connected to a connecting plate 5-24 via a fixing plate 5-25. Four vertical guide rails 5-8 and a second pneumatic safety brake 5-10 are installed on both sides of the trolley 5-16. In pneumatic opening mode... The second pneumatic safety brake 5-10 can move up and down along the safety rod 5-9. The safety rod 5-9 is fixed between the two sides of the trolley 5-16 by the upper and lower mounting seats. The second pneumatic safety brake 5-10 is an outsourced component, and its model and specification is RBPS-2400-A. The output shaft of the stacker crane vertical servo reduction motor 5-31 rotates, which drives the driven sprocket 5-22 to rotate through the active sprocket, thereby driving the chain 5-23 to move. Then, the chain 5-23 drives the four lifting frames on the lifting frame 5-11 to move vertically. The rollers 5-13 roll up and down on the vertical guide rail 5-8 of the lifting frame, so as to realize the vertical movement of the lifting frame 5-11 on the trolley 5-16.

[0072] The lifting frame 5-11 has a two-layer structure. The moving layer 5-14 can roll within four grooves on the inner side of the lifting frame 5-11 via four vertical moving rollers 5-19 mounted on its side. The stacker crane vertical servo reduction motor 5-12 is mounted on the base plate of the lifting frame 5-11. The vertical moving gear 5-20 is mounted on the output end of the stacker crane vertical servo reduction motor 5-12. The vertical moving rack 5-21, which meshes with the vertical moving gear 5-20, is mounted on the moving layer 5-11. The lower part of the moving layer 5-14 and the upper part of the moving layer 5-14 are equipped with positioning supports 5-18. These supports are used to lift the sub-panel 4 when the moving layer 5-14 moves to the designated storage location of the buffer platform 7, loading and unloading station 6, and automated warehouse 8. The position of the positioning supports 5-18 is offset from the position of the positioning holes 4-3 on the sub-panel 4 to facilitate the docking of the sub-panel 4 on the moving layer 5-14 with the positioning pins on the buffer platform 7, loading and unloading station 6, and automated warehouse 8. The outer dimensions of the sub-panel 4 are larger than the width of the moving layer 5-14 to facilitate the moving layer 5-14 placing the sub-panel 4 on it into the buffer. Designated locations on platform 7, loading / unloading workstation 6, and automated warehouse 8 facilitate the transfer of sub-pallets 4. The output shaft of the stacker crane's vertical servo reduction motor 5-12 drives the vertical movement gear 5-20 of the moving layer to rotate. Through the vertical movement rack 5-21 meshing with the gear 5-20, the moving layer 5-14 can be moved back and forth vertically along the lifting frame 5-11. Under the action of gravity, the sub-pallets 4 and the moving layer 5-14 can move back and forth vertically together. The stacker crane 5 is also equipped with... Auxiliary parts such as cable chain 1 5-27, cable chain 2 5-33, and control box 5-32 are included. Cable chain 1 5-27 and cable chain 2 5-33 are used to place the relevant pipelines of stacker crane 5. Rollers 1 5-34 and roller 2 5-35 are installed under the crossbars 5-36 on both sides of the top of the trolley 5-16. Rollers 1 5-34 and roller 2 5-35 can roll on the automated warehouse guide rail 8-7. A total of four rollers on both sides clamp the automated warehouse guide rail 8-7 in the middle to provide auxiliary support for stacker crane 5 during movement, which can improve the stress and prevent stacker crane 5 from tipping over.

[0073] Under the control of the stacker crane 5's horizontal servo geared motor 5-7, vertical servo geared motor 5-12, and vertical servo geared motor 5-31, the sub-pallet 4 can move precisely between the buffer platform 7, the loading and unloading workstation 6, and the designated storage location of the automated warehouse 8, enabling the sub-pallet 4 to rotate between the buffer platform 7, the loading and unloading workstation 6, and the designated storage location of the automated warehouse 8, thus realizing the spatial movement and positioning of the sub-pallet 4; and each movement direction's extreme position is equipped with limit switches and dead limit switches to protect the trolley 5-16, the lifting frame 5-11, and the moving layer 5-14. In the event of a sudden power outage or gas outage, the lifting frame 5-11 can be prevented from falling while being held locked by the second pneumatic safety brake 5-10.

