Automatic inversion of multi-process surface, rotation of reference measurement surface, gripper holding mechanism and its combination method

Abstract

These include automatic inversion of multi-process surfaces, rotation of reference measurement surfaces, gripper holding mechanisms and combinations thereof. The automatic inversion of the multi-process surface, the rotation of the reference measurement surface and the gripper gripping mechanism includes a first fixed bracket (2.8), which is used to mount the automatic inversion mechanism of the multi-process surface, the rotation mechanism of the reference measurement surface and the material pallet 1 (2.11), and the gripper gripping mechanism is mounted on an external movable bracket (1.9), and the gripper gripping mechanism includes a first rotation mechanism (1.8), a first rotation mechanism power mechanism (1.7), a first gripper (1.3), a second gripper (1.1), a third gripper (1.4), a fourth gripper (1.2) and a first telescopic mechanism (1.5) and a second telescopic mechanism (1.6), and the first rotation mechanism (1.8) is mounted on the external movable bracket (1.9), and the first telescopic mechanism (1.5) and the second telescopic mechanism (1.6) are both mounted on the first rotation mechanism (1.8).

Description

[Technical field]

[0001] The present invention relates to the technical field of machining and assembly, and more particularly to an automatic inversion mechanism for multiple process surfaces, rotation of a reference measurement surface and gripper holding mechanism, and a method for combining the same. [Background technology]

[0002] A conventional automatic material inversion mechanism is composed of a set of rotation mechanisms, a gripper holding mechanism at the end of the rotation mechanism, and a work pallet. The operation method is to hold the workpiece at a fixed position on the workpiece pallet (or other fixed mechanism) through an external mechanism, and the rotation mechanism rotates to the required processing surface after holding the workpiece through the gripper at the end, and then returns the workpiece to the work pallet, so that the external mechanism can take out the workpiece.

[0003] Conventional machining surface reversal mechanisms generally only have one set of rotating mechanisms, and use a cylinder as the driving force of the rotating mechanism, which can only complete the conversion of one machining surface or assembly surface. For multi-process products, the reversal of all machining surfaces or assembly surfaces cannot be completed by a single machine, or the reversal of the workpiece requires manual labor for each process. Summary of the Invention [Problem to be solved by the invention]

[0004] In response to the problems of the prior art, the object of the present invention is to provide a multi-process surface automatic inversion, reference measuring surface rotation and gripper gripping mechanism and a combination method thereof. The present invention can be used in CNC machining centers or other numerical control equipment and loading and unloading equipment of assembly equipment. Through the multi-process surface automatic inversion mechanism and reference measuring surface rotation mechanism, the automatic inversion of the process surface and the automatic rotation of the reference measuring surface can be completed during the process conversion of the workpiece; through the automatic cooperation of the gripper gripping mechanism as an assistant, there is no need to manually invert the workpiece, which greatly achieves the effect of saving labor and manpower; the finished production of multi-process products can be completed with a single machine, reducing the switching of processing processes, reducing the workpiece loading space and stagnation problems, and eliminating the trouble of unbalanced machine allocation; it is no longer difficult and costly to operate the machine all day, and the production capacity of the machine can be fully improved; and the trouble of difficult personnel management and uncontrollable costs in the processing industry is eliminated. [Means for solving the problem]

[0005] In order to solve the above problems, the present invention employs the following technical solutions.

[0006] The present invention provides an automatic inversion mechanism for a multi-process surface, a rotation mechanism for a reference measurement surface, a gripper gripping mechanism, and a combination method thereof, comprising a first fixed bracket, the first fixed bracket being used to mount the automatic inversion mechanism for a multi-process surface, the rotation mechanism for a reference measurement surface, and a material pallet, the gripper gripping mechanism being mounted on an external movable bracket, the gripper gripping mechanism including a first rotation mechanism, a first rotation mechanism power mechanism, a first gripper, a second gripper, a third gripper, a fourth gripper, and a first telescopic mechanism and a second telescopic mechanism, the first rotation mechanism being mounted on an external movable bracket, and the first telescopic mechanism and the second telescopic mechanism being both mounted on the first rotation mechanism, and the present invention can be used for the robotic operation of a CNC machining center or other numerical control equipment, assembly equipment, It can be used in loading and unloading equipment. With the automatic reversal mechanism of the multi-process surface and the rotation mechanism of the reference measuring surface, it can complete the automatic reversal of the process surface and the automatic rotation of the reference measuring surface during the workpiece process conversion process. With the automatic cooperation of the auxiliary gripper holding mechanism, there is no need to manually turn over the workpiece, which greatly achieves the effects of labor saving and manpower saving; it can complete the manufacturing of finished products of multi-process products with a single machine, reduce the switching of processing processes, reduce the loading space and stagnation problems of the workpiece, and eliminate the trouble of unbalanced machine allocation; it is no longer difficult and costly to operate the machine all day, and the production capacity of the machine is fully improved; it eliminates the troubles of difficult manpower management and uncontrollable costs in the processing industry.

[0007] Furthermore, the first gripper gripping mechanism and the second gripper gripping mechanism are a set, and the first gripper gripping mechanism and the second gripper gripping mechanism are matched with the first gripper and the second gripper respectively; the third gripper gripping mechanism and the fourth gripper gripping mechanism are a set, and the third gripper gripping mechanism and the fourth gripper are matched with the third gripper and the fourth gripper respectively; the first gripper gripping mechanism and the second gripper gripping mechanism are matched with the first gripper and the second gripper, so as to grip and leave the workpiece body, and the fixing direction of the gripper can be set in the left-right or front-back direction according to the processing requirements; the third gripper gripping mechanism and the fourth gripper gripping mechanism are matched with the third gripper and the fourth gripper, so as to grip and leave the workpiece body, and the fixing direction of the gripper can be set in the left-right or front-back direction according to the processing requirements; and the first rotation mechanism can rotate 180°, and four grippers such as the first gripper can be converted.

[0008] Furthermore, the automatic inversion mechanism of the multi-process surface includes a third telescopic mechanism, a fourth telescopic mechanism, a second rotation mechanism, a third rotation mechanism, a fifth gripper, and a sixth gripper, the third telescopic mechanism includes a third telescopic mechanism power mechanism, the fourth telescopic mechanism includes a fourth telescopic mechanism power mechanism, the second rotation mechanism includes a second rotation mechanism power mechanism, the third rotation mechanism includes a third rotation mechanism power mechanism, the third telescopic mechanism and the fourth telescopic mechanism are both attached to a second fixed bracket, the second rotation mechanism is attached to the third telescopic mechanism, and the third rotation mechanism is attached to the fourth telescopic mechanism. The fifth gripper is mounted on the second rotating mechanism, and the sixth gripper is mounted on the third rotating mechanism. The third telescopic mechanism drives the second rotating mechanism and the fifth gripper to perform linear motion on the X-axis, and the second rotating mechanism drives the fifth gripper to rotate at any angle around the X-axis, so as to drive the workpiece body to complete the inversion of the multi-process surface; the fourth telescopic mechanism drives the third rotating mechanism and the sixth gripper to perform linear motion on the Y-axis, and the third rotating mechanism drives the sixth gripper to rotate at any angle around the Y-axis, so as to drive the workpiece body to complete the inversion of the multi-process surface.

[0009] Furthermore, the rotation mechanism of the reference measurement surface includes a fifth telescopic mechanism, a fourth rotation mechanism, and a material pallet 1, the fifth telescopic mechanism is equipped with a fifth telescopic mechanism power mechanism, the fourth rotation mechanism is equipped with a fourth rotation mechanism power mechanism, the fifth telescopic mechanism is attached to a second fixed bracket, the fourth rotation mechanism is attached to the fifth telescopic mechanism, the material pallet 1 is attached to the fourth rotation mechanism, the fifth telescopic mechanism drives the fourth rotation mechanism and the material pallet to perform linear motion on the Z axis, and the fourth rotation mechanism drives the material pallet to flip it at any angle around the Z axis, driving the rotation of the multi-reference measurement surface of the machined work body.

[0010] Furthermore, the automatic reversing mechanism of the multi-processing surface includes a third telescopic mechanism and a third telescopic mechanism power mechanism, a seventh telescopic mechanism and a seventh telescopic mechanism power mechanism, a second rotation mechanism and a second rotation mechanism power mechanism, a sixth rotation mechanism, a fifth gripper and a sixth gripper; the seventh telescopic mechanism is mounted on the second fixed bracket, the sixth rotation mechanism is mounted on the seventh telescopic mechanism, the sixth rotation mechanism has a sixth rotation mechanism power mechanism, and the sixth gripper is mounted on the sixth rotation mechanism, the third telescopic mechanism can drive the second rotation mechanism to perform telescopic motion in the X-axis direction, the second rotation mechanism can drive the fifth gripper to perform rotational motion around the X-axis, so as to reverse the processing surface of the workpiece body, and the fifth gripper can grip and leave the workpiece body; the seventh telescopic mechanism can drive the sixth rotation mechanism to perform telescopic motion in the Y-axis direction, and the sixth rotation mechanism can drive the sixth gripper to perform rotational motion around the Y-axis, so as to reverse the processing surface of the workpiece body, and the sixth gripper can grip and leave the workpiece body.

