A method for the automatic loading and unloading of multi-process products from NC machining centers.

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 machine tools, and more specifically, to a construction method for automatic loading and unloading of multi-process products on NC machine tools. [Background Art]

[0002] In the conventional method in which a loading and unloading machine performs automatic loading and unloading on an NC machine tool, it is necessary to configure the NC machine tool, an article stage, a gripper gripping mechanism and a positioning chuck mechanism. The process flow is as follows. An article is manually placed on the article stage, the gripper gripping mechanism grips and moves the article to place it on the positioning chuck mechanism, the NC machine tool completes machining of the article, and then the gripper gripping mechanism grips and moves the article to place it back on the article stage. This is the process flow for machining single-process products. In the case of multi-process products, after the gripper gripping mechanism grips and moves the article and places it on the article stage, it is necessary to manually complete the reversal of the process surface and the rotation of the positioning surface of the article. The conventional process flow for automatic loading and unloading by NC machine tools can only satisfy the automatic loading and unloading of single-process products. For multi-process products, manual assistance is required to complete the reversal of the process surface and the rotation of the positioning surface. The gripper gripping mechanism of the conventional loading and unloading machine has only two gripper mechanisms, which cannot meet the gripping requirements for loading and unloading of multi-process products.

[0003] In order to solve the deficiencies of the conventional method in which a loading and unloading machine performs automatic loading and unloading on an NC machine tool, the present invention proposes a method for automatic loading and unloading of multi-process products on an NC machine tool to address the above problems. [Summary of the Invention] [Problem to be Solved by the Invention]

[0004] In response to the problems present in conventional technology, the object of the present invention is to provide a method for the automatic loading and unloading of multi-stage products on an NC machining center, which eliminates the need to manually invert the articles during automatic loading and unloading of multi-stage products on an NC machining center, and solves the problem that the gripper's gripping range is small during loading and unloading, resulting in only a small number of products being able to be fitted. [Means for solving the problem]

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

[0006] The process for the automatic loading and unloading of multi-stage products in NC machining centers is as follows: S1: Process flow when processing raw materials for a single-step product, specifically when the truss manipulator first loads and unloads the NC machine, S2: Process flow when a truss manipulator loads and unloads raw materials of a single-process product onto an NC machine for the second time (and all raw materials after this process), S3: Process flow when processing raw materials for multi-process products, where the truss manipulator performs loading and unloading for the first step of the NC machining center, S4: Process flow when a truss manipulator performs the second loading and unloading (and all unprocessed items after this process) of the first process of an NC machining center for a multi-process product, S5: Process flow when a truss manipulator performs loading and unloading for the first time (and all unprocessed items after this process) on the second stage of a multi-stage product on an NC machining center, S6: Includes the process flow when a truss manipulator performs a second loading and unloading (and all unprocessed items after this process) of a multi-process product into the second stage of the NC machining center.

[0007] Furthermore, in S, the NC machine includes an article transfer stage, a loading and unloading machine assembly, and an article stage positioning chuck assembly 5, the front end of the article transfer stage is fitted with a positioning surface rotation assembly, a pair of process surface automatic reversing assemblies, and a rotation assembly article tray, the loading and unloading machine assembly includes a truss manipulator and a right-angle gripper gripping assembly, the right-angle gripper gripping assembly is fitted with a No. 1 gripper, a No. 2 gripper, a No. 3 gripper, and a No. 4 gripper, and the front end of the article stage is fitted with an article stage tray.

[0008] Furthermore, in S1, the process flow when the truss manipulator first loads and unloads the NC machining center is as follows: Step S11: Manually place the unprocessed items on the item stage, Step S12: The truss manipulator grasps the unprocessed article from the article stage with the first gripper on the gripper gripping mechanism, the gripper gripping mechanism moves to an appropriate position outside the NC machine by the traction of the truss manipulator, the gripper gripping mechanism rotates and moves so that the second gripper is in a gripping waiting position, waits for the NC machine to finish processing the article in the previous process, and confirms that there are no processed articles on the first pass. Step S13: After the article from the previous process has been processed, the gripper gripping mechanism is moved to the appropriate position on the positioning chuck mechanism on the NC machine by traction 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 the appropriate working position, places the unprocessed article a on the positioning chuck mechanism, and the gripper gripping mechanism, holding the processed article, is moved outside the NC machine by traction of the truss manipulator. Step S14: The gripper gripping mechanism grasps the processed article and moves it to the article stage by traction of the truss manipulator, the gripper gripping mechanism rotates or moves to the working position of gripper No. 2, and returns the processed article to the corresponding numbered position on the article stage.