[0074] like Figure 21 , Figure 22 , Figure 23 As shown, there are multiple loading and unloading workstations 6. The lower part of the loading and unloading body 6-3 of each workstation 6 is equipped with steps 6-2, an electrical control box 6-4, and adjusting shims 6-1. A protective cover 6-6 is installed on the upper part of the loading and unloading body 6-3. Support side plates 6-7 and 6-10 are installed inside the protective cover 6-6. Positioning pins 6-8 and 6-9 are respectively installed on the top of support side plates 6-7 and 6-10. Positioning pins 6-8 and 6-9 respectively engage with the two positioning holes 4-3 of the sub-panel 4 to achieve complete positioning of the sub-panel 4 in the loading and unloading station 6. The loading and unloading body 6-3 has reserved space for the stacker crane 5 to enter and transfer the sub-panel 4. The stacker crane 5 can lift the sub-panel 4 and place it on the positioning pins 6-8 and 6-9 on the support side plate 6-7 and support side plate 6-10 of the loading and unloading station 6 for positioning. The operator steps onto step 6-2, opens the protective cover 6-6, and can inspect or remove the parts or blanks fixed on the sub-panel 4, or re-fix the blanks or parts to be processed on the sub-panel 4. After closing the protective cover 6-6, the operator inputs the characteristics of the parts to be processed into the control center 9. The control center 9 can then proceed with the next step according to the program settings. The above manual operations are performed during the entire processing of the CNC equipment and do not affect the normal operation of the existing CNC equipment. During the manual operation, the stacker crane 5 can also transport the required sub-panel 4 with the blanks or parts fixed in advance from the automated warehouse 8 or another loading and unloading workstation 6 to the designated buffer platform 7. After the manual operation is completed, the stacker crane 5 can transport the sub-panel 4 with the blanks or parts fixed in advance from the loading and unloading workstation 6 to the automated warehouse 8 for temporary storage.

[0075] like Figure 24 , Figure 25 , Figure 26As shown, adjustable support legs 7-1 are installed at the lower part of the support 7-2 of the buffer platform 7. Two linear guide rails 7-6 of the buffer platform are laid flat on the upper part of the support 7-2. The buffer platform slider 7-7 is slidably connected to the linear guide rails 7-6 of the buffer platform. The movable tray 7-8 is connected to the buffer platform slider 7-7. Support plate one 7-9 and support plate two 7-16 are fixed on the movable tray 7-8. Each of the top of support plate one 7-9 and support plate two 7-16 is equipped with a positioning pin for positioning with the positioning hole 4-3 of the sub-pallet 4. A space is reserved between support plate one 7-9 and support plate two 7-16 to facilitate the entry and transfer of the moving layer 5-14 of the stacker crane 5 to the sub-pallet 4. The stacker crane 5 can lift the sub-pallet 4 and place it on the positioning pins on support plate one 7-9 and support plate two 7-16 of the buffer platform 7 for positioning. The cylinder body of cylinder 7-11 is fixed to the support 7-2. 2. The piston rod end is connected to the lower part of the movable pallet 7-8. Under the guidance of the linear guide rail 7-6 of the buffer platform, the cylinder 7-11 pushes the movable pallet 7-8 and the sub-panel 4 on it to achieve left and right limit displacement, so as to reach the two working positions of the buffer platform 7. Limiters 1 7-3 and limiters 2 7-10 are installed at the extreme positions on both sides of the movable pallet 7-8, and limit switches 1 7-12 and limit switches 2 7-17 are also installed. Supports 1 7-4 and support 2 7-14 are also installed on the upper part of the bracket 7-2. Sensors 1 7-5 and 2 7-15 are respectively installed on support 1 7-4 and support 2 7-14. Sensors 1 7-5 and 2 7-15 are used to determine whether there is sub-panel 4 on the movable pallet 7-8. The cabinet at the lower part of the buffer platform 7 is also equipped with corresponding solenoid valve 1 7-13, pneumatic system 7-18 and electrical control box 2 7-19.

