A method for automatic loading and unloading of multi-process products from NC machines.

Abstract

The present invention discloses a method for automatically loading and unloading multi-process products on an NC processing machine, which belongs to the technical field of NC processing machines. The purpose of this method is to provide a method for automatically loading and unloading multi-process products on an NC processing machine, which realizes the need to turn the processing surface and rotate the positioning surface according to the process demands when processing unprocessed products during multi-process processing. This method solves the problem of having to manually turn over the products during automatic loading and unloading of multi-process products on an NC processing machine, and the problem that the gripper's clamping range is small during loading and unloading, so that only a small number of products can be matched. This eliminates the need to manually turn over the products, which reduces production costs and improves the production efficiency of the NC processing machine, with significant benefits in terms of production capacity, yield rate, and personnel working environment.

Description

[Technical Field]

[0001] The present invention relates to the technical field of NC machining, and more particularly to a method for automatically loading and unloading multi-process products of NC machining. [Background technology]

[0002] The traditional method for automatically loading and unloading an NC processing machine using a loading and unloading machine requires the NC processing machine, an object stage, a gripper gripping mechanism, and a positioning chuck mechanism. The process flow is as follows: the object is manually placed on the object stage, the gripper gripping mechanism grips and moves the object to the positioning chuck mechanism, the NC processing machine completes the object processing, and the gripper gripping mechanism grips and moves the object to place it on the object stage. This is the process flow for single-process products. For multi-process products, the gripper gripping mechanism grips and moves the object to the object stage, and then the object's process surface must be manually inverted and the positioning surface must be rotated. The traditional automatic loading and unloading process flow for NC processing machines can only automatically load and unload single-process products. For multi-process products, the process surface inversion and positioning surface rotation must be manually assisted. Therefore, the traditional loading and unloading machine's gripper gripping mechanism has two grippers, which cannot meet the gripping needs of multi-process products.

[0003] In order to solve the shortcomings of the conventional loading and unloading machine's method for automatically loading and unloading NC processing machines, a method for automatically loading and unloading multi-process products of NC processing machines is proposed to address the above problems. Summary of the Invention [Problem to be solved by the invention]

[0004] In response to the problems in the prior art, the object of the present invention is to provide a method for automatically loading and unloading multi-process products on an NC processing machine, which can eliminate the need to manually turn over articles during automatic loading and unloading of multi-process products processed by an NC processing machine, and solves the problem that the gripper's clamping range is small during loading and unloading, so that it can only fit a small number of products. [Means for solving the problem]

[0005] To solve the above problems, the present invention adopts the following technical solution.

[0006] The method for automatic loading and unloading of multi-process products on NC machines is S1: When processing the raw material of a single-process product, the process flow when the truss manipulator first loads and unloads the NC processing machine; S2: For the raw material of a single-process product, the truss manipulator loads and unloads the NC machine for the second time (and all raw materials after this process), and the process flow is as follows: S3: When processing raw materials for multi-process products, the process flow when the truss manipulator first loads and unloads the first process of the NC processing machine; S4: For multi-process products, the process flow when the truss manipulator loads and unloads the second part (and all unprocessed parts after this process) into the first process of the NC processing machine; S5: For multi-process products, the process flow when the truss manipulator loads and unloads the second process of the NC machine for the first time (and all raw parts after this process); S6: For multi-process products, the process flow includes when the truss manipulator performs the second loading and unloading of the second process of the NC machining machine (and all unmachined articles after this process).

[0007] Furthermore, in S, the NC processing machine includes an article relay stage, a loading and unloading machine assembly, and an article stage positioning chuck assembly 5, and a positioning surface rotation assembly, a pair of process surface automatic inversion assemblies, and a rotation assembly article tray are attached to the tip of the article relay stage, the loading and unloading machine assembly includes a truss manipulator and a right-angle gripper holding assembly, and grippers No. 1, No. 2, No. 3, and No. 4 are attached to the right-angle gripper holding assembly, and an article stage tray is attached to the tip of the article stage.

[0008] Furthermore, in the above S1, the process flow when the truss manipulator first loads and unloads the NC processing machine is as follows: Step S11: Manually placing the raw article on the article stage; Step S12: The truss manipulator grips the unprocessed workpiece from the workpiece stage with the first gripper on the gripper gripping mechanism, and the gripper gripping mechanism is moved to an appropriate position outside the NC processing machine by the pull of the truss manipulator, and the gripper gripping mechanism rotates and moves so that the second gripper is in a gripping waiting work position, and waits for the NC processing machine to finish processing the workpiece in the previous process, and there is no processed workpiece in the first time, Step S13: After the article in the previous process is processed, the gripper gripping mechanism is moved to an appropriate position of the positioning chuck mechanism on the NC processing machine by the towing of the truss manipulator, the second gripper grips the processed article on the positioning chuck mechanism, the gripper gripping mechanism rotates or externally moves the first gripper to an appropriate working position state, and places the unprocessed article a on the positioning chuck mechanism, and the gripper gripping mechanism clamps the processed article and moves to the outside of the NC processing machine by the towing of the truss manipulator; Step S14: The gripper gripping mechanism clamps the processed item and moves it to the item stage by pulling the truss manipulator, and the gripper gripping mechanism rotates or moves to the working position state of gripper number 2, and returns the processed item to the position of the corresponding number on the item stage.

[0009] Furthermore, in S2, the process flow when the truss manipulator performs the second loading and unloading to the NC processing machine is as follows: Step S21: The truss manipulator grips the unprocessed item b from the item stage with the No. 1 gripper on the gripper gripping mechanism, and grips the items a, b, ... with different numbers in order, the gripper gripping mechanism is moved to an appropriate position outside the NC processing machine by the pull of the truss manipulator, the gripper gripping mechanism rotates and moves so that the No. 2 gripper is in a gripping waiting work position, and waits for the NC processing machine to finish processing the item in the previous process; Step S22: After the previous process item has been processed, the gripper gripping mechanism is moved to an appropriate position on the positioning chuck mechanism on the NC processing machine by the pull of the truss manipulator, the second gripper grips the processed item a1 on the positioning chuck mechanism, and grips the items a1, b1, c1, etc. with different numbers in order, the gripper gripping mechanism rotates or externally moves the first gripper to an appropriate working position, and places the unprocessed item b on the positioning chuck mechanism, the gripper gripping mechanism clamps the processed item a1, and is moved to the outside of the NC processing machine by the pull of the truss manipulator; Step S23: The gripper gripping mechanism grips the processed article a1 and moves to the article stage by being pulled by the truss manipulator, and the gripper gripping mechanism rotates or moves to the working position state of the second gripper, and returns the processed article a1 to the position of the corresponding number on the article stage; Step S24: After the truss manipulator loads and unloads the NC machining machine for the third time, the process flow of all item loading and unloading is the same as the process flow of the second loading and unloading, including repeatedly circulating steps S21, S22 and S23 to automatically complete the loading and unloading of all items on the item stage.