[0011] Further, the rotation mechanism of the reference measurement surface includes a fourth telescopic mechanism and a fourth telescopic mechanism power mechanism, a fifth telescopic mechanism and a fifth telescopic mechanism power mechanism, a sixth telescopic mechanism and a sixth telescopic mechanism power mechanism, an eighth telescopic mechanism, a ninth telescopic mechanism and a tenth telescopic mechanism, and the rotation mechanism of the reference measurement surface includes a third rotation mechanism and a third rotation mechanism power mechanism, a fourth rotation mechanism and a fourth rotation mechanism power mechanism, a fifth rotation mechanism, a seventh rotation mechanism, an eighth rotation mechanism, a ninth rotation mechanism and a material pallet 2, a material pallet 3, a material pallet 4, a material pallet 5, a material pallet 6 and a material pallet 7, and the fourth telescopic mechanism can drive the third rotation mechanism to telescopic motion in the Z-axis direction, and the third rotation mechanism can drive the material pallet 2 to rotate around the Z-axis, so as to rotate the rotating reference measurement surface, and the material pallet 2 can place the workpiece body; the fifth telescopic mechanism drives the fourth rotation mechanism to telescopic motion in the Z-axis direction, and the fourth rotation mechanism can drive the material pallet 3 to rotate around the Z-axis, so as to rotate the reference measurement surface, , the material pallet 3 can place the workpiece body; the sixth telescopic mechanism can drive the fifth rotation mechanism to perform telescopic movement in the Z-axis direction; the fifth rotation mechanism can drive the material pallet 4 to perform rotational movement around the Z-axis, rotating the reference measurement surface, and the material pallet 4 can place the workpiece body; the eighth telescopic mechanism can drive the seventh rotation mechanism to perform telescopic movement in the Z-axis direction, and the seventh rotation mechanism can drive the material pallet 5 to perform rotational movement around the Z-axis, rotating the reference measurement surface, and the material pallet 5 can place the workpiece body; the ninth telescopic mechanism can drive the eighth rotation mechanism to perform telescopic movement in the Z-axis direction, and the eighth rotation mechanism can drive the material pallet 6 to perform rotational movement around the Z-axis, rotating the reference measurement surface, and the material pallet 6 can place the workpiece body; the tenth telescopic mechanism can drive the ninth rotation mechanism to perform telescopic movement in the Z-axis direction, and the ninth rotation mechanism can drive the material pallet 7 to perform rotational movement around the Z-axis, rotating the reference measurement surface, and the material pallet 7 can place the workpiece body.

[0012] Further, the eighth telescopic mechanism comprises an eighth telescopic mechanism power mechanism, the ninth telescopic mechanism comprises a ninth telescopic mechanism power mechanism, the tenth telescopic mechanism comprises a tenth telescopic mechanism power mechanism, the fifth rotation mechanism comprises a fifth rotation mechanism power mechanism, the seventh rotation mechanism comprises a seventh rotation mechanism power mechanism, the eighth rotation mechanism comprises an eighth rotation mechanism power mechanism, the ninth rotation mechanism comprises a ninth rotation mechanism power mechanism, the sixth telescopic mechanism, the seventh telescopic mechanism, the eighth telescopic mechanism, the ninth telescopic mechanism and the tenth telescopic mechanism are all mounted on a first fixed bracket, and the eighth telescopic mechanism power mechanism, the ninth telescopic mechanism power mechanism and the tenth telescopic mechanism provide power assistance for the telescopic operation of the eighth telescopic mechanism, the ninth telescopic mechanism and the tenth telescopic mechanism, and the fifth rotation mechanism power mechanism, the seventh rotation mechanism power mechanism, the eighth rotation mechanism power mechanism and the ninth rotation mechanism power mechanism provide power assistance for the rotation operation of the fifth rotation mechanism, the seventh rotation mechanism, the eighth rotation mechanism and the ninth rotation mechanism.

[0013] Furthermore, the fifth rotation mechanism is attached to the sixth telescopic mechanism, the seventh rotation mechanism is attached to the eighth telescopic mechanism, the eighth rotation mechanism is attached to the ninth telescopic mechanism, and the ninth rotation mechanism is attached to the tenth telescopic mechanism, the material pallet 2 is attached to the third rotation mechanism, the material pallet 3 is attached to the fourth rotation mechanism, the material pallet 4 is attached to the fifth rotation mechanism, the material pallet 5 is attached to the seventh rotation mechanism, the material pallet 6 is attached to the eighth rotation mechanism, and the material pallet 7 is attached to the ninth rotation mechanism, and the sixth telescopic mechanism and the fifth rotation mechanism, the eighth telescopic mechanism and the seventh rotation mechanism, and the tenth telescopic mechanism and the ninth rotation mechanism can be used to drive the adjustment of the workpiece body at any angle in the Z-axis direction. Effect of the Invention

[0014] Compared with the conventional technology, the advantages of the present invention are as follows: (1) The present invention can be used in CNC machining centers or other numerical control devices, loading and unloading equipment of assembly equipment, and can complete the automatic inversion of the process surface and the automatic rotation of the reference measuring surface during the workpiece process conversion process through the automatic reversal mechanism of the multi-process surface and the rotation mechanism of the reference measuring surface; the automatic cooperation of the gripper holding mechanism as an assistant eliminates the need to manually turn over the workpiece, greatly achieving the effect of labor saving and manpower saving; the finished product manufacturing of multi-process products can be completed with a single machine, reducing the switching of processing processes, reducing the loading space and stagnation problems of the workpiece, and eliminating the trouble of unbalanced machine allocation; the difficulty and high cost of running the machine all day are eliminated, and the production capacity of the machine is fully improved; the trouble of difficult manpower management and uncontrollable costs in the processing industry are eliminated. (2) The first gripper gripping mechanism and the second gripper gripping mechanism are a set, and the first gripper gripping mechanism and the second gripper gripping mechanism are matched with the first gripper and the second gripper respectively; the third gripper gripping mechanism and the fourth gripper gripping mechanism are matched with the third gripper and the fourth gripper respectively; the first gripper gripping mechanism and the second gripper gripping mechanism can be combined with the first gripper and the second gripper to realize the gripping and leaving of the workpiece body, and the fixing direction of the gripper can be set in the left-right or front-back direction according to the processing requirements; the third gripper gripping mechanism and the fourth gripper gripping mechanism can be combined with the third gripper and the fourth gripper to realize the gripping and leaving of the workpiece body, and the fixing direction of the gripper can be set in the left-right or front-back direction according to the processing requirements; and the first rotation mechanism can be rotated 180°, and four grippers such as the first gripper can be converted. (3) The fifth gripper of the automatic inversion mechanism for the multi-process surface is inverted at any angle around the Y axis under the drive of the second rotation mechanism, and the sixth gripper of the automatic inversion mechanism for the multi-process surface is inverted at any angle around the Y axis under the drive of the third rotation mechanism, thereby realizing inversion of the process surface of the processed workpiece body. (4) The fourth rotation mechanism of the reference measurement surface rotation mechanism can drive the material pallet 1 to rotate at any angle around the Z axis, thereby realizing the rotation of the multiple reference measurement surfaces of the workpiece body to be machined. [Brief description of the drawings]

[0015] [Figure 1] FIG. 2 is a schematic perspective view of the first structure of the present invention. [Diagram 2] FIG. 2 is a schematic perspective view of the automatic reversal mechanism for the multi-process surface according to the first aspect of the present invention; [Diagram 3] FIG. 3 is an explosion diagram of FIG. [Figure 4] FIG. 2 is a schematic structural diagram of a perspective view of the second structure in the present invention. [Diagram 5] FIG. 2 is a schematic diagram showing the three-dimensional structure of the automatic inversion mechanism of the multi-process surface according to the second aspect of the present invention. [Figure 6] FIG. 5 is an explosion diagram. [Figure 7] FIG. 2 is a schematic perspective view of a gripper holding mechanism according to the present invention; [Figure 8] FIG. 8 is an explosion diagram of FIG. [Figure 9] FIG. 13 is a schematic perspective view of an automatic inversion of a multi-process surface, a rotation of a reference measurement surface and a gripper gripping mechanism in another embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0016] The technical solutions of the present invention will be described below clearly and completely with reference to the drawings, and it is obvious that the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of this application, all other embodiments that a person skilled in the art can obtain without creative labor belong to the protection scope of this application.

[0017] In describing the present invention, the orientations or positions indicated by the terms "upper", "lower", "inner", "outer", "top / bottom end", etc. are based on the orientations or positions indicated in the drawings, and are merely for ease and simplicity of description of the present invention, and are not intended to indicate or imply that the devices or elements referred to must be configured and operated in a particular orientation, and should not be understood as limitations of the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only, and are not to be understood as indicating or implying relative importance.

[0018] In the description of the present invention, unless otherwise clearly specified and limited, the terms "mounting", "installation", "disposition / fitting", "connection" and the like should be understood in a broad sense, for example, "connection" may be a fixed connection, a removable connection, or an integral connection; it may be a mechanical connection, an electrical connection; it may be a direct connection, an indirect connection through an intermediate medium, or an internal communication between two elements. Those skilled in the art can understand the specific meaning of the above terms in the present invention according to the specific circumstances.