[0076] Under the coordinated control of the stacker crane 5, the stacker crane 5 moves the sub-pallet 4 containing the parts or blanks to be processed from the designated storage location of the automated warehouse 8 or the loading and unloading workstation 6 to the positioning pins on the support plates 7-9 and 7-16 of the adjacent buffer platform 7. After positioning, sensors 7-5 and 7-15 detect that there is a sub-pallet 4 on the moving pallet 7-8 and feed back to the control center 9. The control center 9 controls the stacker crane 5 to descend and leave the buffer platform 7 according to the program. The cylinder 7-11 pushes the moving pallet 7-8 and the sub-pallet 4 on it to move towards the CNC equipment. When the limit switches 7-12 and 7-17 detect the signal and feed back to the control center 9, the control center 9 controls the robot arm 1 to grab the sub-pallet 4 containing the parts or blanks to be processed on the buffer platform 7 according to the program. The machine is positioned and positioned on any one of the master disks 10 of CNC equipment 1 (3-1), CNC equipment 2 (3-2), CNC equipment 3 (3-3), and CNC equipment 4 (3-4) for processing. Conversely, under the control of the control center 9, the robot arm 1 can grab any one of the sub-disk 4 on the master disks 10 of CNC equipment 1 (3-1), CNC equipment 2 (3-2), CNC equipment 3 (3-3), and CNC equipment 4 (3-4), move it to the buffer platform 7 next to the CNC equipment, and then the control center 9 controls the buffer platform 7 to move to the side of the loading and unloading station 6. Then, the stacker crane 5 is controlled to approach the buffer platform 7 to move the sub-disk 4 and place it in the designated storage location in the automated warehouse 8 or the loading and unloading station 6. The processed parts are then removed by the operator and the parts to be processed or blanks are loaded. Of course, the parts can also be inspected and tested manually.

[0077] like Figure 27As shown, the automated warehouse 8 can match the corresponding number of sub-pallets 4 according to the number of storage locations to meet the needs of flexible processing. The automated warehouse 8 is welded from structural component 8-1 and includes several squares. Each square is used to store sub-pallets 4 (including blanks or parts fixed on the sub-pallets 4). Each square consists of support plate three 8-2 and support plate four 8-4. Positioning pins three 8-3 and four 8-5 are respectively installed on support plate three 8-2 and support plate four 8-4. A proximity switch 8-6 is also installed in each square. An automated warehouse guide rail 8-7 is provided on the upper part of structural component 8-1 for guiding the rollers one 5-34 and roller two 5-35 of the stacker crane 5, providing auxiliary support for the stacker crane 5 to prevent it from tipping over. The automated warehouse 8 has reserved space for the stacker crane 5 to move layer 5-14 to enter and transfer the sub-pallets 4. The stacker crane 5 can lift the sub-pallets 4 and place them on the positioning pins three 8-3 and four 8-5 on the support plate three 8-2 and support plate four 8-4 of the automated warehouse 8 for positioning. The sub-pallet 4 is moved by the stacker crane 5 to the designated cell in the automated warehouse 8. Positioning pins 3-3 and 4-5 are guided by the positioning hole 4-3 of the sub-pallet 4 and placed on the support plate 3-2 and support plate 4-4. When the proximity switch 8-6 detects that the sub-pallet 4 is in place, it sends a signal to the control center 9. The control center 9 then sends a signal to the stacker crane 5 to make it leave. By receiving the signals from each proximity switch 8-6 in each cell of the automated warehouse 8, the storage status of the sub-pallet 4 in each cell can be determined, which makes it easier for the control center 9 to find an available storage location.