[0010] Furthermore, in the above S3, when processing a multi-process product on an unprocessed item, the process flow when the truss manipulator first loads and unloads the first process of the NC processing machine is as follows: Step S31: manually placing an unprocessed article on an article stage; Step S32: The truss manipulator grips the unprocessed item a from the item stage with the No. 1 gripper on the gripper gripping mechanism, and grips the items a, b, c, ... with different numbers in order. When they are lined up in this order, the gripper gripping mechanism is moved to an appropriate position outside the NC processing machine by the pull of the truss manipulator, and the gripper gripping mechanism rotates or moves externally so that the No. 2 gripper is in a gripping waiting work position, and waits for the NC processing machine to finish processing the item in the previous process, and if there is no processed item in the first time, Step S33: After the article in the previous process is processed, the gripper gripping mechanism is moved to an appropriate position of the positioning chuck mechanism on the NC processing machine by the pull of the truss manipulator, the second gripper grips the processed article on the positioning chuck mechanism, the gripper gripping mechanism rotates or externally moves the first gripper to an appropriate working position state, places the unprocessed article a on the positioning chuck mechanism, and the gripper gripping mechanism clamps the processed article and moves to the outside of the NC processing machine by the pull of the truss manipulator; Step S34: The gripper gripping mechanism clamps the processed article and moves to the top of the article relay stage by the towing of the truss manipulator, the gripper gripping mechanism rotates or moves externally to the working position state of the second gripper, and the processed article is placed on the article tray of the positioning rotation mechanism of the article relay stage, and according to the article processing process and article size, the gripper gripping mechanism rotates or moves so that the third gripper is in the working position state, and other grippers can be selected separately according to actual needs; Step S35: According to the needs of the process surface reversal and positioning rotation of the article processing process, the process surface automatic reversal mechanism grasps the processed article from the article tray of the relay stage positioning and rotation mechanism, and after reversing it to the process surface of the second process, returns the processed article to the article tray of the positioning and rotation mechanism, and the positioning and rotation mechanism automatically rotates, so that the processed article meets the needs of the process surface reversal and positioning rotation of the processing process; Step S36: The third gripper of the gripper holding mechanism is pulled by the truss manipulator to grasp the processed article that has completed the process surface inversion and positioning rotation from the article tray of the positioning and rotation mechanism, and moves it back to the position of the corresponding number on the article stage. Other grippers can be selected separately according to actual needs.

[0011] Furthermore, in S4, the process flow when the truss manipulator performs the second loading and unloading in the first process of the NC processing machine is as follows: Step S41: The gripper gripping mechanism rotates or moves externally to the working position state of the No. 1 gripper, the No. 1 gripper on the gripper gripping mechanism grips the unprocessed item b, and grips the items a, b, c, etc. with different numbers in order, the gripper gripping mechanism is pulled by the truss manipulator to move to an appropriate position outside the NC processing machine, the gripper gripping mechanism rotates or moves externally to the working position state of the No. 2 gripper, and waits for the NC processing machine to finish processing the item in the previous process, and another gripper can be selected separately according to actual needs; Step S42: After the previous process item is processed, the gripper gripping mechanism is moved to an appropriate position of the positioning chuck mechanism on the NC processing machine by the pull of the truss manipulator, and the second gripper gripping positioning chuck mechanism grips the processed item a1 and the items a1, b1, c1, etc. with different numbers in order, the gripper gripping mechanism rotates or moves externally to the working position state of the first gripper, and places the item b in the positioning chuck mechanism, and the gripper gripping mechanism clamps the processed item a1 and moves to the outside of the NC processing machine by the pull of the truss manipulator; Step S43: The gripper gripping mechanism clamps the processed item A1 to the item relay stage by pulling the truss manipulator, and the gripper gripping mechanism rotates or moves externally to the waiting state of the second gripper, and places the processed item A1 on the item tray of the positioning rotation mechanism of the item relay stage. According to the item processing process and the item size, the gripper gripping mechanism rotates or moves so that the third gripper is in the working position, and other grippers can be selected separately according to actual needs. Step S44: According to the needs of the process surface inversion and positioning rotation of the article processing process, the process surface automatic inversion mechanism grasps the processed article A1 from the article tray of the relay stage positioning rotation mechanism, inverts it to the process surface of the second process, and then returns the processed article A1 to the article tray of the positioning rotation mechanism, and the positioning rotation mechanism automatically rotates, so that the processed article meets the needs of the process surface inversion and positioning rotation of the processing process; Step S45: The third gripper of the gripper holding mechanism is pulled by the truss manipulator to pick up the processed object a1, which has been subjected to the process surface inversion and the positioning rotation, from the object tray of the positioning and rotation mechanism, and move it back to the position of the corresponding number on the object stage; Step S46: After the truss manipulator performs the third loading and unloading of the first process of the NC machining center, the process flow of all item loading and unloading is the same as the process flow of the second loading and unloading of the first process, including repeatedly circulating steps S41, S42, S43, S44 and S45, and automatically completing the first process of loading and unloading all items on the item stage, reversing the process surface and rotating the positioning surface, until the first process of processing of all items on the item stage is completed.

[0012] Furthermore, in S5, the process flow when the truss manipulator performs loading and unloading for the first time in the second process of the NC processing machine is as follows: Step S51: The truss manipulator uses the third gripper on the gripper gripping mechanism to grip the item a1 waiting for secondary processing from the item stage, and grips the items a1, b1, c1, etc. with different numbers in order. The gripper gripping mechanism is pulled by the truss manipulator and moves to an appropriate position outside the NC processing machine. The gripper gripping mechanism rotates or moves externally to the fourth gripper gripping waiting work position, and waits for the NC processing machine to finish processing the item in the previous process. Another gripper can be selected separately according to actual needs. Step S52: After the item in the previous process has been processed, the gripper gripping mechanism is moved to an appropriate position on the positioning chuck mechanism on the NC processing machine by the pull of the truss manipulator, the fourth gripper grips the secondary processed item on the positioning chuck mechanism, the gripper gripping mechanism rotates or externally moves the third gripper to an appropriate working position, and places the item a1 waiting for secondary processing on the positioning chuck mechanism, and the gripper gripping mechanism clamps the secondary processed item and moves to the outside of the NC processing machine by the pull of the truss manipulator; Step S53: The gripper gripping mechanism clamps the secondary processed item and moves to the item relay stage by the towing of the truss manipulator, the gripper gripping mechanism rotates or moves externally to the working position state of the fourth gripper, and the secondary processed item is placed on the item tray of the positioning rotation mechanism of the item relay stage, and according to the item processing process and item size, the gripper gripping mechanism rotates or moves externally to ensure that the second gripper is in the working position state, and other grippers can be selected separately according to actual needs; Step S54: According to the needs of the process surface inversion and positioning rotation of the article processing process, the process surface automatic inversion mechanism grasps the secondary processed article from the article tray of the relay stage positioning rotation mechanism, and inverts it to the process surface of the third process, and then returns the secondary processed article to the article tray of the positioning rotation mechanism, and the positioning rotation mechanism automatically rotates, so that the secondary processed article meets the needs of the process surface inversion and positioning rotation of the processing process; Step S55: The gripper of the gripper holding mechanism No. 2 is pulled by the truss manipulator to grasp the secondary processed article whose process surface has been inverted and whose positioning and rotation has been completed from the article tray of the positioning and rotation mechanism, and move it back to the position of the corresponding number on the article stage.