[0019] Embodiments: 1 to 3, the drawings show the automatic inversion of the multi-process surface, the rotation of the reference measuring surface and the combination thereof, which includes an automatic inversion mechanism of the multi-process surface, a rotation mechanism of the reference measuring surface and a first fixed bracket 2.8 for mounting a material pallet 12.11, the gripper gripping mechanism is mounted on an external movable bracket, the gripper gripping mechanism includes a first rotation mechanism 1.8, a first rotation mechanism power mechanism 1.7, a first gripper 1.3, a second gripper 1.1, a third gripper 1.4, a fourth gripper 1.2 and a first telescopic mechanism 1.5 and a second telescopic mechanism 1.6, the first rotation mechanism 1.8 is mounted on an external movable bracket, and the first telescopic mechanism 1.5 and the second telescopic mechanism 1.6 are both mounted on the first rotation mechanism 1.8, the present invention can be used in a CNC processing center or other numerical control equipment, a loading and unloading device of an assembly equipment, and the automatic inversion mechanism of the multi-process surface Through the rotation mechanism of the reference measuring surface, the automatic inversion of the process surface and the automatic rotation of the reference measuring surface can be completed during the workpiece process conversion process, and through the automatic cooperation of the gripper holding mechanism as an assistant, there is no need to manually invert the workpiece, which greatly achieves the effects of labor saving and manpower saving; the finished production of multi-process products can be completed with a single machine, reducing the switching of processing processes, reducing the loading space and stagnation problems of the workpiece, and eliminating the problems of unbalanced machine allocation; it is no longer difficult and costly to operate the machine all day, and the production capacity of the machine is fully improved; and the problems of difficult personnel management and uncontrollable costs in the processing industry are eliminated.

[0020] 7 and 8, the first gripper gripping mechanism and the second gripper gripping mechanism are a pair, and the first gripper gripping mechanism and the second gripper gripping mechanism are matched with the first gripper 1.3 and the second gripper 1.1, respectively; the third gripper gripping mechanism and the fourth gripper gripping mechanism are a pair, and the third gripper gripping mechanism and the fourth gripper are matched with the third gripper 1.4 and the fourth gripper 1.2, respectively; the first gripper gripping mechanism and the second gripper gripping mechanism are matched with the first gripper 1.3 and the second gripper 1.1, respectively, to perform processing. The workpiece body 3.17 can be gripped and left, and the gripper gripping direction can be set to left-right or front-back according to the processing requirements. The third gripper gripping mechanism and the fourth gripper gripping mechanism, combined with the third gripper 1.4 and the fourth gripper 1.2, can grip and leave the workpiece body 3.17, and the gripper gripping direction can be set to left-right or front-back according to the processing requirements. In addition, the first rotation mechanism 1.8 can rotate 180° and convert four grippers including the first gripper 1.3.

[0021] 1-2, the automatic inversion mechanism of the multi-process surface includes a third telescopic mechanism 2.5, a fourth telescopic mechanism 2.12, a second rotation mechanism 2.9, a third rotation mechanism 2.14, a fifth gripper 2.10, and a sixth gripper 2.15, the third telescopic mechanism 2.5 includes a third telescopic mechanism power mechanism 2.6, the fourth telescopic mechanism 2.12 includes a fourth telescopic mechanism power mechanism 2.13, the second rotation mechanism 2.9 includes a second rotation mechanism power mechanism 2.7, the third rotation mechanism 2.14 includes a third rotation mechanism power mechanism 2.16, the third telescopic mechanism 2.5 and the fourth telescopic mechanism 2.12 are both attached to a second fixed bracket 3.18, the second rotation mechanism 2.9 is attached to the third telescopic mechanism 2.5, and the third rotation mechanism 2.14 includes a fourth telescopic mechanism 2.12. The fourth telescopic mechanism 2.12 drives the third rotation mechanism 2.14 and the sixth gripper 2.15 to perform linear motion on the Y axis, the fifth gripper 2.10 is attached to the second rotation mechanism 2.9, and the sixth gripper 2.15 is attached to the third rotation mechanism 2.14. The third telescopic mechanism 2.5 drives the second rotation mechanism 2.9 and the fifth gripper 2.10 to perform linear motion on the X axis, and the second rotation mechanism 2.9 drives the fifth gripper 2.10 to rotate at any angle around the X axis, and drives the workpiece body 3.17 to complete the rotation of the multi-process surface. The fourth telescopic mechanism 2.12 drives the third rotation mechanism 2.14 and the sixth gripper 2.15 to perform linear motion on the Y axis, and the third rotation mechanism 2.14 drives the sixth gripper 2.15 to rotate at any angle around the Y axis, and drives the workpiece body 3.17 to complete the rotation of the multi-process surface.

[0022] 1 to 3, the rotation mechanism of the reference measurement surface includes the fifth telescopic mechanism 2.1, the fourth rotation mechanism 2.4 and the material pallet 1 2.11, the fifth telescopic mechanism 2.1 is equipped with the fifth telescopic mechanism power mechanism 2.2, the fourth rotation mechanism 2.4 is equipped with the fourth rotation mechanism power mechanism 2.3, the fifth telescopic mechanism 2.1 is attached to the second fixed bracket 3.18, the fourth rotation mechanism 2.4 is attached to the fifth telescopic mechanism 2.1, the material pallet 1 2.11 is attached to the fourth rotation mechanism 2.4, the fifth telescopic mechanism 2.1 drives the fourth rotation mechanism 2.4 and the material pallet 1 2.11 to perform linear motion on the Z axis, and the fourth rotation mechanism 2.4 drives the material pallet 1 2.11 to rotate at any angle around the Z axis, and drives the rotation of the multi-reference measurement surface of the workpiece body 3.17.

[0023] The combination method of the automatic inversion of the multi-process surface, the rotation of the reference measurement surface and the gripper gripping mechanism in paragraph 1 includes the following steps: S1, the gripper gripping mechanism is driven by an external mechanism and places the work body 3.17 on the material pallet 1 2.11. S2, the fifth telescopic mechanism 2.1 is extended and moves to a specified position based on the program settings. S3, the third telescopic mechanism 2.5 or the fourth telescopic mechanism 2.12 is extended, and the workpiece body 3.17 is gripped by the fifth gripper 2.10 or the sixth gripper 2.15. S4, the fifth telescopic mechanism 2.1 is withdrawn, and the second rotating mechanism 2.9 or the third rotating mechanism 2.14 completes the reversal angle of the work process surface. S5, the fifth telescopic mechanism 2.1 is extended and moves to a specified position based on the program settings, the work body 3.17 is returned to the material pallet 1 2.11 by the fifth gripper 2.10 or the sixth gripper 2.15, the third telescopic mechanism 2.5 or the fourth telescopic mechanism 2.12 is returned to the origin, and the second rotation mechanism 2.9 or the third rotation mechanism 2.14 is returned to the origin. S6, the fourth rotation mechanism 2.4 sets the rotation angle of the reference measurement surface of the rotating workpiece based on the program settings. S7, the gripper gripping mechanism is driven by the external mechanism to grip the workpiece body 3.17, and moves to the specified position based on the program setting, and the fifth telescopic mechanism 2.1 and the fourth rotating mechanism 2.4 are returned to the origin.

[0024] 4 to 6, the automatic inversion mechanism of the multi-process surface includes a third telescopic mechanism 2.5 and a third telescopic mechanism power mechanism 2.6, a seventh telescopic mechanism 3.6 and a seventh telescopic mechanism power mechanism, a second rotation mechanism 2.9 and a second rotation mechanism power mechanism 2.7, a sixth rotation mechanism 3.7, and a fifth gripper 2.10 and a sixth gripper 2.15; the seventh telescopic mechanism 3.6 is mounted on a second fixed bracket 3.18, the sixth rotation mechanism 3.7 is mounted on the seventh telescopic mechanism 3.6, the sixth rotation mechanism 3.7 is equipped with a sixth rotation mechanism power mechanism, the sixth gripper 2.15 is mounted on the sixth rotation mechanism 3.7, and the third gripper 2.10 and a sixth gripper 2.15 are mounted on the sixth rotation mechanism 3.7. The telescopic mechanism 2.5 drives the second rotating mechanism 2.9 to perform telescopic motion in the X-axis direction, and the second rotating mechanism 2.9 can drive the fifth gripper 2.10 to perform rotational motion around the X-axis, so that the machining surface of the workpiece body 3.17 can be inverted, and the fifth gripper 2.10 can grip and leave the workpiece body 3.17; the seventh telescopic mechanism 3.6 drives the sixth rotating mechanism 3.7 to perform telescopic motion in the Y-axis direction, and the sixth rotating mechanism 3.7 can drive the sixth gripper 2.15 to perform rotational motion around the Y-axis, so that the machining surface of the workpiece body 3.17 can be inverted, and the sixth gripper 2.15 can grip and leave the workpiece body 3.17.