[0078] like Figure 28 As shown, the CNC equipment, robot 1, stacker crane 5, loading and unloading workstation 6, buffer platform 7, automated warehouse 8, and master disk 10 are connected to the control center 9 via a network.

[0079] The working process of this utility model: 1. The control center 9 controls the stacker crane 5 to move the sub-pallet 4 of any storage location in the automated warehouse 8 to the loading and unloading workstation 6 for inspection, testing or replacement of new blanks; the stacker crane 5 can also move the sub-pallet 4 directly to a designated location in the automated warehouse 8 for buffering. 2. Control center 9 controls stacker crane 5 to move sub-pallets 4 containing parts or blanks from designated storage locations in automated warehouse 8 or loading / unloading workstations 6 to... Figure 1 On the right workstation of the cache platform 7 shown, the control center 9 controls the stacker crane 5 to leave the cache platform 7, and then controls the cache platform 7 to move from the right workstation to the left workstation; 3. The robot arm 1 grabs the coupling 11 on the sub-panel 4 on the left workstation buffer platform 7 and sends it to one of the designated CNC equipment 1 3-1, CNC equipment 2 3-2, CNC equipment 3 3-3, and CNC equipment 4 3-4, and quickly docks with the master plate 10 on the CNC equipment. 4. After docking is completed, the CNC equipment receives the machining program for the corresponding parts to be processed from the control center 9, and the CNC equipment begins to process the parts or blanks installed on the sub-panel 4. 5. The sub-panels 4 between CNC equipment 1 3-1, CNC equipment 2 3-2, CNC equipment 3 3-3, and CNC equipment 4 3-4 can be exchanged by the robot arm 1 in cooperation with the buffer platform 7; 6. Control center 9 can monitor the equipment during the production process, detect problems in a timely manner, and handle them promptly. If a CNC machine malfunctions during processing, the CNC machine will immediately send an interruption signal to control center 9. Control center 9 can use robot arm 1 to move the sub-panel 4 (including the parts installed on it) on the malfunctioning CNC machine to other CNC machines for processing. The positioning of the parts and sub-panel 4 can be repeated on other CNC machines to continue subsequent processing.

[0080] The above description is merely a preferred embodiment of this utility model. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of this utility model, and these improvements and modifications should also be considered within the scope of protection of this utility model. Structures, devices, and operating methods not specifically described or explained in this utility model, unless otherwise specified or limited, shall be implemented using conventional methods in the field.

Claims

1. An intelligent flexible manufacturing unit structure, characterized in that: The robotic arm (1) of the intelligent flexible manufacturing unit structure is installed on the top of the column (2). The CNC equipment is equipped with a master disk (10). Multiple CNC equipment, stacker (5), loading and unloading workstation (6), buffer platform (7), automated warehouse (8) and column (2) are all installed on the ground. The control center (9) controls the stacker (5) to transfer the sub-disk (4) in the loading and unloading workstation (6) or buffer platform (7) or automated warehouse (8) between them. The control center (9) controls the robotic arm (1) to grab the sub-disk (4) on the buffer platform (7) and position it on the master disk (10) on the CNC equipment. The CNC equipment then processes the parts to be processed on the sub-disk (4).