[0013] Furthermore, in S6, the process flow when the truss manipulator performs the second loading and unloading in the second process of the NC processing machine is as follows: Step S61: The gripper gripping mechanism rotates or moves externally to the working position state of the No. 3 gripper, grips the No. 1 gripper on the gripper gripping mechanism, which is waiting for secondary processing, b1, and grips the different numbered items a1, b1, c1, etc. in order, the gripper gripping mechanism is pulled by the truss manipulator to move to an appropriate position outside the NC processing machine, the gripper gripping mechanism rotates or moves externally to the working position state of the No. 4 gripper, and waits for the NC processing machine to finish processing the item in the previous process; Step S62: After the item in the previous process has been processed, the gripper gripping mechanism is moved to an appropriate position of the positioning chuck mechanism on the NC processing machine by the pull of the truss manipulator, and the No. 4 gripper gripping positioning chuck mechanism grips the secondary processed item a2 in order of different numbered items a2, b2, c2, etc., the gripper gripping mechanism rotates or moves externally to the working position state of the No. 3 gripper, and places the item b1 waiting for secondary processing in the positioning chuck mechanism, and the gripper gripping mechanism clamps the secondary processed item a2 and moves to the outside of the NC processing machine by the pull of the truss manipulator; Step S63: The gripper gripping mechanism clamps the secondary processed item a2 to the item relay stage by pulling the truss manipulator, and the gripper gripping mechanism rotates or moves externally to the fourth gripper waiting state, and places the secondary processed item a2 on the item tray of the positioning rotation mechanism of the item relay stage. Based on the item processing process and item size, the gripper gripping mechanism rotates or moves externally to the second gripper working position state, and other grippers can be selected separately according to actual needs. Step S64: According to the needs of the process surface inversion and positioning rotation of the article processing process, the process surface automatic inversion mechanism grasps the secondary processed article a2 from the article tray of the relay stage positioning rotation mechanism, inverts it to the process surface of the third process, and then returns the secondary processed article a2 to the article tray of the positioning rotation mechanism, and the positioning rotation mechanism automatically rotates, so that the secondary processed article a2 meets the needs of the process surface inversion and positioning rotation of the processing process; Step S65: The gripper of the gripper holding mechanism No. 2 is pulled by the truss manipulator to pick up the secondary processed item A2 from the item tray of the positioning and rotation mechanism, which has been subjected to the process surface inversion and positioning and rotation, and then move it back to the position of the corresponding number on the item stage. Other grippers can be selected separately according to actual needs. Step S66: After the truss manipulator performs the third loading and unloading of the second process of the NC machining center, the loading and unloading process flow of all items is the same as the second loading and unloading process flow of the second process, including repeatedly circulating the above steps S61, S62, S63, S64 and S65, and automatically completing the second process of loading and unloading of all items on the item stage, reversing the process surface and rotating the positioning surface, until the second process of processing of all items on the item stage is completed.

[0014] Furthermore, in step S6, the process flow in which the truss manipulator loads and unloads articles, inverts the process surface, and rotates the positioning surface in the third process of the NC processing machine is the same as the process flow in the second process, and includes repeatedly circulating the above steps S51, S52, S53, S54, S55, S61, S62, S63, S64, S65, and S66, and automatically completing all processes of loading and unloading, inverting the process surface, and rotating the positioning surface for all articles on the article stage until all processes of processing for all articles on the article stage are completed.

[0015] Furthermore, in the above S1-S6, there are six types of process surface inversion methods, four types of positioning surface rotation methods, and 12 types of gripper gripping methods in the machining process of the NC machining machine. By effectively arranging and combining the process surface inversion method, positioning surface rotation method, and gripper gripping method, 188 types of common manufacturing methods can be combined. [Effects of the Invention]

[0016] Compared with the prior art, the advantages of the present invention are as follows:

[0017] (1) This solution eliminates the need for manual product inversion, reduces production costs, improves the production efficiency of NC machines, and has significant effects on production capacity, yield rate, and work environment.

[0018] (2) This solution can complete the production of multi-process finished products with one machine, greatly solving the problem of uneven machine mixing ratio, reducing the number of machines, thereby reducing machine idle time, lowering the 24 / 7 operating costs of the machine, and fully improving the machine's production capacity.

[0019] (3) This solution can automatically complete the loading and unloading of multi-process products on NC processing machines, reduce the manpower required, improve the processing efficiency and yield rate of processed products, and effectively solve the problem of difficult-to-manage receiving personnel in the processing industry, while reducing the probability of uncontrollable costs in the processing industry. [Brief explanation of the drawings]

[0020] [Figure 1] 1 is a schematic diagram of the three-dimensional structure of an article relay stage assembly of the present invention; [Figure 2] 1 is a schematic diagram of the three-dimensional structure of the loading and unloading machine assembly of the present invention; FIG. [Figure 3] 1 is a schematic diagram of the three-dimensional structure of a right-angle gripper grasping assembly of the present invention; FIG. [Figure 4]1 is a schematic diagram of the object stage three-dimensional assembly structure of the present invention; [Figure 5] 1 is a schematic diagram of the three-dimensional structure of a positioning chuck assembly of the present invention; [Figure 6] 1 is a schematic diagram of the three-dimensional structure of a planar right-angle gripper grasping assembly of the present invention; FIG. [Figure 7] 1 is a flowchart of a construction method according to the present invention. [Figure 8] 1 is a schematic diagram of a process surface inversion method, a positioning surface rotation method, and a gripper gripping method of the present invention. [Figure 9] 1 is a schematic diagram of a process surface inversion method, a positioning surface rotation method, and a gripper gripping method of the present invention. [Figure 10] 1 is a schematic diagram of a process surface inversion method, a positioning surface rotation method, and a gripper gripping method of the present invention. [Figure 11] 1 is a schematic diagram of a process surface inversion method, a positioning surface rotation method, and a gripper gripping method of the present invention. [Figure 12] 1 is a schematic diagram of a process surface inversion method, a positioning surface rotation method, and a gripper gripping method of the present invention. [Figure 13] 1 is a schematic diagram of a process surface inversion method, a positioning surface rotation method, and a gripper gripping method of the present invention. [Figure 14] 1 is a schematic diagram of a process surface inversion method, a positioning surface rotation method, and a gripper gripping method of the present invention. [Figure 15] 1 is a schematic diagram of a process surface inversion method, a positioning surface rotation method, and a gripper gripping method of the present invention. [Figure 16] 1 is a schematic diagram of a process surface inversion method, a positioning surface rotation method, and a gripper gripping method of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0021] 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. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without any creative efforts are within the scope of protection of the present invention.

[0022] In the description of the present invention, the orientations or positional relationships indicated by terms such as "upper," "lower," "inner," "outer," "top / bottom," etc. 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 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 to describe the purpose, but cannot be understood as indicating or implying relative importance.

[0023] In describing the present invention, unless otherwise clearly specified and limited, terms such as "attached," "installed," "mounted / connected," and "connected" should be understood in a broad sense, for example, "connected" may mean fastening, detachable connection, integral connection, mechanical connection, electrical connection, direct connection, 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 specific circumstances.