[0025] 5 to 6, the rotation mechanism of the reference measurement surface includes the fourth telescopic mechanism 2.12 and the fourth telescopic mechanism power mechanism 2.13, the fifth telescopic mechanism 2.1 and the fifth telescopic mechanism power mechanism 2.2, the sixth telescopic mechanism 3.5 and the sixth telescopic mechanism power mechanism, the eighth telescopic mechanism 3.15, the ninth telescopic mechanism 3.11 and the tenth telescopic mechanism 3.12, and the rotation mechanism of the reference measurement surface includes the third rotation mechanism 2.14 and the third rotation mechanism power mechanism 2.16, the fourth rotation mechanism 2.4 and the fourth rotation mechanism power mechanism 2.5, the fifth rotation mechanism 3.3, the seventh rotation mechanism 3.16, the eighth rotation mechanism 3.9, the ninth rotation mechanism 3.13 and the material pallet 2 3.1, the material pallet 3 3.2, the material pallet 4 3.4, the material pallet 5 3.14, the material pallet 6 3.8, and the material pallet 7. 3.10, the fourth telescopic mechanism 2.12 drives the third rotating mechanism 2.14 to perform telescopic movement in the Z-axis direction, the third rotating mechanism 2.14 can drive the material pallet 2 3.1 to perform rotational movement around the Z-axis, rotate the reference measurement surface, and the material pallet 2 3.1 can place the workpiece body 3.17; the fifth telescopic mechanism 2.1 drives the fourth rotating mechanism 2.4 to perform telescopic movement in the Z-axis direction, and the fourth rotating mechanism 2.4 can drive the material pallet 3 3.2 to perform rotational movement around the Z-axis, rotate the reference measurement surface, and the material pallet 3 3.2 can place the workpiece body 3.17; the sixth telescopic mechanism 3.5 drives the fifth rotating mechanism 3.3 to perform telescopic movement in the Z-axis direction; the fifth rotating mechanism 3.3 can drive the material pallet 4.3.4 to rotate around the Z-axis, rotating the reference measurement surface, and the material pallet 4.3.4 can place the workpiece body 3.17; the eighth telescopic mechanism 3.15 drives the seventh rotating mechanism 3.16 to perform telescopic movement in the Z-axis direction, and the seventh rotating mechanism 3.16 can drive the material pallet 5 3.14 to rotate around the Z-axis, rotating the reference measurement surface, and the material pallet 5 3.14 can place the workpiece body 3.17; the ninth telescopic mechanism 3.11 drives the eighth rotating mechanism 3.9 to perform telescopic movement in the Z-axis direction, and the eighth rotating mechanism 3.9 can drive the material pallet 6 3.8 to rotate around the Z-axis, rotating the reference measurement surface, and the material pallet 6 3.8 can place the workpiece body 3.17; the 10th telescopic mechanism 3.12 drives the 9th rotating mechanism 3.13 to perform telescopic motion in the Z-axis direction, and the 9th rotating mechanism 3.13 can drive the material pallet 7 3.10 to rotate around the Z-axis, rotating the reference measurement surface, and the material pallet 7 3.10 can place the workpiece body 3.17.

[0026] 4 to 6, the eighth telescopic mechanism 3.15 includes an eighth telescopic mechanism power mechanism, the ninth telescopic mechanism 3.11 includes a ninth telescopic mechanism power mechanism, the tenth telescopic mechanism 3.12 includes a tenth telescopic mechanism power mechanism, the fifth rotation mechanism 3.3 includes a fifth rotation mechanism power mechanism, the seventh rotation mechanism 3.16 includes a seventh rotation mechanism power mechanism, the eighth rotation mechanism 3.9 includes an eighth rotation mechanism power mechanism, the ninth rotation mechanism 3.13 includes a ninth rotation mechanism power mechanism, and the sixth telescopic mechanism 3.5, the seventh telescopic mechanism 3.6, the eighth telescopic mechanism 3.15, the ninth telescopic mechanism 3.11, and The tenth telescopic mechanism 3.12 is all mounted on the first fixed bracket 2.8. The eighth telescopic mechanism power mechanism, the ninth telescopic mechanism power mechanism and the tenth telescopic mechanism power mechanism are provided to provide power assistance for the telescopic operations of the eighth telescopic mechanism 3.15, the ninth telescopic mechanism 3.11 and the tenth telescopic mechanism 3.12, and the fifth rotating mechanism power mechanism, the seventh rotating mechanism power mechanism, the eighth rotating mechanism power mechanism and the ninth rotating mechanism power mechanism provide power assistance for the rotation operations of the fifth rotating mechanism 3.3, the seventh rotating mechanism 3.16, the eighth rotating mechanism 3.9 and the ninth rotating mechanism 3.13.

[0027] 4 to 6, the fifth rotation mechanism 3.3 is attached to the sixth telescopic mechanism 3.5, the seventh rotation mechanism 3.16 is attached to the eighth telescopic mechanism 3.15, the eighth rotation mechanism 3.9 is attached to the ninth telescopic mechanism 3.11, the ninth rotation mechanism 3.13 is attached to the tenth telescopic mechanism 3.12, the material pallet 2 3.1 is attached to the third rotation mechanism 2.14, the material pallet 3 3.2 is attached to the fourth rotation mechanism 2.4, the material pallet 4 3.4 is attached to the fifth rotation mechanism 3.3, the material pallet 5 3.14 is attached to the seventh rotation mechanism 3.16, the material pallet 6 3.8 is attached to the eighth rotation transfer mechanism 3.9, and the material pallet 7 3.10 is attached to the ninth rotation mechanism 3.13, and the sixth telescopic mechanism 3.5 and the fifth rotation mechanism 3.3, the eighth telescopic mechanism 3.15 and the seventh rotation mechanism 3.16, and the tenth telescopic mechanism 3.12 and the ninth rotation mechanism 3.13 drive the work body 3.17, allowing adjustment at any angle in the Z-axis direction.

[0028] The combination method of automatic inversion of the multi-process surface, rotation of the reference measurement surface and gripper holding mechanism in the second paragraph includes the following steps: S1, the gripper gripping mechanism is driven by an external mechanism and places the workpiece body 3.17 on the material pallet 2 3.1 or material pallet 5 3.14. S2, the third telescopic mechanism 2.5 or the seventh telescopic mechanism 3.6 are extended and moved to a designated position based on the program settings. S3, the fourth telescopic mechanism 2.12 or the eighth telescopic mechanism 3.15 is extended and moves to a specified position based on the program settings. S4, the workpiece body 3.17 is gripped by the fifth gripper 2.10 and the sixth gripper 2.15. S5, the second rotation mechanism 2.9 or the sixth rotation mechanism 3.7 set the reversal angle or no reversal based on the program setting. In S6, the fifth telescopic mechanism 2.1 or the sixth telescopic mechanism 3.5, the ninth telescopic mechanism 3.11, and the tenth telescopic mechanism 3.12 are extended and moved to the designated position based on the program settings, and the work body 3.17 is returned to the material pallet 3 3.2 or the material pallet 4 3.4, the material pallet 6 3.8, and the material pallet 7 3.10 by the fifth gripper 2.10 and the sixth gripper 2.15, and the third telescopic mechanism 2.5 or the seventh telescopic mechanism 3.6 is retrieved. S7, the third rotation mechanism 2.14 or the fourth rotation mechanism 2.4, the fifth rotation mechanism 3.3, the seventh rotation mechanism 3.16, the eighth rotation mechanism 3.9, and the ninth rotation mechanism 3.13 set the rotation angle of the rotating workpiece reference measurement surface based on the program settings. S8, the gripper gripping mechanism is driven by an external mechanism to move close to material pallet 3 3.2 or material pallet 4 3.4, material pallet 6 3.8 and material pallet 7 3.10 on which the workpiece body 3.17 is placed, the gripper gripping mechanism grips the workpiece body 3.17, moves it and places it on material pallet 1 2.11, and the inversion mechanism of the multi-process surface and the rotation mechanism of the reference measurement surface are returned to the origin.

[0029] Referring to FIG. 9, another embodiment of the present invention provides an automatic inversion of a multi-process surface, a rotation of a reference measurement surface, and a gripper gripping mechanism. The specific structure of the automatic inversion of the multi-process surface, the rotation of the reference measurement surface, and the gripper gripping mechanism is basically the same as the specific structure of the automatic inversion of the multi-process surface, the rotation of the reference measurement surface, and the gripper gripping mechanism shown in FIG. 1 to 3, and the embodiment of the present invention performs a functional division thereof, and divides it into a gripper gripping mechanism, a process surface inversion mechanism, and a reference measurement surface rotation mechanism, respectively. As shown in FIG. 9, this mechanism includes an automatic inversion mechanism of a process surface, a rotation mechanism of a reference measurement surface, and a gripper gripping mechanism. Among them, the gripper gripping mechanism includes at least two gripping mechanism grippers, and the gripper gripping mechanism is attached to an external moving mechanism, and is used to grip a workpiece to be processed from a material platform and move it to a workpiece processing device under the driving of the external moving mechanism, grip a processed workpiece from a workpiece processing device, leave the workpiece to be processed in the inversion mechanism of the process surface under the driving of the external moving mechanism, and remove the workpiece to be processed from the inversion mechanism of the process surface. The reversing mechanism of the process surface is used to reverse the process surface of the workpiece to be machined in the X-axis or Y-axis direction according to a set program. The rotation mechanism of the reference measurement surface is used to rotate the reference measurement surface with respect to the workpiece to be machined after the reversing mechanism of the process surface rotates the process surface with respect to the workpiece to be machined. The automatic reversing of the multi-process surface, the rotation of the reference measurement surface and the gripper gripping mechanism of the embodiment of the present invention act as an intermediate platform to move, reverse, etc. with respect to the workpiece to be machined during the process in which the workpiece processing device processes the workpiece to be machined. After the gripper gripping mechanism grips the workpiece to be machined, it moves the workpiece to be machined to a specified position of the workpiece processing device under the drive of the external moving mechanism, and the workpiece processing device processes (such as engraving) the surface of the workpiece to be currently machined, and after the processing is completed, the external moving mechanism drives the gripper gripping mechanism to return the workpiece that has been initially machined.When the other machining surface of the workpiece needs to be machined, the external moving mechanism drives the gripper gripping mechanism to move the initially machined workpiece to the process surface reversal mechanism, which then performs the process surface reversal, and the external moving mechanism drives the gripper gripping mechanism to grip the reversed machined workpiece again to the workpiece machining device, and performs the machining of the other process surface. Since the direction of the reference measuring surface may change during reversal, when the reference measuring surface is required, after the reversal of the process surface is completed, the reference measuring surface is rotated by the reference measuring surface rotation mechanism, and then the gripper gripping mechanism grips the machined workpiece again to the workpiece machining device after the rotation of the reference measuring surface, and performs the machining of the other process surface.

