Automatic maintenance digital control equipment loading and unloading device

Abstract

An automated grooming digitally controlled equipment loading and unloading device is disclosed. [Solution] The loading / unloading device, through the addition of an automatic reversal mechanism for multiple processing surfaces and a rotation mechanism for the positioning surface, can complete the automatic loading and unloading of the workpiece, the automatic reversal of multiple processing surfaces during process conversion, and the automatic rotation of the positioning surface. In addition to the automatic cooperation of the gripper holding mechanism, there is no need to manually reverse the workpiece, which greatly achieves the effects of saving labor and manpower. It can complete the production of finished products of multiple processes on a single machine, reduce the processing process flow, reduce work loading space and stagnation problems, eliminate the problem of uneven machine mixing ratio, and make it no longer difficult or expensive to operate the machine 24 hours a day, 365 days a year. The production capacity of the machine can be fully utilized, and the problems of being restricted by difficult personnel management in the processing industry and the problems of being unable to control costs in the processing industry can be eliminated.

Description

[Technical field]

[0001] The present invention relates to the field of machining, and in particular to an automated trimming digitally controlled equipment loading and unloading device. [Background technology]

[0002] The digital control equipment truss robot hand is composed of a set of truss robot hands, an object gripping mechanism on the robot hand, and a spare material outside the digital control equipment. Taking a CNC processing center as an example, the operation method is to grip the processing workpiece at the workpiece chucking point position of the vice (or other clamping mechanism) part of the CNC processing center (or similar digital control processing equipment) through the gripper gripping mechanism on the truss robot hand, take out the processed product (there is no processed product for the first time), place it and chuck the product waiting to be processed, and the truss robot hand leaves the CNC processing center, replaces the workpiece on the workpiece pallet, and repeats the above cycle. Conventional truss robot hands can only complete the chucking of one machining surface, and cannot automatically complete workpieces with multiple machining processes on one machine; or they manually complete the workpiece switchback to realize the production of workpieces with multiple machining processes on one machine, which results in high labor costs, low production efficiency, and insufficient utilization of the machine; or they use a workpiece logistics and distribution system that is complex and voluminous, occupies too large an area, and is often difficult to realize and expensive; or they use multiple CNC processing centers and loading and unloading truss robot hands to cooperate, which results in high costs and uneven machine mix ratios, which causes machines to be idle and the workpiece flow to be significantly slower. Summary of the Invention [Problem to be solved by the invention]

[0003] In response to the problems existing in the prior art, the objective of the present invention is to provide an automatic trimming digital control equipment loading and unloading device, which can realize the following: the loading and unloading device can complete the automatic loading and unloading of the workpiece, the automatic reversal of multiple processing surfaces during process conversion, and the automatic rotation of the positioning surface through the addition of an automatic reversal mechanism for multiple processing surfaces and a rotation mechanism for the positioning surface; in addition to the automatic cooperation of the gripper holding mechanism, there is no need to manually turn over the workpiece, which greatly achieves the effect of saving manpower and labor; one machine can complete the production of finished products of multiple processes, reduce the processing process flow, reduce the work loading space and stagnation problems, eliminate the trouble of uneven machine mixing ratio, make it easier and less expensive to operate the machine 24 hours a day, 365 days a year, fully utilize the production capacity of the machine, and eliminate the trouble of being restricted by difficult personnel management in the processing industry, and eliminate the trouble of being unable to control costs in the processing industry. [Means for solving the problem]

[0004] In order to solve the above problems, the present invention adopts the following technical solutions.

[0005] In the automatic maintenance digital control equipment loading and unloading device, the truss robot hand is equipped with a gripper holding mechanism to which four grippers are attached, and the truss robot hand is fixedly connected with an automatic inversion mechanism for multiple processing surfaces, a rotation mechanism for positioning surface, and a stock preparation rack to which an article pallet is attached, and the following can be realized: The loading and unloading device completes the automatic loading and unloading of the workpiece, the automatic inversion of multiple processing surfaces during process conversion, and the automatic rotation of the positioning surface through the automatic inversion mechanism for multiple processing surfaces and the rotation mechanism for positioning surface that are added. In addition to the automatic cooperation of the gripper holding mechanism, there is no need to manually turn over the workpiece, which greatly achieves the effects of labor saving and labor saving. One machine can complete the production of finished products of multi-processes, reduce the processing process flow, and reduce the workpiece loading space and delay problems. It eliminates the trouble of uneven machine mixing ratio, and it is no longer difficult or expensive to operate the machine 24 hours a day, 365 days a year. The production capacity of the machine can be fully utilized, and the trouble of being restricted by the difficulty of manpower management in the processing industry and the trouble of not being able to control costs in the processing industry are eliminated.