[0024] Example 1: Referring to Figure 1-16, the method for automatic loading and unloading of multi-process products of NC processing machines is as follows: S1: When processing the raw material of a single-process product, the process flow when the truss manipulator first loads and unloads the NC processing machine; S2: For the raw material of a single-process product, the truss manipulator loads and unloads the NC machine for the second time (and all raw materials after this process), and the process flow is as follows: S3: When processing raw materials for multi-process products, the process flow when the truss manipulator first loads and unloads the first process of the NC processing machine; S4: For multi-process products, the process flow when the truss manipulator loads and unloads the second part (and all unprocessed parts after this process) into the first process of the NC processing machine; S5: For multi-process products, the process flow when the truss manipulator loads and unloads the second process of the NC machine for the first time (and all raw parts after this process); S6: For multi-process products, the process flow includes when the truss manipulator performs the second loading and unloading of the second process of the NC processing machine (and all unprocessed articles after this process); In S2, the NC processing machine includes an article relay stage 1, a loading and unloading machine assembly 2, an article stage 3, and a positioning chuck assembly 5, and a positioning surface rotation assembly 21, a pair of process surface automatic inversion assemblies 22, and a rotation assembly article tray 23 are attached to the tip of the article relay stage 1, the loading and unloading machine assembly 2 includes a truss manipulator 6 and a right-angle gripper holding assembly 4, and a first gripper 41, a second gripper 42, a third gripper 43, and a fourth gripper 44 are attached to the right-angle gripper holding assembly 4, and an article stage tray 31 is attached to the tip of the article stage 3.

[0025] In S1, the process flow when the truss manipulator first loads and unloads the NC machine is as follows: Step S11: Manually placing the raw article on the article stage; Step S12: The truss manipulator grips the unprocessed workpiece from the workpiece stage with the first gripper on the gripper gripping mechanism, and the gripper gripping mechanism is moved to an appropriate position outside the NC processing machine by the pull of the truss manipulator, and the gripper gripping mechanism rotates and moves so that the second gripper is in a gripping waiting work position, and waits for the NC processing machine to finish processing the workpiece in the previous process, and there is no processed workpiece in the first time, Step S13: After the article in the previous process is processed, the gripper gripping mechanism is moved to an appropriate position of the positioning chuck mechanism on the NC processing machine by the towing of the truss manipulator, the second gripper grips the processed article on the positioning chuck mechanism, the gripper gripping mechanism rotates or externally moves the first gripper to an appropriate working position state, and places the unprocessed article a on the positioning chuck mechanism, and the gripper gripping mechanism clamps the processed article and moves to the outside of the NC processing machine by the towing of the truss manipulator; Step S14: The gripper gripping mechanism clamps the processed item and moves it to the item stage by pulling the truss manipulator, and the gripper gripping mechanism rotates or moves to the working position state of gripper number 2, and returns the processed item to the position of the corresponding number on the item stage.

[0026] In S2, the process flow when the truss manipulator performs the second loading and unloading to the NC machine is as follows: Step S21: The truss manipulator grips the unprocessed item b from the item stage with the No. 1 gripper on the gripper gripping mechanism, and grips the items a, b, ... with different numbers in order, the gripper gripping mechanism is moved to an appropriate position outside the NC processing machine by the pull of the truss manipulator, the gripper gripping mechanism rotates and moves so that the No. 2 gripper is in a gripping waiting work position, and waits for the NC processing machine to finish processing the item in the previous process; Step S22: After the previous process item has been processed, the gripper gripping mechanism is moved to an appropriate position on the positioning chuck mechanism on the NC processing machine by the pull of the truss manipulator, the second gripper grips the processed item a1 on the positioning chuck mechanism, and grips the items a1, b1, c1, etc. with different numbers in order, the gripper gripping mechanism rotates or externally moves the first gripper to an appropriate working position, and places the unprocessed item b on the positioning chuck mechanism, the gripper gripping mechanism clamps the processed item a1, and is moved to the outside of the NC processing machine by the pull of the truss manipulator; Step S23: The gripper gripping mechanism grips the processed article a1 and moves to the article stage by being pulled by the truss manipulator, and the gripper gripping mechanism rotates or moves to the working position state of the second gripper, and returns the processed article a1 to the position of the corresponding number on the article stage; Step S24: After the truss manipulator loads and unloads the NC machining machine for the third time, the process flow of all item loading and unloading is the same as that of the second loading and unloading, including repeatedly circulating steps S21, S22 and S23 to automatically complete the loading and unloading of all items on the item stage.

[0027] In S3, when processing a multi-process product on a raw material, the process flow when the truss manipulator first loads and unloads the first process of the NC processing machine is as follows: Step S31: manually placing an unprocessed article on an article stage; Step S32: The truss manipulator grips the unprocessed item a from the item stage with the No. 1 gripper on the gripper gripping mechanism, and grips the items a, b, c, ... with different numbers in order. When they are lined up in this order, the gripper gripping mechanism is moved to an appropriate position outside the NC processing machine by the pull of the truss manipulator, and the gripper gripping mechanism rotates or moves externally so that the No. 2 gripper is in a gripping waiting work position, and waits for the NC processing machine to finish processing the item in the previous process, and if there is no processed item in the first time, Step S33: After the article in the previous process is processed, the gripper gripping mechanism is moved to an appropriate position of the positioning chuck mechanism on the NC processing machine by the pull of the truss manipulator, the second gripper grips the processed article on the positioning chuck mechanism, the gripper gripping mechanism rotates or externally moves the first gripper to an appropriate working position state, places the unprocessed article a on the positioning chuck mechanism, and the gripper gripping mechanism clamps the processed article and moves to the outside of the NC processing machine by the pull of the truss manipulator; Step S34: The gripper gripping mechanism clamps the processed article and moves to the top of the article relay stage by the towing of the truss manipulator, the gripper gripping mechanism rotates or moves externally to the working position state of the second gripper, and the processed article is placed on the article tray of the positioning rotation mechanism of the article relay stage, and according to the article processing process and article size, the gripper gripping mechanism rotates or moves so that the third gripper is in the working position state, and other grippers can be selected separately according to actual needs; Step S35: According to the needs of the process surface reversal and positioning rotation of the article processing process, the process surface automatic reversal mechanism grasps the processed article from the article tray of the relay stage positioning and rotation mechanism, and after reversing it to the process surface of the second process, returns the processed article to the article tray of the positioning and rotation mechanism, and the positioning and rotation mechanism automatically rotates, so that the processed article meets the needs of the process surface reversal and positioning rotation of the processing process; Step S36: The third gripper of the gripper holding mechanism is pulled by the truss manipulator to grasp the processed article that has completed the process surface inversion and positioning rotation from the article tray of the positioning and rotation mechanism, and moves it back to the position of the corresponding number on the article stage. Other grippers can be selected separately according to actual needs.