[0030] Specifically, in this embodiment of the present invention, the process surface inversion mechanism includes an X-axis inversion mechanism 3, a Y-axis inversion mechanism 4 and a Z-axis positioning mechanism 5.

[0031] Here, the X-axis inversion mechanism 3 includes an X-axis telescopic mechanism, an X-axis rotating mechanism, and an X-axis gripper; the X-axis telescopic mechanism is fixed to the positioning locking groove on the upper end surface of the fixed bracket 2, the X-axis rotating mechanism is installed at the upper end of the X-axis telescopic mechanism, and the X-axis gripper is connected to the X-axis rotating mechanism, the X-axis telescopic mechanism can extend and retract the gripper, and the X-axis rotating mechanism can rotate the gripper. As shown in FIG. 11, the Y-axis inversion mechanism 4 includes a Y-axis telescopic mechanism, a Y-axis rotating mechanism, and a Y-axis gripper; the Y-axis telescopic mechanism is fixed to the locking groove on the upper end surface of the fixed bracket 2, the Y-axis rotating mechanism is installed at the upper end of the Y-axis telescopic mechanism, and the Y-axis gripper is connected to the Y-axis rotating mechanism, the Y-axis telescopic mechanism can extend and retract the gripper, and the Y-axis rotating mechanism can rotate the gripper; the X-axis inversion mechanism 3 and the Y-axis inversion mechanism 4 are used to invert the workpiece process surface. As shown in FIG. 12, the Z-axis positioning mechanism 5 includes a Z-axis material pallet, a Z-axis rotation mechanism for rotating the material pallet, and a Z-axis lifting mechanism for lifting the material pallet; the symmetric center of the X-axis gripper and the Y-axis gripper is on the same line as the rotation center of the Z-axis rotation mechanism; the Z-axis positioning mechanism 5 is used as the reference measurement surface rotation mechanism to rotate the reference measurement surface of the workpiece to be machined. Among them, for a hexahedral workpiece, there are six types of inversion types of the process surface: "invert the right side to the top, invert the left side to the top, invert the bottom bottom to the top, invert the front side to the top, invert the rear side to the top, and the process surface is not inverted". There are four types of rotation types of the reference measurement surface: "rotate the right side to the rear side, rotate the left side to the rear side, rotate the front side to the rear side, and the reference measurement surface is not rotated".

[0032] Here, the gripper gripping mechanism 6 includes a gripper mechanism fixing bracket, a gripper mechanism rotating mechanism, four gripper grippers, and two gripper mechanism telescopic mechanisms; the gripper gripping mechanism 6 is connected to an external moving mechanism via the gripper mechanism fixing bracket; the gripper mechanism rotating mechanism is attached to the lower end of the gripper mechanism fixing bracket; the two gripper mechanism telescopic mechanisms are a No. 1 gripper telescopic mechanism and a No. 2 gripper telescopic mechanism, respectively, and are installed on two fixed surfaces of the gripper rotating mechanism, and the two gripper mechanism telescopic mechanisms are perpendicular to each other; the four gripper grippers include a No. 1 gripper, a No. 2 gripper, a No. 3 gripper, and a No. 4 gripper, respectively; the gripper gripper mechanism 6 is used to grip and release the workpiece, and to move the workpiece to an intermediate platform under the driving of the moving mechanism, or to load and unload the equipment.

[0033] In another embodiment of the present invention, there is provided an automatic inversion of a multi-process surface, a rotation of a reference measurement surface, and a gripper gripping method, which is based on the automatic inversion of a multi-process surface, a rotation of a reference measurement surface, and a gripper gripping mechanism of the third embodiment. The method includes: Step 101: Based on the process machining requirements of the workpiece to be machined, the operation sequence and target execution operation of each part in the automatic reversal mechanism of the process surface, the rotation mechanism of the reference measuring surface and the gripper gripping mechanism are determined, and based on the operation sequence and the target execution operation, target operation methods corresponding to the automatic reversal mechanism of the process surface, the rotation mechanism of the reference measuring surface and the gripper gripping mechanism are selected and combined from the library to obtain a current execution flow method; wherein, the library pre-stores multiple types of process surface reversal methods corresponding to the automatic reversal mechanism of the process surface, multiple types of reference measuring surface rotation methods corresponding to the rotation mechanism of the reference measuring surface, and multiple types of gripper gripping combination methods corresponding to multiple types of execution operations of each part corresponding to the gripper gripping mechanism. Step 102: Control each component of the automatic inversion mechanism of the process surface, the rotation mechanism of the reference measurement surface and the gripper holding mechanism to manipulate the workpiece to be machined according to the currently executed flow method.

[0034] Here, the workpiece to be machined may be a six-sided cube. The library includes six process surface inversion methods corresponding to the automatic inversion mechanism of the process surface, four reference measurement surface rotation methods corresponding to the rotation mechanism of the reference measurement surface, and eight gripper gripping methods corresponding to the gripper gripping mechanism. Among them, the six process surface inversion methods are: inverting the right side to the top side, inverting the left side to the top side, inverting the lower bottom side to the top side, inverting the front side to the top side, inverting the rear side to the top side, and not inverting the process surface. The four reference measurement surface rotation methods include inverting the right side to the top side, inverting the left side to the top side, inverting the lower bottom side to the top side, inverting the front side to the top side, inverting the rear side to the top side, and not inverting the process surface. In an embodiment of the present invention, there are eight types of gripper gripping combinations: gripper no. 1 works up, gripper no. 2 works down, gripper no. 1 flips over and then removes the workpiece; gripper no. 1 works up, gripper no. 2 works down, gripper no. 2 flips over and then removes the workpiece; gripper no. 1 works up, gripper no. 2 works down, gripper no. 3 flips over and then removes the workpiece; gripper no. 1 works up, gripper no. 3 works down, gripper no. 3 flips over and then removes the workpiece; gripper no. 2 works up, gripper no. 3 works down, gripper no. 2 flips over and then removes the workpiece; gripper no. 2 works up, gripper no. 3 works down, gripper no. 3 flips over and then removes the workpiece; gripper no. 2 works up, gripper no. 3 works down, gripper no. 3 flips over and then removes the workpiece; gripper no. 3 works up, gripper no. 4 works down, gripper no. 3 flips over and then removes the workpiece.Among the multi-process surface automatic inversion, reference measuring surface rotation, and gripper gripping methods, six process surface inversion methods, four reference measuring surface rotation methods, and eight gripper gripping combinations are written into the pre-set library, and in the process of machining different workpieces, the corresponding process surface inversion method, reference measuring surface rotation method, and gripper gripping combination are selected from the six process surface inversion methods, four reference measuring surface rotation methods, and eight gripper gripping combinations in the library to edit the corresponding set program and path, and form the current execution process method for the current workpiece to be machined, thereby effectively saving the program editing process, and solving the problem of the complex and high cost of programming logic using traditional articulated robots, etc. With the set six process surface inversion methods, four reference measuring surface rotation methods, and eight gripper gripping combinations, when replacing the machining parts or assembly parts of the CNC machining center or other numerical control devices, employees do not need to re-edit the loading and unloading motion path, but only need to select the appropriate loading and unloading motion and path according to the requirements of the process and adjust the gripper size. Reduce the adjustment time and reduce the difficulty of adjustment.

[0035] In one specific implementation, there are two kinds of process flows for loading and unloading the equipment in which the gripper gripping mechanism 6 grips the workpiece. The first kind of process flow A is work up, work processing, and work down; in this process flow, the automatic inversion mechanism of the process plane and the rotation mechanism of the reference measurement plane do not operate. The second kind of process flow B is work up, work processing, work down, work relay platform inversion, work secondary up, work secondary processing, and work secondary down; in this process flow, the automatic inversion mechanism of the process plane and the rotation mechanism of the reference measurement plane operate.

[0036] Among them, the first process flow A of the combination of automatic inversion of multi-process surface, rotation of reference measurement surface and gripper gripping mechanism has a loading and unloading flow of the numerical control device (workpiece processing device) as follows: Assuming there is material in the material platform, the unmachined workpieces are a, b, c... in order, and correspondingly, the first machined process works are a1, b1, c1..., and the second machined process works are a2, b2, c2....

[0037] The first load / unload steps of process A are as follows: A1, the unmachined workpiece is placed on the material platform, the gripper gripping mechanism moves to the material platform under the driving of an external mechanism, the gripper gripping mechanism rotates or moves to the standby position of gripper No. 1 (the gripper can be selected according to technical requirements, the same below), and the gripper No. 1 of the gripper gripping mechanism grips the unmachined workpiece a. A2, the gripper gripping mechanism is driven by the external mechanism to move above the fixed position of the numerical control device workpiece based on the program settings, the gripper gripping mechanism rotates or moves to the standby position of the No. 2 gripper, and the No. 2 gripper is moved by the external mechanism to grip the processed workpiece at the fixed position of the numerical control device workpiece (there is no processed workpiece for the first time, and the same below). A3, the gripper holding mechanism rotates or moves to the standby position of gripper No. 1, and gripper No. 1 is moved by the drive of the external mechanism, and the unmachined workpiece a is left at a fixed position of the numerically controlled workpiece. A4: The gripper gripping mechanism grips the machined workpiece and is driven by an external mechanism to separate from the numerical control device, and the numerical control device begins to process the unmachined workpiece. A5. The gripper gripping mechanism grips the processed workpiece and moves onto the material platform driven by the external mechanism, the gripper gripping mechanism rotates or moves to the waiting position of the second gripper, and the second gripper leaves the processed workpiece at the corresponding number position on the material platform driven by the external mechanism.