[0006] Further, the truss robot hand is mounted on the ground, and is used to set a trajectory motion based on a program and drive a gripper holding mechanism to carry out loading and unloading to a digitally controlled device. The truss robot hand includes a first fixed blanket, an outer end of the first fixed blanket is connected to a first guide rail and a second fixed blanket, an outer end of the first guide rail is connected to a first movable blanket, and the hand moves in a lateral direction along the left-right X-axis and is provided with a first movable blanket power mechanism. A second guide rail is connected to an outer end of the first movable blanket, and a second movable blanket is connected to an outer end of the second guide rail, and the hand moves in a vertical direction along the front-back Y-axis and is provided with a second movable blanket power mechanism. A third guide rail is connected to an outer end of the second movable blanket, and a third movable blanket is connected to an outer end of the third guide rail, and the hand moves up and down along the Z-axis and is provided with a third movable blanket power mechanism.

[0007] Further, the gripper gripping mechanism includes a first rotating mechanism, a first gripper gripping mechanism, a second gripper gripping mechanism, a third gripper gripping mechanism, and a fourth gripper gripping mechanism, each of which has a first gripper, a second gripper, a third gripper, and a fourth gripper, the first rotating mechanism is attached to a third movable blanket and can rotate 180 degrees, the first gripper, the second gripper, the third gripper, and the fourth gripper are divided into two sets, the first set includes first and second gripper gripping mechanisms, and are respectively attached to first and second telescopic mechanisms, and the second set includes the third and fourth gripper gripping mechanisms.

[0008] Furthermore, the automatic inversion mechanism of the multi-processing surface includes a third telescopic mechanism and a fourth telescopic mechanism, and is equipped with a third and fourth telescopic mechanism power mechanism, the second rotation mechanism and the third rotation mechanism are equipped with a second rotation mechanism power mechanism and a third rotation mechanism power mechanism, and are equipped with a fifth gripper and a sixth gripper, the third telescopic mechanism and the fourth telescopic mechanism are attached to the second fixed blanket, the second rotation mechanism is attached to the third telescopic mechanism, the third rotation mechanism is attached to the fourth telescopic mechanism, the fifth gripper is attached to the second rotation mechanism, and the sixth gripper is attached to the third rotation mechanism, the rotation mechanism of the positioning surface includes a fifth telescopic mechanism and a fourth rotation mechanism, the fifth telescopic mechanism is equipped with a fifth telescopic mechanism power mechanism, and the fourth rotation mechanism is equipped with the fourth rotation mechanism power mechanism and the article pallet 2.

[0009] Furthermore, the article pallet 1, article pallet 2, article pallet 3, article pallet 4, article pallet 5, article pallet 6, and article pallet 7 have a plurality of chucking positions set according to the needs of chucking the processed workpieces. Effect of the Invention

[0010] Compared with the prior art, the advantages of the present invention are as follows:

[0011] This solution can achieve the following: through the addition of the automatic reversal mechanism of multiple processing surfaces and the rotation mechanism of the positioning surface to the loading / unloading device, it can complete the automatic loading / unloading of the workpiece, the automatic reversal of multiple processing surfaces during process conversion, and the automatic rotation of the positioning surface. In addition to the automatic cooperation of the gripper holding mechanism, there is no need to manually turn over the workpiece, which greatly achieves the effects of labor saving and labor saving. It can complete the production of finished products of multi-process products on one machine, reduce the processing process flow, reduce the workpiece loading space and delay problems, eliminate the trouble of uneven machine mixing ratio, it is no longer difficult and expensive to operate the machine 24 hours a day, 365 days a year, and the production capacity of the machine can be fully utilized. It will eliminate the trouble of being restricted by the difficult management of personnel in the processing industry, and the trouble of being unable to control costs in the processing industry. [Brief description of the drawings]