2. The intelligent flexible manufacturing unit structure according to claim 1, characterized in that: An externally threaded cylinder (10-1) is fixedly connected to the upper surface of the mother disc (10). An internally threaded cylinder (10-2) is threadedly connected to the surface of the externally threaded cylinder (10-1). A hollow plate (10-3) is fixedly connected to the upper surface of the internally threaded cylinder (10-2). A pull stud (4-1) is fitted onto the inner wall of the hollow plate (10-3). A daughter disc (4) is fixedly connected to the upper surface of the pull stud (4-1). Slots (10-4) are provided on both the left and right sides of the pull stud (4-1). A circular plate (10-5) is fixedly connected to the inner wall of the internally threaded cylinder (10-2). The interior of the slot (10-4) has a rectangular hole (10-6). Locking brackets (10-7) are fitted onto the inner wall of the slot (10-4), the inner wall of the rectangular hole (10-6), and the upper and lower sides of the circular plate (10-5). A return spring (10-8) is fixedly connected to the inner wall of the locking bracket (10-7). Connecting blocks (10-9) are fixedly connected to the surface of the return spring (10-8) and the upper surface of the circular plate (10-5). A conical slider (10-10) is fitted onto the inner wall of the external threaded cylinder (10-1) and the bottom of the locking bracket (10-7). A support ring (10-11) is fitted to the bottom of the internal threaded cylinder (10-2), and the surface of the support ring (10-11) is fixedly connected to the inner wall of the external threaded cylinder (10-1). An air hole (10-12) is opened on the surface of the internal threaded cylinder (10-2), and the air hole (10-12) is located above the circular plate (10-5). Circular holes (10-13) are opened on both the left and right sides of the external threaded cylinder (10-1). A three-way pipe (10-14) is fixedly connected to the inner wall of the circular hole (10-13). The left end of the three-way pipe (10-14) is fixedly connected to a solenoid valve (10-15). The mother disc (1... A gas distribution box (10-16) is fixedly connected to the upper surface of the gas distribution box (10-16). An air pump (10-17) is fixedly connected to the upper surface of the gas distribution box (10-16). An air outlet pipe (10-18) is fixedly connected to both the air outlet end of the air pump (10-17) and the upper surface of the gas distribution box (10-16). A connecting pipe (10-19) is fixedly connected to both the surface of the gas distribution box (10-16) and the right end of the three-way pipe (10-14). The top end of the three-way pipe (10-14) is located inside the external threaded cylinder (10-1). A protective net (10-21) is fixedly connected to the top end of the three-way pipe (10-14).

3. The intelligent flexible manufacturing unit structure according to claim 2, characterized in that: The locking bracket (10-7) includes a rectangular slider (10-7-1), a retaining ring (10-7-2), a trapezoidal block (10-7-3), a first column (10-7-4), and a circular ring (10-7-5). The surface of the rectangular slider (10-7-1) is fitted with the inner wall of the first rectangular hole (10-6). The upper and lower sides of the circular plate (10-5) are fitted with the surface of the retaining ring (10-7-2). The inner wall of the retaining ring (10-7-2) is fixedly connected to the surface of the rectangular slider (10-7-1). The upper surface of the rectangular slider (10-7-1) is fixedly connected to the bottom of the trapezoidal block (10-7-3). The surface of the trapezoidal block (10-7-3) is fitted with the inner wall of the slot (10-4). The bottom of the rectangular slider (10-7-1) is connected to the first column (10-7-4). The upper surface is fixedly connected, and the bottom of the column (10-7-4) is in contact with the surface of the conical slider (10-10); the top diameter of the conical slider (10-10) is smaller than the bottom diameter of the conical slider (10-10); a rectangular block (10-20) is fixedly connected to the upper surface of the conical slider (10-10); an annular groove (10-22) is opened on the surface of the conical slider (10-10); a sealing ring (10-23) is fitted on the inner wall of the annular groove (10-22); the surface of the sealing ring (10-23) is in contact with the inner wall of the external threaded cylinder (10-1); the side of the rectangular slider (10-7-1) is fixedly connected to the side of the ring (10-7-5); and the inner wall of the ring (10-7-5) is fixedly connected to the surface of the return spring (10-8).

4. The intelligent flexible manufacturing unit structure according to claim 1, characterized in that: The upper surface of the sub-disc (4) is provided with a T-shaped groove (4-2), and a positioning hole (4-3) is provided on the inner side of the pull stud (4-1) below the sub-disc (4).