[0038] The second loading and unloading steps of Process Flow A are as follows: A6, the gripper gripping mechanism rotates or moves to the standby position of gripper No. 1, and gripper No. 1 of the gripper gripping mechanism grips the unmachined workpiece b. A7: The gripper gripping mechanism is driven by an external mechanism and moves to the numerical control device based on the program settings to wait for the previous workpiece to be processed. A8. The numerical control device completes the machining process of the unmachined workpiece a. A9: Based on the program settings, the gripper gripping mechanism is driven by an external mechanism to move above a fixed position of the numerical control device workpiece, the gripper gripping mechanism rotates or moves to a standby position of the second gripper, and the second gripper is moved by the external mechanism to grip the machined workpiece a1 at the fixed position of the numerical control device workpiece. A10, the gripper gripping mechanism rotates or moves to the standby position of the No. 1 gripper, and the No. 1 gripper is moved by the drive of the external mechanism, and the unmachined workpiece b is left at a fixed position of the numerically controlled workpiece. A11, the gripper gripping mechanism grips the machined workpiece a1 and is driven by the external mechanism to separate from the numerical control device, and the numerical control device starts to machine the unmachined workpiece b. A12, the gripper gripping mechanism grips the machined workpiece a1 and moves onto the material platform driven by an external mechanism, the gripper gripping mechanism rotates or moves to the waiting position of the second gripper, and the second gripper leaves the machined workpiece a1 at the corresponding number position on the material platform driven by the external mechanism. A13, the third loading and unloading step of process flow A (and all subsequent loading and unloading of workpieces) repeats steps A6, A7, A8, A9, A10, A11, A12 in the same way as the second loading and unloading step of process flow A, and automatically completes the loading and unloading of all workpieces process flow A on the material platform.

[0039] Since there are many combinations of automatic inversion of multi-process surface, rotation of reference measurement surface and gripper gripping mechanism, for inversion of workpiece process surface, a certain program is selected based on "invert the lower bottom surface to the upper surface", "do not rotate the reference measurement surface", "gripper No. 1 work up, gripper No. 2 work down, take out the workpiece after gripper No. 1 inverts" and is explained as an example. The first loading and unloading steps of the first process of process flow B are as follows: B1, the unmachined workpiece is placed on the material platform, the gripper gripping mechanism is driven by an external mechanism to move onto the material platform, the gripper gripping mechanism rotates or moves to the standby position of gripper No. 1 (the gripper is selected according to technical requirements, the same below), and the gripper No. 1 of the gripper gripping mechanism grips the unmachined workpiece a. B2, the gripper gripping mechanism is driven by the external mechanism to move above the fixed position of the numerical control device workpiece based on the program settings, the gripper gripping mechanism rotates or moves to the standby position of the No. 2 gripper, and the No. 2 gripper is moved by the external mechanism to grip the machined workpiece at the fixed position of the numerical control device workpiece (there is no machined workpiece for the first time, and the same applies below). B3, the gripper holding mechanism rotates or moves to the standby position of gripper No. 1, and gripper No. 1 is moved by the drive of the external mechanism, and the unmachined workpiece a is left at a fixed position of the numerically controlled workpiece. B4: The gripper gripping mechanism grips the machined workpiece and is driven by an external mechanism to separate from the numerical control device, and the numerical control device starts to process the unmachined workpiece. B5, the gripper gripping mechanism grips the machined workpiece and moves onto the relay platform driven by the external mechanism, the gripper gripping mechanism rotates or moves to the waiting position of the second gripper, and the second gripper is moved by the external mechanism based on the program setting, and the machined workpiece is left on the Z-axis material pallet. B6. Based on the program settings, the Z-axis material pallet is lowered to the appropriate position by driving the Z-axis lifting mechanism. B7: Based on the program settings, the finger gripper of the X-axis gripper (the gripper is selected according to technical requirements, the same applies below) opens and extends due to the driving of the X-axis telescopic mechanism, and the finger gripper of the X-axis gripper is fixed to grip the processed workpiece. B8, based on the program settings, the Z-axis material pallet is lowered to an appropriate position by the driving of the Z-axis lifting mechanism, and the Z-axis material pallet is separated from the machined workpiece. B9, according to the program setting, the X-axis gripper is retrieved by driving the X-axis telescopic mechanism, and the X-axis gripper is rotated 180 degrees by driving the X-axis rotating mechanism to complete the reversal of the process surface required for the next process. B10, based on the program settings, the X-axis gripper extends by driving the X-axis telescopic mechanism, the Z-axis material pallet rises to an appropriate position by driving the Z-axis lifting mechanism, the Z-axis material pallet receives the processed workpiece, the finger grippers of the X-axis gripper open, the processed workpiece is placed on the Z-axis material pallet, and the X-axis gripper returns to the origin by driving the X-axis telescopic mechanism and the X-axis rotation mechanism. B11, according to the program settings, the Z-axis material pallet is driven by the Z-axis rotation mechanism to rotate a predetermined angle (in this example, there is no need to rotate the reference measuring surface) to complete the rotation of the reference measuring surface required for the next process. B12, based on the program settings, the Z-axis material pallet is raised to the appropriate position by the drive of the Z-axis lifting mechanism, the gripper gripping mechanism rotates or moves to the standby position of the No. 1 gripper, and the No. 1 gripper grips the processed workpiece. B13, according to the program settings, the Z-axis material pallet returns to the origin by driving the Z-axis lifting mechanism and the Z-axis rotating mechanism. B14, according to the program setting, the gripper gripping mechanism grips the processed workpiece, and moves onto the material platform by driving the external moving mechanism, and leaves the processed workpiece at the corresponding number position on the material platform.

[0040] The second loading and unloading steps of the first process in Process Flow B are as follows: B15, the gripper gripping mechanism rotates or moves to the standby position of gripper No. 1, and gripper No. 1 of the gripper gripping mechanism grips the unmachined workpiece b. B16: The gripper gripping mechanism is driven by an external mechanism to move to the numerical control device based on the program settings and waits for the previous workpiece to be processed. B17, the numerical control device completes the machining process of the unmachined workpiece a. B18, the gripper gripping mechanism is driven by an external mechanism to move above a fixed position of the numerical control device workpiece based on the program setting, the gripper gripping mechanism rotates or moves to a standby position of the second gripper, and the second gripper is moved by the external mechanism to grip the machined workpiece a1 at the fixed position of the numerical control device workpiece. B19, the gripper gripping mechanism rotates or moves to the standby position of gripper No. 1, and gripper No. 1 is moved by the drive of the external mechanism, and the unmachined workpiece b is left at a fixed position of the numerically controlled workpiece. B20, the gripper gripping mechanism grips the machined workpiece and is driven by the external mechanism to separate from the numerical control device, and the numerical control device starts to machine the unmachined workpiece b. B21, the gripper gripping mechanism grips the machined workpiece and moves onto the relay platform driven by an external mechanism, the gripper gripping mechanism rotates or moves to the waiting position of the second gripper, and the second gripper is moved by the external mechanism based on the program setting, and the machined workpiece a1 is left on the Z-axis material pallet. B22, based on the program settings, the Z-axis material pallet is lowered to the appropriate position by driving the Z-axis lifting mechanism. B23: Based on the program settings, the finger gripper of the X-axis gripper opens and extends by driving the X-axis telescopic mechanism, and the finger gripper of the X-axis gripper is fixed to grip the machined workpiece. B24, based on the program settings, the Z-axis material pallet is lowered to an appropriate position by driving the Z-axis lifting mechanism, and the Z-axis material pallet is separated from the machined workpiece. B25, according to the program settings, the X-axis gripper is retrieved by driving the X-axis telescopic mechanism, and the X-axis gripper is rotated 180 degrees by driving the X-axis rotating mechanism to complete the reversal of the process surface required for the next process. B26, based on the program settings, the X-axis gripper extends by driving the X-axis telescopic mechanism, the Z-axis material pallet rises to the appropriate position by driving the Z-axis lifting mechanism, the Z-axis material pallet receives the processed workpiece, the finger grippers of the X-axis gripper open and place the processed workpiece on the Z-axis material pallet, and the X-axis gripper returns to the origin by driving the X-axis telescopic mechanism and the X-axis rotation mechanism. B27, based on the program settings, the Z-axis material pallet is driven by the Z-axis rotation mechanism to rotate a certain angle (in this example, the reference measuring surface does not need to rotate) to complete the rotation of the reference measuring surface required for the next process. B28, based on the program settings, the Z-axis material pallet is driven by the Z-axis lifting mechanism to rise to the appropriate position, the gripper gripping mechanism rotates or moves to the standby position of the No. 1 gripper, and the No. 1 gripper grips the processed workpiece. B29, based on the program settings, the Z-axis material pallet returns to the origin by driving the Z-axis lifting mechanism and the Z-axis rotating mechanism. B30, according to the program setting, the gripper gripping mechanism grips the processed workpiece, and moves onto the material platform by driving the external moving mechanism, and leaves the processed workpiece at the corresponding number position on the material platform. B31, the third loading and unloading step of the first process of process flow B (and the loading and unloading of all subsequent workpieces) is the same as the second loading and unloading step of the first process of process flow B, and repeats steps B15 to B30 to automatically complete the loading and unloading of the first process of all workpiece processes on the material platform.