[0028] In S4, the process flow when the truss manipulator performs the second loading and unloading of the first process of the NC processing machine is as follows: Step S41: The gripper gripping mechanism rotates or moves externally to the working position state of the No. 1 gripper, the No. 1 gripper on the gripper gripping mechanism grips the unprocessed item b, and grips the items a, b, c, etc. with different numbers in order, the gripper gripping mechanism is pulled by the truss manipulator to move to an appropriate position outside the NC processing machine, the gripper gripping mechanism rotates or moves externally to the working position state of the No. 2 gripper, and waits for the NC processing machine to finish processing the item in the previous process, and another gripper can be selected separately according to actual needs; Step S42: After the previous process item is processed, the gripper gripping mechanism is moved to an appropriate position of the positioning chuck mechanism on the NC processing machine by the pull of the truss manipulator, and the second gripper gripping positioning chuck mechanism grips the processed item a1 and the items a1, b1, c1, etc. with different numbers in order, the gripper gripping mechanism rotates or moves externally to the working position state of the first gripper, and places the item b in the positioning chuck mechanism, and the gripper gripping mechanism clamps the processed item a1 and moves to the outside of the NC processing machine by the pull of the truss manipulator; Step S43: The gripper gripping mechanism clamps the processed item A1 to the item relay stage by pulling the truss manipulator, and the gripper gripping mechanism rotates or moves externally to the waiting state of the second gripper, and places the processed item A1 on the item tray of the positioning rotation mechanism of the item relay stage. According to the item processing process and the item size, the gripper gripping mechanism rotates or moves so that the third gripper is in the working position, and other grippers can be selected separately according to actual needs. Step S44: According to the needs of the process surface inversion and positioning rotation of the article processing process, the process surface automatic inversion mechanism grasps the processed article A1 from the article tray of the relay stage positioning rotation mechanism, inverts it to the process surface of the second process, and then returns the processed article A1 to the article tray of the positioning rotation mechanism, and the positioning rotation mechanism automatically rotates, so that the processed article meets the needs of the process surface inversion and positioning rotation of the processing process; Step S45: The third gripper of the gripper holding mechanism is pulled by the truss manipulator to pick up the processed object a1, which has been subjected to the process surface inversion and the positioning rotation, from the object tray of the positioning and rotation mechanism, and move it back to the position of the corresponding number on the object stage; Step S46: After the truss manipulator performs the third loading and unloading of the first process of the NC machining center, the process flow of all item loading and unloading is the same as the second loading and unloading of the first process, and steps S41, S42, S43, S44 and S45 are repeatedly cycled to complete the first process of loading and unloading of all items on the item stage, and automatically completing the first process of inverting the process surface and rotating the positioning surface until the first process of processing of all items on the item stage is completed.

[0029] In S5, the process flow when the truss manipulator performs loading and unloading for the first time in the second process of the NC processing machine is as follows: Step S51: The truss manipulator uses the third gripper on the gripper gripping mechanism to grip the item a1 waiting for secondary processing from the item stage, and grips the items a1, b1, c1, etc. with different numbers in order. The gripper gripping mechanism is pulled by the truss manipulator and moves to an appropriate position outside the NC processing machine. The gripper gripping mechanism rotates or moves externally to the fourth gripper gripping waiting work position, and waits for the NC processing machine to finish processing the item in the previous process. Another gripper can be selected separately according to actual needs. Step S52: After the item in the previous process has been processed, the gripper gripping mechanism is moved to an appropriate position on the positioning chuck mechanism on the NC processing machine by the pull of the truss manipulator, the fourth gripper grips the secondary processed item on the positioning chuck mechanism, the gripper gripping mechanism rotates or externally moves the third gripper to an appropriate working position, and places the item a1 waiting for secondary processing on the positioning chuck mechanism, and the gripper gripping mechanism clamps the secondary processed item and moves to the outside of the NC processing machine by the pull of the truss manipulator; Step S53: The gripper gripping mechanism clamps the secondary processed item and moves to the item relay stage by the towing of the truss manipulator, the gripper gripping mechanism rotates or moves externally to the working position state of the fourth gripper, and the secondary processed item is placed on the item tray of the positioning rotation mechanism of the item relay stage, and according to the item processing process and item size, the gripper gripping mechanism rotates or moves externally to ensure that the second gripper is in the working position state, and other grippers can be selected separately according to actual needs; Step S54: According to the needs of the process surface inversion and positioning rotation of the article processing process, the process surface automatic inversion mechanism grasps the secondary processed article from the article tray of the relay stage positioning rotation mechanism, and inverts it to the process surface of the third process, and then returns the secondary processed article to the article tray of the positioning rotation mechanism, and the positioning rotation mechanism automatically rotates, so that the secondary processed article meets the needs of the process surface inversion and positioning rotation of the processing process; Step S55: The gripper of the gripper holding mechanism No. 2 is pulled by the truss manipulator to grasp the secondary processed article whose process surface has been inverted and whose positioning and rotation has been completed from the article tray of the positioning and rotation mechanism, and move it back to the position of the corresponding number on the article stage.

[0030] In S6, the process flow when the truss manipulator performs the second loading and unloading of the second process of the NC processing machine is as follows: Step S61: The gripper gripping mechanism rotates or moves externally to the working position state of the No. 3 gripper, grips the No. 1 gripper on the gripper gripping mechanism, which is waiting for secondary processing, b1, and grips the different numbered items a1, b1, c1, etc. in order, the gripper gripping mechanism is pulled by the truss manipulator to move to an appropriate position outside the NC processing machine, the gripper gripping mechanism rotates or moves externally to the working position state of the No. 4 gripper, and waits for the NC processing machine to finish processing the item in the previous process; Step S62: After the item in the previous process has been processed, the gripper gripping mechanism is moved to an appropriate position of the positioning chuck mechanism on the NC processing machine by the pull of the truss manipulator, and the No. 4 gripper gripping positioning chuck mechanism grips the secondary processed item a2 in order of different numbered items a2, b2, c2, etc., the gripper gripping mechanism rotates or moves externally to the working position state of the No. 3 gripper, and places the item b1 waiting for secondary processing in the positioning chuck mechanism, and the gripper gripping mechanism clamps the secondary processed item a2 and moves to the outside of the NC processing machine by the pull of the truss manipulator; Step S63: The gripper gripping mechanism clamps the secondary processed item a2 to the item relay stage by pulling the truss manipulator, and the gripper gripping mechanism rotates or moves externally to the fourth gripper waiting state, and places the secondary processed item a2 on the item tray of the positioning rotation mechanism of the item relay stage. Based on the item processing process and item size, the gripper gripping mechanism rotates or moves externally to the second gripper working position state, and other grippers can be selected separately according to actual needs. Step S64: According to the needs of the process surface inversion and positioning rotation of the article processing process, the process surface automatic inversion mechanism grasps the secondary processed article a2 from the article tray of the relay stage positioning rotation mechanism, inverts it to the process surface of the third process, and then returns the secondary processed article a2 to the article tray of the positioning rotation mechanism, and the positioning rotation mechanism automatically rotates, so that the secondary processed article a2 meets the needs of the process surface inversion and positioning rotation of the processing process; Step S65: The gripper of the gripper holding mechanism No. 2 is pulled by the truss manipulator to pick up the secondary processed item A2 from the item tray of the positioning and rotation mechanism, which has been subjected to the process surface inversion and positioning and rotation, and then move it back to the position of the corresponding number on the item stage. Other grippers can be selected separately according to actual needs. Step S66: After the truss manipulator performs the third loading and unloading of the second process of the NC machining center, the process flow of all item loading and unloading is the same as the process flow of the second loading and unloading of the second process, including repeatedly circulating the above steps S61, S62, S63, S64 and S65, and automatically completing the second process of loading and unloading of all items on the item stage, reversing the process surface and rotating the positioning surface, until the second process of processing of all items on the item stage is completed.

[0031] In step S6, the process flow in which the truss manipulator performs loading and unloading, inverting the process surface and rotating the positioning surface in the third process of the NC processing machine is the same as the process flow in the second process, and the above steps S51, S52, S53, S54, S55, S61, S62, S63, S64, S65 and S66 are repeatedly cycled to automatically complete all processes of loading and unloading, inverting the process surface and rotating the positioning surface for all the articles on the article stage until all processes of processing for all the articles on the article stage are completed.

[0032] In S1-S6, there are six methods for inverting the process surface in the NC machining process, four methods for rotating the positioning surface, and 12 types of gripper gripping methods. By effectively arranging and combining the process surface inversion method, positioning surface rotation method, and gripper gripping method, 188 common processing methods can be combined. The above process surface inversion method, positioning surface rotation method, and gripper gripping method (Figures 7 to 16) can be arranged in more ways according to actual needs.