5. The intelligent flexible manufacturing unit structure according to claim 2, characterized in that: The mother plate (10) has a rectangular hole two (10-24) inside. A rectangular tube (10-25) is fixedly connected to the inner wall of the rectangular hole two (10-24). An installation block (10-26) is attached to the inner wall of the rectangular tube (10-25). An installation hole (10-27) is opened inside the installation block (10-26). Limiting blocks (10-28) are fixedly connected to both the front and rear sides of the installation block (10-26). A limiting groove (10-29) is opened on the upper surface of the rectangular tube (10-25). The inner wall of the limiting groove (10-29) is fixedly connected to the surface of the limiting block (10-28).

6. The intelligent flexible manufacturing unit structure according to claim 1, characterized in that: The crossbeam (1-1) of the robotic arm (1) is fixed on the column (2). A horizontal axis linear guide (1-4), a drag chain (1-9), and a horizontal axis rack (1-10) are installed on the crossbeam (1-1) by screws. A horizontal axis linear guide slider (1-3) is installed on the horizontal axis support plate (1-2) by screws. The horizontal axis linear guide slider (1-3) is slidably connected to the horizontal axis linear guide (1-4). A horizontal axis servo reduction motor (1-5) is installed on the horizontal axis support plate (1-2) by screws. A horizontal axis gear (1-8) is installed at the output end of the horizontal axis servo reduction motor (1-5). The horizontal axis gear (1-8) and the horizontal axis rack (1-10) mesh with each other. A vertical axis linear guide slider (1-6) and a vertical axis servo gear motor (1-21) are mounted on the horizontal axis support plate (1-2) by screws. A vertical axis gear (1-27) is mounted on the output end of the vertical axis servo gear motor (1-21). A vertical axis linear guide (1-7) is mounted on the bottom surface of the vertical axis beam (1-20) by screws. The vertical axis linear guide slider (1-6) is slidably connected to the vertical axis linear guide (1-7). A vertical axis rack (1-22) is mounted on the vertical axis beam (1-20) by screws. The vertical axis gear (1-27) and the vertical axis rack (1-22) mesh with each other. A vertical axis servo geared motor (1-23) is mounted on the vertical axis beam (1-20) by screws. A vertical axis gear (1-24) is mounted on the output end of the vertical axis servo geared motor (1-23). ​​A vertical axis rack (1-35) is mounted on the vertical axis (1-30). The vertical axis (1-30) is mounted on the vertical axis beam (1-20) via four vertical axis linear guides (1-31). The vertical axis (1-30) is slidably connected to the vertical axis linear guides (1-31). A hollow optical shaft (1-32), a first pneumatic safety brake (1-33), and a brake seat (1-34) are installed between the vertical axis beam (1-20) and the vertical axis (1-30).

7. The intelligent flexible manufacturing unit structure according to claim 6, characterized in that: A rotary shaft assembly (1-40) is installed in the lower bracket of the vertical shaft (1-30). A connecting bracket (1-61) and a gripper (1-60) are installed below the rotary shaft assembly (1-40). The output shaft of the rotary shaft servo motor (1-41) of the rotary shaft assembly (1-40) is installed in the input hole of the reducer (1-42). The output end of the reducer (1-42) is connected to the connecting shaft disc (1-44). The connecting shaft disc (1-44) is connected to the rotary spindle (1-46) via a key and a pressure plate (1-49). The reducer (1-42) is connected to the rotating shaft housing (1-48) by screw one (1-43) and transition flange (1-57). The rotating shaft housing (1-48) and the rotating main shaft (1-46) are equipped with bearing one (1-47), bearing two (1-50) and bearing three (1-51). The entire bearing pair is axially and radially positioned by spacer one (1-53), spacer two (1-54), spacer three (1-56), gland (1-52) and screw two (1-55).