[0041] The first loading and unloading of the second process of process flow B is as follows: B32, the gripper gripping mechanism rotates or moves to the standby position of the No. 1 gripper, the gripper gripping mechanism moves above the material platform by the drive of the external mechanism, and the No. 1 gripper of the gripper gripping mechanism grips the processed workpiece a1. B33, the gripper gripping mechanism is driven by an external mechanism to move above the fixed position of the numerical control device workpiece according to the program setting, the gripper gripping mechanism rotates or moves to the standby position of the second gripper, and the second gripper is driven by an external mechanism to grip the processed workpiece at the fixed position of the numerical control device workpiece (the first time there is no processed workpiece, the same below); B34, the gripper holding mechanism rotates or moves to the standby position of the No. 1 gripper, and the No. 1 gripper is moved by the drive of the external mechanism, and the unmachined workpiece a1 is left at a fixed position of the numerically controlled workpiece. B35, the gripper gripping mechanism grips the machined workpiece and is driven by an external mechanism to separate from the numerical control device, and the numerical control device begins to process the unmachined workpiece. B36, based on the program settings, the gripper gripping mechanism grips the machined workpiece and moves onto the material platform driven by the external mechanism, and the gripper gripping mechanism rotates or moves to the standby position of the second gripper, and leaves the machined workpiece a1 at the corresponding number position on the material platform.

[0042] The second loading and unloading of the second process of process flow B is as follows: B37, the gripper gripping mechanism rotates or moves to the standby position of gripper No. 1, and gripper No. 1 of the gripper gripping mechanism grips the unmachined workpiece b1. B38, the gripper gripping mechanism is driven by an external mechanism to move to the numerical control device based on the program settings and waits for the previous workpiece to be processed. B39, the numerical control device completes the machining process of the unmachined workpiece a1. B40, the gripper gripping mechanism is driven by an external mechanism to move above a fixed position of the numerical control device workpiece based on the program settings, the gripper gripping mechanism rotates or moves to a standby position of the second gripper, and the second gripper is moved by the external mechanism to grip the machined workpiece a1 at the fixed position of the numerical control device workpiece. B41, the gripper gripping mechanism rotates or moves to the standby position of gripper No. 1, and gripper No. 1 is moved by the drive of an external mechanism, and leaves the unmachined workpiece b1 at a fixed position of the numerically controlled workpiece. B42: The gripper holding mechanism holds the machined workpiece a2 and is driven by the external mechanism to separate from the numerical control device, and the numerical control device starts to machine the unmachined workpiece b1. B43: The gripper gripping mechanism grips the machined workpiece a2 and moves onto the material platform driven by an external mechanism, the gripper gripping mechanism rotates or moves to the standby position of the second gripper, and the second gripper leaves the machined workpiece a2 at the corresponding number position on the material platform driven by the external mechanism. B44, the third loading and unloading step of process flow B (and all subsequent loading and unloading of workpieces), similarly to the second loading and unloading step of process flow B, repeats steps B37, B38, B38, B40, B41, B42, B43 to automatically complete the second process loading and unloading of all workpiece processes B on the material platform.

[0043] For a workpiece having two or more machining processes, the process flow of loading and unloading all workpieces in the first process of the workpiece (and the process flow of loading and unloading all workpieces thereafter except the last process) can be completed by repeating steps B1 to B31 in the same way as the process flow of loading and unloading the first process of the workpiece (and the process flow of loading and unloading all processes thereafter except the last process); the process flow of loading and unloading all workpieces in the last process of the workpiece (and the process flow of loading and unloading all processes thereafter except the last process) can be completed by repeating steps B32 to B44 in the same way as the process flow of loading and unloading the second process of the workpiece.

[0044] The above are only preferred specific embodiments of the present invention. However, the scope of protection of the present invention is not limited thereto. Any person skilled in the art can make equivalent replacements or modifications based on the technical solutions and improved concepts of the present invention within the technical scope disclosed in the present invention, and such replacements or modifications should be included in the scope of protection of the present invention. [Explanation of symbols]

[0045] 1.1 Second gripper 1.2, 4th gripper 1.3 First gripper 1.4, 3rd gripper 1.5, 1st telescopic mechanism 1.6, Second telescoping mechanism 1.7, First Rotating Mechanism Power Mechanism 1.8. First rotating mechanism 1.9. External moving bracket 2.1, 5th telescoping mechanism 2.2, 5th telescoping mechanism power mechanism 2.3. Fourth rotating mechanism power mechanism 2.4. Fourth Rotation Mechanism 2.5, 3rd telescopic mechanism 2.6, Third telescoping mechanism power mechanism 2.7, second rotating mechanism power mechanism 2.8, First fixed bracket 2.9. Second Rotation Mechanism 2.10, 5th gripper 2.11, Material Pallet 1 2.12, 4th telescoping mechanism 2.13, 4th telescoping mechanism power mechanism 2.14. The third rotating mechanism 2.15, 6th gripper 2.16, the third rotating mechanism power mechanism 3.1, Material Pallet 2 3.2 Material Pallet 3 3.3. Fifth Rotation Mechanism 3.4, Material Pallet 4 3.5, 6th telescopic mechanism 3.6, 7th telescopic mechanism 3.7, 6th rotating mechanism 3.8, Material Pallet 6 3.9. 8th Rotation Mechanism 3.10, Material Pallet 7 3.11, 9th telescoping mechanism 3.12, 10th telescopic mechanism 3.13. 9th Rotation Mechanism 3.14, Material Pallet 5 3.15, 8th telescoping mechanism 3.16, 7th Rotation Mechanism 3.17, Workpiece body 3.18, Second fixing bracket 2, Fixing bracket 3. X-axis inversion mechanism 4. Y-axis inversion mechanism 5. Z-axis positioning mechanism 6. Gripper holding mechanism

Claims

1. 1. An automatic inversion mechanism for a multi-process surface, a rotation mechanism for a reference measurement surface, and a gripper gripping mechanism, comprising: a first fixed bracket (2.8), the first fixed bracket (2.8) is used to mount the automatic inversion mechanism for the multi-process surface, the rotation mechanism for the reference measurement surface, and a material pallet 1 (2.11), the gripper gripping mechanism is mounted on an external movable bracket, the gripper gripping mechanism comprises a first rotation mechanism (1.8), a first rotation mechanism power mechanism (1.7), a first gripper (1.3), a second gripper (1.1), a third gripper (1.4), a fourth gripper (1.2), and a first telescopic mechanism (1.5), a second telescopic mechanism (1.6), the first rotation mechanism (1.8) is mounted on an external movable bracket (1.9), and the first telescopic mechanism (1.5) and the second telescopic mechanism (1.6) are both mounted on the first rotation mechanism (1.8).

2. The automatic inversion of a multi-process surface, rotation of a reference measurement surface and gripper gripping mechanism according to claim 1, characterized in that the first gripper gripping mechanism and the second gripper gripping mechanism are a pair, the first gripper gripping mechanism and the second gripper gripping mechanism being adapted to the first gripper (1.3) and the second gripper (1.1), respectively, and the third gripper gripping mechanism and the fourth gripper gripping mechanism are a pair, the third gripper gripping mechanism and the fourth gripper gripping mechanism being adapted to the third gripper (1.4) and the fourth gripper (1.2), respectively.

3. The automatic inversion mechanism of the multi-process surface includes a third telescopic mechanism (2.5), a fourth telescopic mechanism (2.12), a second rotation mechanism (2.9), a third rotation mechanism (2.14), a fifth gripper (2.10), and a sixth gripper (2.15), the third telescopic mechanism (2.5) comprising a third telescopic mechanism power mechanism (2.6), the fourth telescopic mechanism (2.12) comprising a fourth telescopic mechanism power mechanism (2.13), the second rotation mechanism (2.9) comprising a second rotation mechanism power mechanism (2.7), and the third rotation mechanism (2. the third telescopic mechanism (2.5) and the fourth telescopic mechanism (2.12) are both mounted on a second fixed bracket (3.18), the second rotating mechanism (2.9) is mounted on the third telescopic mechanism (2.5), the third rotating mechanism (2.14) is mounted on the fourth telescopic mechanism (2.12), the fifth gripper (2.10) is mounted on the second rotating mechanism (2.9), and the sixth gripper (2.15) is mounted on the third rotating mechanism (2.14); 2. The automatic inversion mechanism of the multi-process surface, the reference measurement surface rotation and the gripper gripping mechanism according to claim 1, characterized in that the automatic inversion mechanism of the multi-process surface includes a third telescopic mechanism (2.5) and a third telescopic mechanism power mechanism (2.6), a seventh telescopic mechanism (3.6) and a seventh telescopic mechanism power mechanism, a second rotation mechanism (2.9) and a second rotation mechanism power mechanism (2.7), a sixth rotation mechanism (3.7) and a fifth gripper (2.10) and a sixth gripper (2.15); the seventh telescopic mechanism (3.6) is attached to a second fixed bracket (3.18), the sixth rotation mechanism (3.7) is attached to the seventh telescopic mechanism (3.6), the sixth rotation mechanism (3.7) comprises a sixth rotation mechanism power mechanism, and the sixth gripper (2.15) is attached to the sixth rotation mechanism (3.7).