[0012] [Figure 1] FIG. 2 is an overall three-dimensional view of the present invention. [Diagram 2] FIG. 2 is a three-dimensional view of a truss robot hand portion of the present invention. [Diagram 3] FIG. 2 is a three-dimensional view of a second fixed blanket portion of the present invention. [Figure 4] FIG. 2 is a cross-sectional view of the gripper holding mechanism of the present invention. [Diagram 5] FIG. 2 is a three-dimensional view of the gripper gripping mechanism of the present invention. [Figure 6] 1A-1C are three-view diagrams of the gripper gripping mechanism of the present invention. [Figure 7] FIG. 2 is a three-dimensional view of a second inversion mechanism of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] The following clearly and completely describes the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only some embodiments of the present invention, and are not all embodiments. All other embodiments obtained based on the embodiments of the present invention without the creative efforts of those skilled in the art are all within the scope of protection of the present invention.

[0014] In the description of the present invention, the orientations or positional relationships indicated by terms such as "upper", "lower", "inner", "outer", "top / bottom" are based on the orientations or positional relationships shown in the accompanying drawings and are intended only to facilitate and simplify the description of the present invention, but do not indicate or imply that the indicated devices or elements have a specific orientation, are constructed in a specific orientation, or operate in a specific orientation, and therefore cannot be understood as limitations on the present invention. In addition, the terms "first" and "second" are intended only for descriptive purposes, but cannot be understood as indicating or implying relative importance.

[0015] In the description of the present invention, unless otherwise clearly specified and limited, the terms "attached", "installed", "mounted / connected", "connected" and the like should be understood in a broad sense, for example, "connected" may be a fixed connection, a detachable connection, an integral connection, a mechanical connection, an electrical connection, a direct connection, an indirect connection via an intermediate medium, or 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.

[0016] <Example 1> Referring to FIG. 1, the automatic maintenance digital control equipment loading and unloading device, the truss robot hand is equipped with a gripper gripping mechanism, and the gripper gripping mechanism is equipped with four grippers. The truss robot hand is fixedly connected to a stock preparation rack, and the stock preparation rack is equipped with an automatic inversion mechanism for multiple processing surfaces, a rotation mechanism for positioning surface and an article pallet, which can realize the following: the loading and unloading device can automatically load and unload the workpiece and automatically invert and rotate multiple processing surfaces during process conversion through the automatic inversion mechanism for multiple processing surfaces and the rotation mechanism for positioning surface that are added. The automatic rotation of the placement surface can be completed, and in addition to the automatic cooperation of the gripper holding mechanism, there is no need to manually turn over the workpiece, which greatly achieves the effects of labor saving and saving. The finished product of multi-process products can be completed on one machine, reducing the processing process flow, and reducing the workpiece loading space and delay problems. It eliminates the trouble of uneven machine mixing ratio, and it is no longer difficult or expensive to operate the machine 24 hours a day, 365 days a year. The production capacity of the machine can be fully utilized, and the trouble of being restricted by the difficulty of personnel management in the processing industry and the trouble of not being able to control costs in the processing industry are eliminated.

[0017] 1 to 2, the truss robot hand is mounted on the ground, and is used to set a trajectory motion based on a program, and drive the gripper holding mechanism to carry out loading and unloading to a digitally controlled device. The truss robot hand includes a first fixed blanket, an outer end of the first fixed blanket is connected to a first guide rail and a second fixed blanket, an outer end of the first guide rail is connected to a first movable blanket, and the hand moves in the left and right X-axis direction. The hand is equipped with a first movable blanket power mechanism, an outer end of the first movable blanket is connected to a second guide rail, and the outer end of the second guide rail is connected to a second movable blanket, and the hand moves in the front and back Y-axis direction. The hand is equipped with a second movable blanket power mechanism, an outer end of the second movable blanket is connected to a third guide rail, and the outer end of the third guide rail is connected to a third movable blanket, and the hand moves up and down on the Z-axis. The hand is equipped with a third movable blanket power mechanism.