[0009] Furthermore, in S2, the process flow when the truss manipulator performs the second loading and unloading of the NC machining center is as follows: Step S21: The truss manipulator grasps the unprocessed article b from the article stage with the first gripper on the gripper gripping mechanism, then grasps articles abc... of different numbers in sequence, the gripper gripping mechanism moves to an appropriate position outside the NC machine by the traction of the truss manipulator, the gripper gripping mechanism rotates and moves so that the second gripper is in a gripping waiting position, and waits for the NC machine to finish processing the article in the previous process. Step S22: After the article from the previous process has been processed, the gripper gripping mechanism is moved to the appropriate position on the positioning chuck mechanism on the NC machine by traction of the truss manipulator, the second gripper grips the processed article a1 on the positioning chuck mechanism and sequentially grips articles a1, b1, c1, ... of different numbers, the gripper gripping mechanism rotates or moves the first gripper to the appropriate working position, places the unprocessed article b on the positioning chuck mechanism, the gripper gripping mechanism holds the processed article a1 and moves it outside the NC machine by traction of the truss manipulator, Step S23: The gripper gripping mechanism grasps the processed article a1 and moves it to the article stage by traction of the truss manipulator, the gripper gripping mechanism rotates or moves to the working position of gripper no. 2, and returns the processed article a1 to the corresponding numbered position on the article stage. Step S24: After the truss manipulator has performed the third loading and unloading of the NC machine, the process flow for all item loading and unloading is the same as the process flow for the second loading and unloading, and steps S21, S22, and S23 are repeated in a cycle to automatically complete the loading and unloading of all items on the item stage.

[0010] Furthermore, in S3, when processing an unprocessed item into a multi-step product, the process flow when the truss manipulator first loads and unloads the NC machine in the first step is: Step S31: Manually place the unprocessed items on the item stage, Step S32: The truss manipulator grasps unprocessed article a from the article stage with gripper number 1 on the gripper gripping mechanism, then grasps articles a, b, c, etc. of different numbers in order, and when they are arranged in this order, the gripper gripping mechanism is moved to an appropriate position outside the NC machine by the traction of the truss manipulator, and the gripper gripping mechanism rotates or moves externally so that gripper number 2 is in a gripping waiting position, and waits for the NC machine to finish processing the articles in the previous process, and confirms that there are no processed articles on the first pass, Step S33: After the article from the previous process has been processed, the gripper gripping mechanism is moved to the appropriate position on the positioning chuck mechanism on the NC machine by traction 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 the appropriate working position, places the unprocessed article a on the positioning chuck mechanism, and the gripper gripping mechanism, holding the processed article, is moved outside the NC machine by traction of the truss manipulator. Step S34: The gripper gripping mechanism grasps the processed article and moves it to the article transfer stage by traction of the truss manipulator. The gripper gripping mechanism rotates or moves externally to the working position of the second gripper, and places the processed article on the article tray of the positioning and rotating mechanism on the article transfer stage. Based on the article processing process and article 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 S35: In response to the demand for process surface reversal and positioning rotation in the article processing process, the automatic process surface reversal mechanism grasps the processed article from the intermediate stage positioning rotation mechanism article tray, reverses it to the process surface of the second process, returns the processed article to the positioning rotation mechanism article tray, and the positioning rotation mechanism automatically rotates to satisfy the demand for process surface reversal and positioning rotation of the processed article. Step S36: The third gripper of the gripper gripping mechanism, under the traction of the truss manipulator, grips the processed article from the positioning rotation mechanism article tray after process surface inversion and positioning rotation have been completed, moves it back to the corresponding numbered position on the article stage, and other grippers can be selected separately according to actual demand.