[0033] This solution provides a method for automatically loading and unloading multi-process products of an NC processing machine. The NC processing machine includes an article relay stage 1, a loading and unloading machine assembly 2, and an article stage 3. The loading and unloading machine assembly 2 includes a truss manipulator 6 and a right-angle gripper gripping assembly 4. The right-angle gripper gripping assembly 4 mounted on the truss manipulator 6 is equipped with a plurality of grippers, including a first gripper 41, a second gripper 42, a third gripper 43, and a fourth gripper 44. A pair of process surface automatic inversion assemblies 22 and positioning surface rotation assemblies 21 mounted on the article relay stage 1, the gripper gripping mechanism can be divided into two mechanisms, a rectangular gripper gripping assembly 4 and a planar gripper gripping assembly 7, according to the needs of different equipment. The first is a rectangular arrangement and may include gripper No. 1 41, gripper No. 2 42, gripper No. 3 43 and gripper No. 44 or more, and the second is a planar arrangement and may include gripper No. 1 41, gripper No. 2 42, gripper No. 3 43 and gripper No. 44 or more.

[0034] Based on a pair of automatic process surface inversion assemblies 22, a positioning rotation assembly 21 and a right-angle gripper holding assembly 4, there are six ways to invert the process surface according to the machining process of the NC machining machine, which are as follows: A1: Flip the right side to the top, A2: Flip the left side to the top, A3: Invert the bottom surface to the top surface, A4: Turn the front side over to the top, A5: Turn the back side over to the top, A6: The process surface does not invert.

[0035] There are four methods for rotating the positioning surface, each of which is as follows: B1: Rotate the right side to the rear side, B2: Rotate the left side to the rear side, B3: Rotate the front side to the back side, B4: The positioning surface does not rotate.

[0036] There are 12 types of gripper gripping methods, each of which is C1: Clamps the workpiece in the left and right direction of the X axis. Gripper No. 1 lifts the workpiece, gripper No. 2 lowers the workpiece, and gripper No. 1 picks the workpiece. C2: Clamps are held in the left and right directions of the X axis. Gripper No. 1 lifts the part, gripper No. 2 lowers the part, and gripper No. 2 picks the part. C3: Clamping is performed in two directions along the front X-axis, the middle X-axis, and the rear Y-axis. Gripper No. 1 lifts the part, gripper No. 2 lowers the part, and gripper No. 3 picks the part. C4: Clamping is performed in two directions along the front X-axis, the middle Y-axis, and the rear X-axis. Gripper No. 1 lifts the part, gripper No. 3 lowers the part, and gripper No. 2 picks the part. C5: Clamping is performed in two directions along the front X-axis, the middle Y-axis, and the rear Y-axis. Gripper No. 1 lifts the part, gripper No. 3 lowers the part, and gripper No. 3 picks the part. C6: Clamping is performed in two directions along the front X-axis, the middle Y-axis, and the rear X-axis. Gripper No. 2 lifts the part, gripper No. 3 lowers the part, and gripper No. 2 picks the part. C7: Clamping is performed in two directions along the front X-axis, the middle Y-axis, and the rear Y-axis. Gripper No. 2 lifts the part, gripper No. 3 lowers the part, and gripper No. 3 picks the part. C8: Clamps the workpiece in the forward and backward directions of the Y axis. Gripper No. 3 lifts the workpiece, gripper No. 4 lowers the workpiece, and gripper No. 3 picks the workpiece. C21: Clamps are held in the left and right direction of the X axis. Gripper No. 1 lifts the workpiece, and gripper No. 2 lowers the workpiece. C22: Clamping in two directions, front X axis and rear Y axis. Gripper No. 1 lifts the part, and gripper No. 3 lowers the part. C23: Clamping in two directions, front X axis and rear Y axis. Gripper No. 2 lifts the part, and gripper No. 3 lowers the part. C24: Clamps are held in the front-to-back direction of the Y axis, with gripper number 3 lifting the part and gripper number 4 lowering the part.

[0037] By effectively arranging and combining the process surface inversion method, positioning surface rotation method and gripper gripping method, 188 common processes can be combined. The above process surface inversion method, positioning surface rotation method and gripper gripping method can be combined into more processes according to actual needs, and 188 common process flows can be programmed and registered in the control system.

[0038] Working principle: When the NC machine is processing a single process, according to the type of process of the item to be processed, the unprocessed item is first placed on the item stage 3 by hand, and then the truss manipulator 6 and the rectangular gripper holding assembly 4 in the loading and unloading machine assembly 2 in the NC machine are used to move the unprocessed item on the item stage 3 to the processing position of the NC machine, and the processed item is moved from the positioning chuck assembly 5 to the outside of the NC machine. In addition, when processing an item with multiple processes, it is necessary to reverse the processing surface and rotate the positioning surface when processing the unprocessed item, so an item relay stage is used. The pair of automatic process surface inversion assemblies 22, positioning rotation assembly 21 and right-angle gripper gripping assembly 4 on 1 can adaptively complete process surface inversion and positioning surface rotation according to the needs of the actual process, solving the problem that articles need to be manually inverted during automatic loading and unloading of multi-process products processed by NC processing machines, and that only a small number of articles can be matched due to the small clamping range of the gripper during loading and unloading. This eliminates the need to manually invert articles, reduces production costs, improves the production efficiency of NC processing machines, and has significant effects on production capacity, yield rate and personnel working environment.

[0039] The above are only preferred and specific embodiments of the present invention, and the protection scope of the present invention is not limited thereto. Any equivalent replacement or modification made by anyone skilled in the art based on the technical solutions and improvement ideas of the present invention within the technical scope disclosed in the present invention should be included in the protection scope of the present invention. [Explanation of symbols]

[0040] 1. Goods relay stage 2. Loading and unloading machine assembly 3. Product Stage 4 Right-Angle Gripper Gripping Assembly 5 Positioning chuck assembly 6 Truss Manipulator 7 Flat Gripper Gripping Assembly 21 Locating Surface Rotation Assembly 22 Process surface automatic inversion assembly 23 Rotating assembly item tray 31. Item stage tray 41 Gripper No. 1 42 Gripper No. 2 43 Gripper No. 3 44 Gripper No. 4 5 Positioning chuck assembly

Claims

1. A method for automatically loading and unloading a multi-process product of an NC processing machine, S1: The process flow when the truss manipulator first loads and unloads the NC processing machine when processing the raw material of a single-step product; S2: For the raw material of a single-step product, the truss manipulator performs the second loading and unloading of the raw material into the NC processing machine (and all the raw materials after this step); S3: When processing a raw material for a multi-process product, the process flow when the truss manipulator first loads and unloads the first process of the NC processing machine; S4: For multi-process products, the process flow when the truss manipulator performs the second loading and unloading of the first process of the NC processing machine (and all unprocessed articles after this process); S5: For multi-process products, the process flow when the truss manipulator loads and unloads the second process of the NC machine for the first time (and all raw articles after this process); S6: A method characterized by including a process flow when the truss manipulator performs the second loading and unloading of the second process of the NC processing machine (and all unmachined articles after this process) for a multi-process product.