[0018] Referring to Figures 2 and 3, the gripper gripping mechanism includes a first rotating mechanism, a first gripper gripping mechanism, a second gripper gripping mechanism, a third gripper gripping mechanism, and a fourth gripper gripping mechanism, each of which has a first gripper, a second gripper, a third gripper, and a fourth gripper. The first rotating mechanism is attached to the third movable blanket and can rotate 180 degrees. The first gripper, the second gripper, the third gripper, and the fourth gripper are divided into two sets, the first set being the first and second gripper gripping mechanisms, and the first and second telescopic mechanisms are attached to them, respectively. The second set being the third and fourth gripper gripping mechanisms.

[0019] 3 to 4, the automatic inversion mechanism of the multi-processing surface includes a third telescopic mechanism and a fourth telescopic mechanism, and is equipped with a third telescopic mechanism power mechanism, a fourth telescopic mechanism power mechanism, a second rotation mechanism and a third rotation mechanism are equipped with a second rotation mechanism power mechanism, a third rotation mechanism power mechanism, a fifth gripper, a sixth gripper, the third telescopic mechanism and the fourth telescopic mechanism are mounted on the second fixed blanket, the second rotation mechanism is mounted on the third telescopic mechanism, the third rotation mechanism is mounted on the fourth telescopic mechanism, the fifth gripper is mounted on the second rotation mechanism, and the sixth gripper is mounted on the third rotation mechanism, the rotation mechanism of the positioning surface includes a fifth telescopic mechanism and a fourth rotation mechanism, the fifth telescopic mechanism is equipped with a fifth telescopic mechanism power mechanism, and the fourth rotation mechanism is equipped with a fourth rotation mechanism power mechanism and an article pallet 2.

[0020] The article pallet 1, article pallet 2, article pallet 3, article pallet 4, article pallet 5, article pallet 6, and article pallet 7 have a plurality of chucking positions set according to the needs of chucking the processed workpieces.

[0021] If the workpieces are attached to the goods pallet, the unmachined workpieces are arranged in order as A, B, C, etc., and the machined workpieces for step 1 are A1, B1, C1, etc., and the machined workpieces for step 2 are A2, B2, C2, etc., and when they are arranged in this order, The process for the first multi-machining surface automatic inversion and positioning surface rotation mechanism automatic maintenance digital control equipment loading and unloading device to load and unload into the digital control equipment is as follows: (1) Manually place the unprocessed workpiece on the stock preparation rack item pallet. (2) The truss robot hand grasps the unmachined workpiece A from the item pallet 1 through the gripper gripping mechanism, sends it to the appropriate position of the CNC machining center work clamp, takes out the machined workpiece (there is no machined workpiece for the first time), and places the unmachined workpiece A in the vice, which is automatically clamped. (3) The Truss Robot Hand leaves the CNC processing center and moves to the vicinity of the position of the item pallet 2. (4) While the workpiece is being processed in the CNC processing center, the Truss Robot Hand places the processed workpiece (the first time, there is no processed workpiece) on the material pallet 2, (5) The positioning surface rotation mechanism through automatic reversal of multiple machining surfaces achieves the requirements of reversing the machining surface and rotating the positioning surface (the object machining surface has been reversed and the positioning surface has been rotated); (6) The truss robot hand grasps the processed workpiece (there is no processed workpiece for the first time) from the item pallet 2 via the gripper gripping mechanism, moves it, and places it on the item pallet 1, (7) The truss robot hand grasps the second unmachined workpiece B from the first item pallet via the gripper mechanism, moves it outside the CNC machining center, and waits. (8) After the processing at the CNC processing center is completed, the truss robot hand moves to the vicinity of the CNC processing center work clamp position, grasps the processed work A1 through the gripper gripping mechanism, and places the unmachined work B in the vice, and the vice is automatically clamped. (9) The Truss Robot Hand leaves the CNC processing center and moves to the vicinity of the two object pallet positions. (10) While the workpiece is being processed in the CNC machining center, the truss robot hand places the processed workpiece A1 on the goods pallet 2, (11) Due to the automatic reversal of the machining surface, the positioning surface rotation mechanism reaches the requirement to reverse the machined surface and rotate the machining surface and positioning surface of the workpiece A1 (the object machining surface has been reversed and the positioning surface has been rotated); (12) The truss robot hand grasps the machined workpiece A1 through the gripper gripping mechanism (the workpiece machining surface has been inverted and the positioning surface has been rotated), moves it, and places it on the workpiece pallet 1. The above cycle is repeated until all the processes of all the workpieces on the goods pallet are completed, eliminating the need for manual maintenance, saving time and labor, and automatically completing the production of finished products with one machine.