4. The rotation mechanism of the reference measurement surface includes a fifth telescopic mechanism (2.1), a fourth rotation mechanism (2.4) and a material pallet 1 (2.11), the fifth telescopic mechanism (2.1) comprises a fifth telescopic mechanism power mechanism (2.2), the fourth rotation mechanism (2.4) comprises a fourth rotation mechanism power mechanism (2.3), the fifth telescopic mechanism (2.1) is attached to a second fixed bracket (3.18), the fourth rotation mechanism (2.4) is attached to the fifth telescopic mechanism (2.1), and the material pallet 1 (2.11) is attached to the fourth rotation mechanism (2.4); The rotation mechanisms of the reference measurement surface include a fourth telescopic mechanism (2.12) and a fourth telescopic mechanism power mechanism (2.13), a fifth telescopic mechanism (2.1) and a fifth telescopic mechanism power mechanism (2.2), a sixth telescopic mechanism (3.5) and a sixth telescopic mechanism power mechanism, an eighth telescopic mechanism (3.15), a ninth telescopic mechanism (3.11) and a tenth telescopic mechanism (3.12), and the rotation mechanisms of the reference measurement surface include a third rotation mechanism (2.14) and a third rotation mechanism power mechanism (2.16), a fourth rotation mechanism (2.4) and a fourth telescopic mechanism power mechanism (2.17). The automatic inversion of a multi-process surface, rotation of a reference measurement surface and gripper gripping mechanism according to claim 3, characterized in that it comprises a rotation mechanism power mechanism (2.5), a fifth rotation mechanism (3.3), a seventh rotation mechanism (3.16), an eighth rotation mechanism (3.9), a ninth rotation mechanism (3.13) and a material pallet 2 (3.1), a material pallet 3 (3.2), a material pallet 4 (3.4), a material pallet 5 (3.14), a material pallet 6 (3.8) and a material pallet 7 (3.10).

5. 5. The automatic inversion of a multi-process surface, rotation of a reference measuring surface and gripper gripping mechanism according to claim 4, characterized in that the eighth telescopic mechanism (3.15) comprises an eighth telescopic mechanism powered mechanism, the ninth telescopic mechanism (3.11) comprises a ninth telescopic mechanism powered mechanism, the tenth telescopic mechanism (3.12) comprises a tenth telescopic mechanism powered mechanism, the fifth rotation mechanism (3.3) comprises a fifth rotation mechanism powered mechanism, the seventh rotation mechanism (3.16) comprises a seventh rotation mechanism powered mechanism, the eighth rotation mechanism (3.9) comprises an eighth rotation mechanism powered mechanism, the ninth rotation mechanism (3.13) comprises a ninth telescopic mechanism, and the sixth telescopic mechanism (3.5), seventh telescopic mechanism (3.6), eighth telescopic mechanism (3.15), ninth telescopic mechanism (3.11) and tenth telescopic mechanism (3.12) are all mounted on a first fixed bracket (2.8).

6. A method for automatic inversion of a multi-process surface, rotation of a reference measurement surface, and gripper gripping, the method being based on the automatic inversion of a multi-process surface, rotation of a reference measurement surface, and gripper gripping mechanism described in claim 1, the method including: S1, the gripper gripping mechanism is driven by an external mechanism and places the work body (3.17) on the material pallet 1 (2.11). S2, the fifth telescopic mechanism (2.1) is extended and moves to a specified position based on the program settings. S3, the third telescopic mechanism (2.5) or the fourth telescopic mechanism (2.12) is extended, and the workpiece body (3.17) is gripped by the fifth gripper (2.10) or the sixth gripper (2.15). S4, the fifth telescopic mechanism (2.1) is withdrawn, and the second rotation mechanism (2.9) or the third rotation mechanism (2.14) completes the reversal angle of the process surface of the workpiece. S5, the fifth telescopic mechanism (2.1) is extended and moves to a specified position based on the program settings, the work body (3.17) is returned to the material pallet 1 (2.11) by the fifth gripper (2.10) or the sixth gripper (2.15), the third telescopic mechanism (2.5) or the fourth telescopic mechanism (2.12) returns to the origin, and the second rotation mechanism (2.9) or the third rotation mechanism (2.14) returns to the origin. S6, the fourth rotation mechanism (2.4) rotates the reference measurement surface of the workpiece by a rotation angle based on the program settings. S7, the gripper gripping mechanism is driven by an external mechanism to grip the workpiece body (3.17), and moves to a specified position based on program settings, and the fifth telescopic mechanism (2.1) and the fourth rotation mechanism (2.4) return to the origin, characterized in that:

7. A method for automatic inversion of a multi-process surface, rotation of a reference measurement surface, and gripper gripping, the method being based on automatic inversion of a multi-process surface, rotation of a reference measurement surface, and a gripper gripping mechanism; the automatic inversion of a multi-process surface, rotation of a reference measurement surface, and gripper gripping mechanism include an automatic inversion mechanism of a process surface, a rotation mechanism of a reference measurement surface, and a gripper gripping mechanism; the gripper gripping mechanism includes at least two gripping mechanism grippers, the gripper gripping mechanism is attached to an external moving mechanism, and is used to grip a workpiece to be processed from a material platform and move it to a workpiece processing device under the driving of the external moving mechanism, grip a processed workpiece from a workpiece processing device, leave the workpiece to be processed in the inversion mechanism of the process surface under the driving of the external moving mechanism, and remove the workpiece to be processed from the inversion mechanism of the process surface; the inversion mechanism of the process surface is used to invert the process surface of the workpiece to be processed in the X-axis or Y-axis direction based on a set program; the rotation mechanism of the reference measurement surface is used to rotate the reference measurement surface relative to the workpiece to be processed after the inversion mechanism of the process surface rotates the process surface relative to the workpiece to be processed; The method includes: According to the process requirements of the workpiece to be processed, the operation sequence and target execution operation of each part in the automatic inversion mechanism of the process surface, the rotation mechanism of the reference measuring surface and the gripper gripping mechanism are determined, and according to the operation sequence and the target execution operation, corresponding target operation methods of the automatic inversion mechanism of the process surface, the rotation mechanism of the reference measuring surface and the gripper gripping mechanism are selected and combined from the library to obtain a current execution flow method; wherein, the library pre-stores a plurality of process surface inversion methods corresponding to the automatic inversion mechanism of the process surface, a plurality of reference measuring surface rotation methods corresponding to the rotation mechanism of the reference measuring surface and a plurality of gripper gripping combination methods corresponding to a plurality of execution operations of each part corresponding to the gripper gripping mechanism; A method for automatic inversion of multiple process surfaces, rotation of reference measurement surfaces, and gripper gripping, characterized in that each component of the automatic inversion mechanism of the process surface, the rotation mechanism of the reference measurement surface, and the gripper gripping mechanism is controlled, and the workpiece to be machined is operated based on a currently executed flow method.

8. The gripper gripping mechanism includes a gripper fixing bracket, a gripper rotating mechanism, four gripper grippers, and two gripper telescopic mechanisms; the gripper gripper is connected to the external moving mechanism via the gripper fixing bracket; the gripper rotating mechanism is attached to the lower end of the gripper fixing bracket; the two gripper telescopic mechanisms are the first gripper telescopic mechanism and the second gripper telescopic mechanism, respectively, and are installed on two fixed surfaces of the gripper rotating mechanism, and the two gripper telescopic mechanisms are perpendicular to each other; the four gripper grippers are the first gripper, the second gripper, the third gripper, and the fourth gripper, respectively; the gripper gripper (6) is used to grip and release the workpiece, and move the workpiece to the relay platform under the driving of the moving mechanism, or to load and unload the equipment; The workpiece to be machined is a six-sided cube, and the library includes six process surface inversion methods corresponding to the automatic process surface inversion mechanism, four reference measurement surface rotation methods corresponding to the reference measurement surface rotation mechanism, and eight gripper gripping methods corresponding to the gripper gripping mechanism; among them, the six process surface inversion methods are: inverting the right side to the top side, inverting the left side to the top side, inverting the bottom side to the top side, inverting the front side to the top side, inverting the rear side to the top side, and not inverting the process surface; the four reference measurement surface rotation methods are: rotating the right side to the rear side, rotating the left side to the rear side, rotating the front side to the rear side, and not rotating the reference measurement surface; There are eight different gripper combinations: Gripper No. 1 lifts up the work, gripper No. 2 lowers the work, and gripper No. 1 reverses and then removes the work; Gripper No. 1 lifts up the work, gripper No. 2 lowers the work, and gripper No. 2 reverses and then removes the work; Gripper No. 1 lifts up the work, gripper No. 2 lowers the work, and gripper No. 3 reverses and then removes the work; Gripper No. 1 works up, gripper No. 3 works down, gripper No. 2 reverses and then removes the work; Gripper No. 1 works up, gripper No. 3 works down, gripper No. 3 reverses and then removes the work; Gripper No. 2 works up, gripper No. 3 works down, gripper No. 2 reverses and then removes the work; Gripper No. 2 works up, gripper No. 3 works down, gripper No. 3 reverses and then removes the work; 8. The method according to claim 7, wherein the third gripper works up the work, the fourth gripper works down the work, and the third gripper takes out the work after inversion.

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