2. 2. The method for automatic loading and unloading of multi-process products of an NC processing machine according to claim 1, wherein in step S2, the NC processing machine includes an article relay stage (1), a loading and unloading machine assembly (2), an article stage (3), and a positioning chuck assembly (5), and a positioning surface rotation assembly (21), a pair of process surface automatic inversion assemblies (22), and a rotation assembly article tray (23) are attached to the tip of the article relay stage (1), the loading and unloading machine assembly (2) includes a truss manipulator (6) and a right-angle gripper gripping assembly (4), and a first gripper (41), a second gripper (42), a third gripper (43), and a fourth gripper (44) are attached to the right-angle gripper gripping assembly (4), and an article stage tray (31) is attached to the tip of the article stage (3).

3. In S1, the process flow when the truss manipulator loads and unloads the NC processing machine for the first time is as follows: Step S11: Manually placing an unprocessed article on the article stage; Step S12: The truss manipulator grips the unmachined workpiece from the workpiece stage with the No. 1 gripper on the gripper gripping mechanism, and the gripper gripping mechanism is moved to an appropriate position outside the NC processing machine by the pull of the truss manipulator, and the gripper gripping mechanism rotates and moves so that the No. 2 gripper is in a gripping waiting work position, and waits for the NC processing machine to finish processing the workpiece in the previous process, and there is no processed workpiece in the first time, Step S13: After the article in the previous process has been processed, the gripper gripping mechanism is moved to an appropriate position of the positioning chuck mechanism on the NC processing machine by the towing of the truss manipulator, the second gripper grips the processed article on the positioning chuck mechanism, the gripper gripping mechanism rotates or externally moves the first gripper to an appropriate working position state, and places the unprocessed article a on the positioning chuck mechanism, and the gripper gripping mechanism clamps the processed article and moves to the outside of the NC processing machine by the towing of the truss manipulator; Step S14: The gripper gripping mechanism clamps the processed article and moves it to the article stage by being pulled by the truss manipulator, and the gripper gripping mechanism rotates or moves to the working position state of the second gripper, and returns the processed article to the position of the corresponding number on the article stage.

4. In S2, the process flow when the truss manipulator performs the second loading and unloading to the NC processing machine is as follows: Step S21: The truss manipulator grips unmachined article b from the article stage with the No. 1 gripper on the gripper gripping mechanism, and grips articles a, b, c, etc. with different numbers in order, the gripper gripping mechanism is moved to an appropriate position outside the NC processing machine by being pulled by the truss manipulator, the gripper gripping mechanism rotates and moves so that the No. 2 gripper is in a gripping waiting work position, and waits for the NC processing machine to finish processing the article in the previous process; Step S22: After the article in the previous process has been processed, the gripper gripping mechanism is moved to an appropriate position on the positioning chuck mechanism on the NC processing machine by the towing of the truss manipulator, the second gripper grips the processed article a1 on the positioning chuck mechanism and grips the articles a1, b1, c1, ... with different numbers in order, the gripper gripping mechanism rotates or externally moves the first gripper to an appropriate working position and places the unprocessed article b on the positioning chuck mechanism, the gripper gripping mechanism clamps the processed article a1 and is moved to the outside of the NC processing machine by the towing of the truss manipulator; Step S23: The gripper gripping mechanism clamps the processed article A1 and moves it to the article stage by being pulled by the truss manipulator, and the gripper gripping mechanism rotates or moves to the working position state of the second gripper, and returns the processed article A1 to the position of the corresponding number on the article stage; Step S24: After the truss manipulator has loaded and unloaded the NC machining machine for the third time, the process flow of all the articles loading and unloading is the same as the process flow of the second loading and unloading, and steps S21, S22 and S23 are repeatedly cycled to automatically complete the loading and unloading of all the articles on the article stage.

5. In the above S3, when a multi-process product is processed on an unprocessed object, the process flow when the truss manipulator performs loading and unloading for the first time in the first process of the NC processing machine is as follows: Step S31: Manually placing an unprocessed object on the object stage; Step S32: The truss manipulator grips unmachined article a from the article stage with the No. 1 gripper on the gripper gripping mechanism, and grips articles a, b, c, etc. with different numbers in order. Once they are lined up in order like this, the gripper gripping mechanism is moved to an appropriate position outside the NC processing machine by the pull of the truss manipulator, and the gripper gripping mechanism rotates or moves externally so that the No. 2 gripper is in a gripping waiting work position, and waits for the NC processing machine to finish processing the article in the previous process, and if there are no processed articles in the first process, Step S33: After the article in the previous process has been processed, the gripper gripping mechanism is moved to an appropriate position on the positioning chuck mechanism on the NC processing machine by the towing of the truss manipulator, the second gripper grips the processed article on the positioning chuck mechanism, the gripper gripping mechanism rotates or externally moves the first gripper to an appropriate working position state, and places the unprocessed article a on the positioning chuck mechanism, and the gripper gripping mechanism clamps the processed article and moves to the outside of the NC processing machine by the towing of the truss manipulator; Step S34: The gripper gripping mechanism clamps the processed article and moves to the top of the article relay stage by the towing of the truss manipulator, the gripper gripping mechanism rotates or moves externally to the working position state of the second gripper, and the processed article is placed on the article tray of the positioning rotation mechanism of the article relay stage, and according to the article processing process and article size, the gripper gripping mechanism rotates or moves so that the third gripper is in the working position state, and other grippers can be selected separately according to actual needs; Step S35: According to the needs of the process surface inversion and positioning rotation of the article processing process, the process surface automatic inversion mechanism grasps the processed article from the article tray of the relay stage positioning and rotation mechanism, inverts it to the process surface of the second process, and then returns the processed article to the article tray of the positioning and rotation mechanism, and the positioning and rotation mechanism automatically rotates, so that the processed article meets the needs of the process surface inversion and positioning rotation of the processing process; Step S36: The third gripper of the gripper holding mechanism is pulled by the truss manipulator to grasp the processed article that has completed the process surface inversion and positioning rotation from the article tray of the positioning and rotation mechanism, and moves it back to the position of the corresponding number on the article stage, and other grippers can be selected separately according to actual needs.

6. In S4, the process flow when the truss manipulator performs the second loading and unloading in the first process of the NC processing machine is as follows: Step S41: The gripper gripping mechanism rotates or moves externally to the working position state of gripper No. 1, gripper No. 1 on the gripper gripping mechanism grips unprocessed item b and grips items a, b, c, etc. with different numbers in order, the gripper gripping mechanism is moved to an appropriate position outside the NC processing machine by the pull of the truss manipulator, the gripper gripping mechanism rotates or moves externally to the working position state of gripper No. 2, waits for the NC processing machine to finish processing the item in the previous process, and another gripper can be selected separately according to actual needs, Step S42: After the item in the previous process has been processed, the gripper gripping mechanism is moved to an appropriate position of the positioning chuck mechanism on the NC processing machine by the pull of the truss manipulator, and the No. 2 gripper gripping positioning chuck mechanism grips the processed item a1 with items a1, b1, c1, etc. with different numbers. The gripper gripping mechanism rotates or moves externally to the working position of the first gripper, and the article b is placed in the positioning chuck mechanism. The gripper gripping mechanism clamps the processed article a1 and moves it to the outside of the NC processing machine by being pulled by the truss manipulator. Step S43: The gripper gripping mechanism clamps the processed item A1 to the item relay stage by pulling the truss manipulator, and the gripper gripping mechanism rotates or moves externally to a waiting state for the second gripper to work, and places the processed item A1 on the item tray of the positioning rotation mechanism of the item relay stage. Based on the item processing process and item size, the gripper gripping mechanism rotates or moves so that the third gripper is in a working position, and other grippers can be selected separately according to actual needs. Step S44: According to the needs of the process surface inversion and positioning rotation of the article processing process, the process surface automatic inversion mechanism grasps the processed article A1 from the article tray of the relay stage positioning rotation mechanism, inverts it to the process surface of the second process, and then returns the processed article A1 to the article tray of the positioning rotation mechanism, and the positioning rotation mechanism automatically rotates, so that the processed article meets the needs of the process surface inversion and positioning rotation of the processing process; Step S45: The third gripper of the gripper holding mechanism is pulled by the truss manipulator to grasp the processed object a1, which has undergone the process surface inversion and the positioning rotation, from the object tray of the positioning and rotation mechanism, and moves it back to the position of the corresponding number on the object stage; Step S46: After the truss manipulator has completed the third loading and unloading of the first process of the NC processing machine, the process flow of all article loading and unloading is the same as the process flow of the second loading and unloading of the first process, and steps S41, S42, S43, S44 and S45 are repeatedly cycled to automatically complete the first process of loading and unloading of all articles on the article stage, and the inversion of the process surface and the rotation of the positioning surface until the first process of processing of all articles on the article stage is completed.