[0022] <Example 2> Referring to FIG. 4 to FIG. 6, the automatic inversion mechanism of the second multi-machining surface, which is the rotation mechanism of the positioning surface, includes the third and seventh telescopic mechanisms (having the third and seventh telescopic mechanism power mechanisms) and the second and sixth rotation mechanisms (having the second and sixth rotation mechanism power mechanisms), and is equipped with the fifth and sixth grippers, the third and seventh telescopic mechanisms are mounted on the second fixed blanket, the second rotation mechanism is mounted on the third telescopic mechanism, the sixth rotation mechanism is mounted on the seventh telescopic mechanism, and the fifth gripper is mounted on the third telescopic mechanism. The third gripper is mounted on a second rotation mechanism, the sixth gripper is mounted on a sixth rotation mechanism, and the rotation mechanism of the positioning surface includes fourth, fifth, sixth, eighth, ninth and tenth telescopic mechanisms (having fourth, fifth, sixth, eighth, ninth and tenth telescopic mechanism power mechanisms), third, fourth, fifth, seventh, eighth and ninth rotation mechanisms (having third, fourth, fifth, seventh, eighth and ninth rotation mechanism power mechanisms), and item pallet two, item pallet three, item pallet four, item pallet five, item pallet six and item pallet seven.

[0023] Here, the first, second, and third guide rails of the truss robot hand move in a straight line, and the three axes are linked and move according to the program settings. The first rotation mechanism is mounted on the flange end of the third movable blanket of the truss robot hand and moves together with the truss robot hand, and the first rotation mechanism can rotate 180° and transform the four grippers on the mechanism; the first and second telescopic mechanisms are attached to the first rotation mechanism, and the first and second telescopic mechanisms are capable of driving the first and second grippers; The six gripper mechanisms, the first, second, third, fourth, fifth, and sixth, are capable of gripping and releasing the workpiece. Material pallets 1, 2, 3, 4, 5, 6, and 7 are used to place workpieces for processing; the third, fourth, fifth, sixth, seventh, eighth, ninth, and tenth telescopic mechanisms are attached to the second fixed blanket; A second rotation mechanism is attached to the third telescopic mechanism, and the third telescopic mechanism can drive the second rotation mechanism to perform telescopic motion in the X-axis direction. A fifth gripper is attached to the second rotation mechanism, and the second rotation mechanism can rotate around the X-axis and drive the fifth gripper to invert the workpiece machining surface. The fifth gripper can grip and place the workpiece. A third rotation mechanism is attached to the fourth telescopic mechanism, and the fourth telescopic mechanism can drive the third rotation mechanism to perform telescopic movement in the Z-axis direction. An article pallet 2 is attached to the third rotation mechanism, and the third rotation mechanism can drive the article pallet 2 to perform rotational movement around the Z-axis and rotate the positioning surface. A workpiece can be placed on the article pallet 2. A fourth rotation mechanism is attached to the fifth telescopic mechanism, and the fifth telescopic mechanism can drive the fourth rotation mechanism to perform telescopic motion in the Z-axis direction. An article pallet 3 is attached to the fourth rotation mechanism, and the fourth rotation mechanism can drive the article pallet 3 to perform rotational motion around the Z-axis and rotate the positioning surface. A workpiece can be placed on the article pallet 3. A fifth rotation mechanism is attached to the sixth telescopic mechanism, and the sixth telescopic mechanism can drive the fifth rotation mechanism to perform telescopic motion in the Z-axis direction. An object pallet 4 is attached to the fifth rotation mechanism, and the fifth rotation mechanism can drive the object pallet 4 to perform rotational motion around the Z-axis and rotate the positioning surface. A workpiece can be placed on the object pallet 4. The seventh telescopic mechanism is equipped with a sixth rotation mechanism, and the seventh telescopic mechanism is capable of driving the sixth rotation mechanism to perform telescopic motion in the Y-axis direction, and the sixth rotation mechanism is equipped with a sixth gripper, and the sixth rotation mechanism is capable of driving the sixth gripper to perform rotational motion around the Y-axis and invert the workpiece machining surface, and the sixth gripper is capable of gripping and placing the workpiece.