[0011] Furthermore, in S4, the process flow when the truss manipulator performs the second loading and unloading in the first step of the NC machining center is as follows: Step S41: The gripper gripping mechanism rotates or moves externally to the working position of gripper No. 1, gripper No. 1 on the gripper gripping mechanism grips the unprocessed article b, and then sequentially grips articles abc... of different numbers, the gripper gripping mechanism is moved to an appropriate position outside the NC machine by traction of the truss manipulator, the gripper gripping mechanism rotates or moves externally to the working position of gripper No. 2, waits for the NC machine to finish processing the article in the previous process, and can select another gripper separately according to actual demand. Step S42: After the article from the previous process has been processed, the gripper gripping mechanism is moved to the appropriate position on the positioning chuck mechanism on the NC machine by traction of the truss manipulator, the second gripper gripping positioning chuck mechanism grips the processed article a1, and articles a1, b1, c1, ... in order, the gripper gripping mechanism rotates or moves externally to the working position of the first gripper, places article b on the positioning chuck mechanism, the gripper gripping mechanism holds the processed article a1 and moves outside the NC machine by traction of the truss manipulator, Step S43: The gripper gripping mechanism grips the processed article a1 to the article transfer stage by traction of the truss manipulator, rotates or moves externally to the waiting position of gripper no. 2, places the processed article a1 on the article tray of the positioning and rotating mechanism on the article transfer stage, and based on the article processing process and article size, rotates or moves so that gripper no. 3 is in the working position, and other grippers can be selected separately according to actual needs. Step S44: In response to the demands for process surface reversal and positioning rotation in the article processing process, the automatic process surface reversal mechanism grasps the processed article a1 from the intermediate stage positioning rotation mechanism article tray, reverses it to the process surface of the second process, and returns the processed article a1 to the positioning rotation mechanism article tray. The positioning rotation mechanism then rotates automatically, thereby satisfying the demands for process surface reversal and positioning rotation of the processed article. Step S45: The third gripper of the gripper gripping mechanism, under the traction of the truss manipulator, grips the processed article a1, which has completed process surface inversion and positioning rotation, from the positioning rotation mechanism article tray, moves it, and returns it to the corresponding numbered position on the article stage. Step S46: After the truss manipulator has performed the third loading and unloading of the first pass of the NC machining center, the process flow for loading and unloading all items is the same as the process flow for loading and unloading the second pass of the first pass, and steps S41, S42, S43, S44 and S45 are repeated in a cycle, including automatically completing the loading and unloading of all items on the item stage, reversing the process surface and rotating the positioning surface until the first pass of machining is completed for all items on the item stage.

[0012] Furthermore, in S5, the process flow when the truss manipulator performs loading and unloading for the first time in the second step of the NC machining process is as follows: Step S51: The truss manipulator grips article a1 awaiting secondary processing from the article stage with the third gripper on the gripper gripping mechanism, grips articles a1, b1, c1, etc. of different numbers in sequence, moves the gripper gripping mechanism to an appropriate position outside the NC machine by the traction of the truss manipulator, rotates or moves externally to the working position for gripping the fourth gripper, waits for the NC machine to finish processing the article in the previous process, and can select other grippers separately according to actual demand. Step S52: After the article from the previous process has been processed, the gripper gripping mechanism is moved to the appropriate position on the positioning chuck mechanism on the NC machine by traction of the truss manipulator, gripper No. 4 grips the secondary processed article on the positioning chuck mechanism, the gripper gripping mechanism rotates or externally moves gripper No. 3 to the appropriate working position, places article a1 awaiting secondary processing on the positioning chuck mechanism, the gripper gripping mechanism holds the secondary processed article and moves it outside the NC machine by traction of the truss manipulator, Step S53: The gripper gripping mechanism grasps the secondary processed article and moves it to the article transfer stage by traction of the truss manipulator. The gripper gripping mechanism rotates or moves externally to the working position of gripper No. 4, and places the secondary processed article on the article tray of the positioning and rotating mechanism on the article transfer stage. Based on the article processing process and article size, the gripper gripping mechanism rotates or moves externally so that gripper No. 2 is in the working position, and other grippers can be selected separately according to actual needs. Step S54: In response to the demands for process surface reversal and positioning rotation in the article processing process, the automatic process surface reversal mechanism grasps the secondary processed article from the intermediate stage positioning rotation mechanism article tray, reverses it to the process surface of the third step, returns the secondary processed article to the positioning rotation mechanism article tray, and the positioning rotation mechanism automatically rotates to satisfy the demands for process surface reversal and positioning rotation of the secondary processed article. Step S55: The gripper of gripper gripping mechanism No. 2, under the traction of the truss manipulator, grasps the secondary processed article, which has completed process surface inversion and positioning rotation, from the article tray of the positioning rotation mechanism, and moves it back to the corresponding numbered position on the article stage.