8. The intelligent flexible manufacturing unit structure according to claim 7, characterized in that: The gripper (1-60) has a left sealing ring 1 (1-60-2), a left sealing ring 2 (1-60-6), a left guide belt (1-60-3), and a left guide pin (1-60-5) installed between the left cylinder (1-60-7) and the left piston (1-60-8). The left cylinder end cover (1-60-1) is installed on the left cylinder (1-60-7) with screws. A [missing information - likely a device or component] is installed between the left cylinder end cover (1-60-1) and the left piston (1-60-8). Left spring (1-60-4); Right sealing ring one (1-60-12), right sealing ring two (1-60-16), right guide band (1-60-13), and right guide pin (1-60-15) are installed between the right cylinder (1-60-17) and the right piston (1-60-18). The right cylinder end cover (1-60-11) is installed on the right cylinder (1-60-17) with screws. Between the right cylinder end cover (1-60-11) and the right piston (1-60-18),... A right spring (1-60-14) is installed between (0-18); the left cylinder (1-60-7) and right cylinder (1-60-17) of the gripper (1-60) are mounted on the gripper body (1-60-19) by screws. The threaded holes on the gripper body (1-60-19) are connected to the connecting bracket (1-61) by screws. The left piston (1-60-8) and right piston (1-60-18) are cylindrical, and the exposed part is a T-shaped wedge structure. The shape of the pull stud groove of the coupling (11) on the sub-disc (4) is consistent with that of the lower inner side of the left cylinder (1-60-7) and the right cylinder (1-60-17) is a conical structure that matches the short conical surface α of the pull stud of the coupling (11) on the sub-disc (4); the gripper body (1-60-19) is provided with cylinder port A1 and cylinder port A2, and the left cylinder end cover (1-60-1) and the right cylinder end cover (1-60-11) are provided with cylinder port B1 and cylinder port B2 respectively.

9. The intelligent flexible manufacturing unit structure according to claim 1, characterized in that: The lower part of the trolley (5-16) of the stacker crane (5) is equipped with wheels (5-5) and guide rollers (5-4), and a horizontal servo reduction motor (5-7) of the stacker crane is also installed. The output end of the horizontal servo reduction motor (5-7) of the stacker crane is equipped with a gear (5-6) for horizontal movement of the trolley. The horizontal guide rail (5-1) of the stacker crane is installed on the ground rail (5-26). The mounting plate (5-28) is fixed on the ground rail (5-26). The rack (5-2) for horizontal movement of the trolley is fixed on the side of the mounting plate (5-28). The gear (5-6) for horizontal movement of the trolley and the rack (5-2) for horizontal movement of the trolley mesh with each other. A lifting frame (5-11) is installed in the middle of the trolley (5-16). Four rollers (5-13) are mounted on the lifting frame (5-11) for vertical movement. The stacker crane's vertical servo reduction motor (5-31) is fixed to the lower part of the trolley (5-16). The drive sprocket is mounted on the output end of the stacker crane's vertical servo reduction motor (5-31), and the driven sprocket (5-22) is mounted on the upper part of the lifting frame (5-11). The drive sprocket, driven sprocket (5-22), and chain (5- 23) The lifting frame (5-11) and the chain (5-23) are connected as one unit through the fixing plate (5-25) and the connecting plate (5-24). Four vertical guide rails (5-8) and a second pneumatic safety brake (5-10) are installed on both sides of the trolley (5-16). In the pneumatic opening mode, the second pneumatic safety brake (5-10) moves up and down along the safety light rod (5-9). The safety light rod (5-9) is fixed between the two sides of the trolley (5-16) through the upper and lower mounting seats. The moving layer (5-14) of the lifting frame (5-11) can roll within four grooves on the inner side of the lifting frame (5-11) via four vertical moving rollers (5-19) installed on its side. A stacker crane vertical servo reduction motor (5-12) is mounted on the base plate of the lifting frame (5-11). A vertical moving gear (5-20) is mounted on the output end of the stacker crane vertical servo reduction motor (5-12). A vertical moving rack (5-21) meshing with the vertical moving gear (5-20) is installed on the lower part of the moving layer (5-14). A rack for vertical moving of the moving layer is installed on the upper part of the moving layer (5-14) for... When the layer (5-14) moves into the buffer platform (7), loading and unloading workstation (6) and automated warehouse (8), the positioning support (5-18) lifts the sub-panel (4). The position of the positioning support (5-18) is offset from the position of the positioning hole (4-3) on the sub-panel (4). The outer dimensions of the sub-panel (4) are larger than the width of the moving layer (5-14). The stacker crane (5) is also equipped with drag chain one (5-27) and drag chain two (5-33) as well as control box (5-32). Roller one (5-34) and roller two (5-35) are installed under the crossbars (5-36) on both sides of the top of the trolley (5-16). The four rollers on both sides clamp the automated warehouse guide rail (8-7) in the middle.