[0024] A seventh rotation mechanism is attached to the eighth telescopic mechanism, and the eighth telescopic mechanism can drive the seventh rotation mechanism to perform telescopic motion in the Z-axis direction. An object pallet 5 is attached to the seventh rotation mechanism, and the seventh rotation mechanism can perform rotational motion around the Z-axis and drive the object pallet 5 to rotate the positioning surface. A workpiece can be placed on the object pallet 5. A ninth telescopic mechanism is attached to the eighth rotation mechanism, the ninth telescopic mechanism can drive the eighth rotation mechanism to perform telescopic motion in the Z-axis direction, an object pallet 6 is attached to the eighth rotation mechanism, the seventh rotation mechanism can perform rotational motion around the Z-axis and drive the object pallet 6 to rotate the positioning surface, and a workpiece can be placed on the object pallet 6, A ninth rotation mechanism is attached to the tenth telescopic mechanism, and the tenth telescopic mechanism can drive the ninth rotation mechanism to perform telescopic motion in the Z-axis direction. An object pallet 7 is attached to the ninth rotation mechanism, and the ninth rotation mechanism can drive the object pallet 7 to perform rotational motion around the Z-axis and rotate the positioning surface. A workpiece can be placed on the object pallet 7. The process for the automatic inversion of the second multi-machined surface, the automatic maintenance mechanism of the positioning surface rotation mechanism, the digital control equipment joint robot hand to load and unload into the digital control equipment is as follows: (1) Manually place the unprocessed workpiece on the stock preparation rack item pallet. (2) The truss robot hand grasps the unmachined workpiece A from the item pallet 1 through the gripper gripping mechanism, sends it to the vicinity of the CNC machining center work clamp position, takes out the machined workpiece (there is no machined workpiece for the first time), and places the unmachined workpiece A in the vice, which is automatically clamped. (3) The truss robot hand leaves the CNC processing center and moves to the vicinity of the item pallet 2 (or item pallet 5) position, (4) While the workpiece is being processed in the CNC processing center, the truss robot hand places the processed workpiece (the first time, there is no processed workpiece) on the item pallet 2 (or item pallet 5), (5) The machined workpiece is placed on the third object pallet (or the fourth object pallet, the sixth object pallet, or the seventh object pallet) by the automatic inversion mechanism of the multi-machining surface, so as to meet the requirement of turning the machining surface 90°, 180°, or not turning at all, and achieving the requirement of rotating the positioning surface through the rotation mechanism of the positioning surface (there is no machined workpiece for the first time); (6) The truss robot hand grasps the machined workpiece (the first time, there is no machined workpiece) from the object pallet 2 (or object pallet 3, object pallet 4, object pallet 5, object pallet 6, object pallet 7) via the gripper gripping mechanism, moves it, and places it on the object pallet 1, (7) The truss robot hand grasps the second unmachined workpiece B from the first item pallet via the gripper mechanism, moves it outside the CNC machining center, and waits. (8) After the processing of the CNC processing center is completed, the truss robot hand moves to the vicinity of the CNC processing center work clamping position, grasps the processed workpiece A1 through the gripper gripping mechanism, and places the unmachined workpiece B in the vice, and the vice is automatically clamped. (9) The truss robot hand leaves the CNC processing center and moves to the vicinity of the item pallet 2 (or item pallet 5) position, (10) While the workpiece is being machined in the CNC machining center, the loading / unloading device places the machined workpiece A1 on the item pallet 2 (or item pallet 5), (11) The machined workpiece is placed on the third object pallet (or the fourth object pallet, the sixth object pallet, or the seventh object pallet) by the automatic inversion mechanism of the multi-machining surface, and the requirement of the machining surface being inverted 90°, 180°, or not inverted is met, and the requirement of rotating the positioning surface is met by the positioning surface rotation mechanism (the machining surface of the object has been inverted, and the positioning surface has been rotated); (12) The robot hand grasps the machined workpiece A1 through the gripper gripping mechanism (the workpiece machining surface has been inverted and the positioning surface has been rotated), moves it, and places it on the workpiece pallet A1. The above cycle is repeated until all the processes of all the workpieces on the goods pallet are completed, eliminating the need for manual maintenance, saving time and labor, and automatically completing the production of finished products with one machine.