7. In S5, the process flow when the truss manipulator performs loading and unloading for the first time in the second process of the NC processing machine is as follows: Step S51: The truss manipulator uses the No. 3 gripper on the gripper gripping mechanism to grip the item a1 waiting for secondary processing from the item stage, and grips the items a1, b1, c1, etc. with different numbers in order, the gripper gripping mechanism is pulled by the truss manipulator to move to an appropriate position outside the NC processing machine, the gripper gripping mechanism rotates or moves externally to the No. 4 gripper gripping waiting work position, and waits for the NC processing machine to finish processing the item in the previous process, and other grippers can be selected separately according to actual demand; Step S52: After the item in the previous process has been processed, the gripper gripping mechanism is moved to an appropriate position on the positioning chuck mechanism on the NC processing machine by the pull of the truss manipulator, the fourth gripper grips the secondary-processed item on the positioning chuck mechanism, the gripper gripping mechanism rotates or externally moves the third gripper to an appropriate working position, and places the item a1 awaiting secondary processing on the positioning chuck mechanism, and the gripper gripping mechanism clamps the secondary-processed item and is moved to the outside of the NC processing machine by the pull of the truss manipulator; Step S53: The gripper gripping mechanism clamps the secondary processed item and moves to the item relay stage by the towing of the truss manipulator, the gripper gripping mechanism rotates or moves externally to the working position state of the fourth gripper, and the secondary processed item is placed on the item tray of the positioning rotation mechanism of the item relay stage, and according to the item processing process and item size, the gripper gripping mechanism rotates or moves externally to keep the second gripper in the working position state, and other grippers can be selected separately according to actual needs; Step S54: According to the needs of the process surface inversion and positioning rotation of the article processing process, the process surface automatic inversion mechanism grasps the secondary processed article from the article tray of the relay stage positioning and rotation mechanism, and after inverting it to the process surface of the third process, returns the secondary processed article to the article tray of the positioning and rotation mechanism, and the positioning and rotation mechanism automatically rotates, so that the secondary processed article meets the needs of the process surface inversion and positioning rotation of the processing process; Step S55: The method for automatically loading and unloading multi-process products of an NC machining machine according to claim 1, further comprising: using the gripper of the gripper holding mechanism No. 2 to grasp the secondary processed article that has completed the process surface inversion and positioning rotation from the article tray of the positioning and rotation mechanism by pulling the truss manipulator, and moving it back to the position of the corresponding number on the article stage.

8. In S6, the process flow when the truss manipulator performs the second loading and unloading in the second process of the NC processing machine is as follows: Step S61: The gripper gripping mechanism rotates or moves externally to the working position state of the No. 3 gripper, grips the No. 1 gripper on the gripper gripping mechanism, which is waiting for secondary processing, item b1, and grips items a1, b1, c1, etc. with different numbers in order, the gripper gripping mechanism is moved to an appropriate position outside the NC processing machine by the pulling of the truss manipulator, and the gripper gripping mechanism rotates or moves externally to the working position state of the No. 4 gripper, and waits for the NC processing machine to finish processing the item in the previous process; Step S62: After the article in the previous process has been processed, the gripper gripping mechanism is moved by the towing of the truss manipulator to an appropriate position of the positioning chuck mechanism on the NC processing machine, the No. 4 gripper gripping positioning chuck mechanism grips the secondary processed article a2 in order of different numbered articles a2, b2, c2, ..., the gripper gripping mechanism rotates or moves externally to the working position state of the No. 3 gripper, places the article b1 waiting for secondary processing in the positioning chuck mechanism, the gripper gripping mechanism clamps the secondary processed article a2, and moves out of the NC processing machine by the towing of the truss manipulator; Step S63: The gripper gripping mechanism clamps the secondary processed item a2 to the item relay stage by pulling the truss manipulator, and the gripper gripping mechanism rotates or moves externally to the fourth gripper work waiting state, and the secondary processed item a2 is placed on the item tray of the positioning rotation mechanism of the item relay stage, and based on the item processing process and item size, the gripper gripping mechanism rotates or moves externally to the second gripper work position state, and other grippers can be selected separately according to actual needs; Step S64: According to the needs of process surface reversal and positioning rotation in the article processing process, the process surface automatic reversal mechanism grasps the secondary processed article a2 from the relay stage positioning rotation mechanism article tray, and after reversing it to the process surface of the third process, returns the secondary processed article a2 to the positioning rotation mechanism article tray, and the positioning rotation mechanism automatically rotates, allowing the secondary processed article a2 to meet the needs of process surface reversal and positioning rotation in the processing process; Step S65: The gripper of the gripper holding mechanism No. 2 is pulled by the truss manipulator to pick up the secondary processed object A2 from the object tray of the positioning and rotation mechanism, which has been subjected to the process surface inversion and positioning and rotation, and then move it back to the position of the corresponding number on the object stage. Other grippers can be selected separately according to actual needs. Step S66: After the truss manipulator performs the third loading and unloading in the second process of the NC processing machine, the process flow of all the articles loading and unloading is the same as the second loading and unloading process flow of the second process, and the above steps S61, S62, S63, S64 and S65 are repeatedly cycled to automatically complete the second process of loading and unloading of all the articles on the article stage, and the inversion of the process surface and the rotation of the positioning surface until the second process of processing of all the articles on the article stage is completed.

9. 2. The method for automatically loading and unloading multi-process products of an NC processing machine according to claim 1, wherein in step S6, the process flow in which the truss manipulator loads and unloads articles, inverts the process surface, and rotates the positioning surface in the third process of the NC processing machine is the same as the process flow in the second process, and further includes repeatedly circulating steps S51, S52, S53, S54, S55, S61, S62, S63, S64, S65, and S66 to automatically complete all processes of loading and unloading, inverts the process surface, and rotates the positioning surface for all articles on the article stage until all processes of processing for all articles on the article stage are completed.

10. In S1-S6, the machining process of the NC machining machine has 6 types of process surface inversion methods, 4 types of positioning surface rotation methods, and 12 types of gripper gripping methods, and by effectively arranging and combining the process surface inversion methods, positioning surface rotation methods, and gripper gripping methods, 188 types of common methods can be combined.

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