10. The intelligent flexible manufacturing unit structure according to claim 1, characterized in that: The loading and unloading workstation (6) consists of multiple units. The loading and unloading body (6-3) of the loading and unloading workstation (6) is equipped with a step (6-2), an electrical control box (6-4) and an adjusting pad (6-1) at the bottom. The loading and unloading body (6-3) is equipped with a protective cover (6-6) at the top. Support side plate (6-7) and support side plate (6-10) are installed inside the protective cover (6-6). Positioning pin (6-8) and positioning pin (6-9) are respectively installed on the top of support side plate (6-7) and support side plate (6-10). Positioning pin (6-8) and positioning pin (6-9) respectively cooperate with two positioning holes (4-3) of the sub-panel (4). The loading and unloading body (6-3) has a reserved space for the moving layer (5-14) of the stacker crane (5) to enter and transfer to the sub-panel (4).

11. The intelligent flexible manufacturing unit structure according to claim 1, characterized in that: The lower part of the support (7-2) of the cache platform (7) is equipped with adjustable support legs (7-1). Two linear guide rails (7-6) of the cache platform are laid flat on the upper part of the support (7-2). The slider (7-7) of the cache platform is slidably connected to the linear guide rail (7-6). The movable tray (7-8) is connected to the slider (7-7). Support plate one (7-9) and support plate two (7-16) are fixed on the movable tray (7-8). Support plate one (7-9) and support plate two (7-16) are each equipped with a positioning pin for positioning with the positioning hole (4-3) of the sub-panel (4). A space is reserved between support plate one (7-9) and support plate two (7-16) to facilitate the movement layer (5-14) of the stacker (5) to enter and transfer the sub-panel (4). The cylinder body end of the cylinder (7-11) is fixed on the support (7-2), and the piston rod end is connected to the movable tray (7-11). The lower part of the moving pallet (7-8) is connected to the linear guide rail (7-6) of the buffer platform. The cylinder (7-11) pushes the moving pallet (7-8) and the sub-panel (4) on it to achieve left and right limit displacement. Limiters 1 (7-3) and limiters 2 (7-10) are installed at the limit positions on both sides of the moving pallet (7-8), and limit switches 1 (7-12) and limit switches 2 (7-17) are also installed. Supports 1 (7-4) and support 2 (7-14) are also installed on the upper part of the support (7-2). Sensors 1 (7-5) and 2 (7-15) are respectively installed on support 1 (7-4) and support 2 (7-14) to determine whether there is a sub-panel (4) on the moving pallet (7-8). Solenoid valve 1 (7-13), pneumatic system (7-18) and electrical control box 2 (7-19) are also installed in the cabinet at the lower part of the buffer platform (7).

12. The intelligent flexible manufacturing unit structure according to claim 1, characterized in that: The automated warehouse (8) is welded from structural components (8-1) and includes several squares for storing sub-panels (4). Each square is composed of support plate three (8-2) and support plate four (8-4). Support plate three (8-2) and support plate four (8-4) are respectively equipped with positioning pin three (8-3) and positioning pin four (8-5) for cooperating with positioning holes (4-3) of sub-panels (4). Each square is also equipped with a proximity switch (8-6). The upper part of the structural component (8-1) is provided with an automated warehouse guide rail (8-7) for guiding the roller one (5-34) and roller two (5-35) of the stacker (5). The automated warehouse (8) has reserved space for the moving layer (5-14) of the stacker (5) to enter and transfer the sub-panels (4).

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