[0025] The above are only preferred and specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent replacement or modification made by any person skilled in the art based on the technical solutions of the present invention and its improvement ideas within the technical scope disclosed in the present invention should be included in the scope of protection of the present invention. [Explanation of symbols]

[0026] 1 Truss Robot Hand 2 Secondary Fixation Blanket 201 The third telescopic mechanism 202 Second Rotation Mechanism 203 The Fifth Gripper 204 Third Rotation Mechanism 205 Pallet of goods 2 206 The fourth telescopic mechanism 207 The fourth rotating mechanism 208 Goods Pallet 3 209 The fifth telescopic mechanism 210 Fifth Rotating Mechanism 211 Pallet of goods 4 212 The sixth telescopic mechanism 213 The Seventh Telescopic Mechanism 214 The Seventh Telescopic Mechanism 215 The Sixth Gripper 216 Pallets of Goods (6) 217 Eighth Rotating Mechanism 218 Pallet of Goods Seven 219 The ninth telescopic mechanism 220 The Tenth Telescopic Mechanism 221 The ninth rotating mechanism 222 5 pallets of goods 223 The Eighth Telescopic Mechanism 224 Seventh Rotating Mechanism 225 First Fixed Blanket 226 Pallet of goods 227 Work 3 Gripper holding mechanism 301 The Fourth Gripper 302 First Rotating Mechanism 303 First Rotating Mechanism Power Structure 304 First telescopic mechanism 305 First Gripper 306 Second telescopic mechanism 307 Second Gripper 308 The Third Gripper 4 Teaching device 5 Digitally controlled telescopic door 6 Positioning clamp mechanism 7 Digitally controlled devices

Claims

1. An automatic maintenance digital control equipment loading and unloading device including a truss robot hand (1), characterized in that the truss robot hand (1) is equipped with a gripper holding mechanism to which four grippers are attached, and an automatic reversal mechanism for multiple processing surfaces, a rotation mechanism for a positioning surface, and a stock preparation rack to which an article pallet is attached are fixedly connected to the truss robot hand.

2. The automatic maintenance digital control equipment loading and unloading device according to claim 1, characterized in that the truss robot hand is mounted on the ground, and is used to set a trajectory motion based on a program and drive a gripper holding mechanism to load and unload the digital control equipment, the truss robot hand (1) includes a first fixed blanket (225), an outer end of the first fixed blanket (225) is connected to a first guide rail and a second fixed blanket (2), an outer end of the first guide rail is connected to a first movable blanket, an outer end of the first movable blanket is connected to a second guide rail, an outer end of the second guide rail is connected to a second movable blanket, an outer end of the second movable blanket is connected to a third guide rail, and an outer end of the third guide rail is connected to a third movable blanket.

3. The automatic maintenance digital control equipment loading and unloading device according to claim 1, characterized in that the gripper gripping mechanism includes a first rotating mechanism (302), a first gripper gripping mechanism, a second gripper gripping mechanism, a third gripper gripping mechanism, and a fourth gripper gripping mechanism, the first rotating mechanism being attached to a third movable blanket, the first gripper (305), the second gripper (307), the third gripper (308), and the fourth gripper (301) being divided into two sets, the first set being a first and second gripper gripping mechanism, and being respectively equipped with a first and second telescopic mechanism, and the second set being a third and fourth gripper gripping mechanism.

4. The automatic reversing mechanism of the multi-processing surface includes a third telescopic mechanism (201), a fourth telescopic mechanism (206), a second rotating mechanism (202), and a third rotating mechanism (204), the third telescopic mechanism and the fourth telescopic mechanism are mounted on the second fixed blanket (2), the second rotating mechanism (202) is mounted on the third telescopic mechanism (201), the third rotating mechanism (204) is mounted on the fourth telescopic mechanism (206), the fifth gripper (203) is mounted on the second rotating mechanism (202), and the sixth gripper (215) is mounted on the third rotating mechanism (204), and the rotating mechanism of the positioning surface includes a fifth telescopic mechanism (209) and a fourth rotating mechanism (207).

5. The automatic maintenance digital control equipment loading / unloading device according to claim 1, characterized in that the item pallet one (226), item pallet two (205), item pallet three (208), item pallet four (211), item pallet five (222), item pallet six (216), and item pallet seven (218) are provided with a plurality of chucking positions as required for chucking processed workpieces.

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