[0013] Furthermore, in S6, the process flow when the truss manipulator performs the second loading and unloading in the second step of the NC machining center is as follows: Step S61: The gripper gripping mechanism rotates or moves externally to the working position of gripper No. 3, grips item b1 awaiting secondary processing with gripper No. 1 on the gripper gripping mechanism, grips items a1, b1, c1, ... in order, moves the gripper gripping mechanism to an appropriate position outside the NC machine by traction of the truss manipulator, rotates or moves externally to the working position of gripper No. 4, and waits for the NC machine to finish processing the item in the previous process. Step S62: After the article from the previous process has been processed, the gripper gripping mechanism is moved to the appropriate position on the positioning chuck mechanism on the NC machine by traction of the truss manipulator, the fourth gripper gripping positioning chuck mechanism grips the second-processed article a2, and articles a2, b2, c2, etc., of different numbers in order, the gripper gripping mechanism rotates or moves externally to the working position of the third gripper, places article b1 awaiting second processing on the positioning chuck mechanism, the gripper gripping mechanism holds the second-processed article a2 and moves outside the NC machine by traction of the truss manipulator, Step S63: The gripper gripping mechanism grips the secondary processing article a2 to the article transfer stage by traction of the truss manipulator, rotates or moves externally to the gripper waiting position for gripper number 4, places the secondary processed article a2 on the article tray of the positioning and rotating mechanism on the article transfer stage, and based on the article processing process and article size, rotates or moves externally to the working position of gripper number 2, and other grippers can be selected separately according to actual needs. Step S64: According to the requirements for process surface reversal and positioning rotation of the article processing process, the automatic process surface reversing mechanism grips the secondarily processed article a2 from the article tray of the relay stage positioning rotation mechanism, reverses it to the process surface of the third process, then returns the secondarily processed article a2 to the article tray of the positioning rotation mechanism, and the positioning rotation mechanism automatically rotates, so that the secondarily processed article a2 meets the requirements for process surface reversal and positioning rotation of the processing process, Step S65: The gripper of the No. 2 gripper gripping mechanism, pulled by the truss manipulator, grips the secondarily processed article a2 that has completed process surface reversal and positioning rotation from the article tray of the positioning rotation mechanism, moves and returns it to the position of the corresponding number on the article stage, and other grippers can be selected separately according to actual requirements, Step S66: After the truss manipulator completes the third loading and unloading for the second process of the NC processing machine, all the loading and unloading process flows of articles are the same as the second loading and unloading process flow of the second process. The above steps S61, S62, S63, S64 and S65 are repeated and circulated, and the loading and unloading, process surface reversal and positioning surface rotation for the second process of all articles on the article stage are automatically completed until the second process processing of all articles on the article stage is completed.

[0014] Furthermore, in the step S6, the process flow of the truss manipulator performing article loading and unloading, process surface reversal and positioning surface rotation for the third process of the NC processing machine is the same as the process flow of the second process. The above steps S51, S52, S53, S54, S55, S61, S62, S63, S64, S65 and S66 are repeated and circulated, and the loading and unloading, process surface reversal and positioning surface rotation for all processes of all articles on the article stage are automatically completed until all process processing of all articles on the article stage is completed.

[0015] Furthermore, in the above steps S1 to S6, there are 6 types of process surface reversing methods for the machining process of an NC machine tool, 4 types of positioning surface rotating methods, and 12 types of gripper clamping methods. By effectively arranging and combining the process surface reversing method, the positioning surface rotating method and the gripper clamping method, 188 types of common processing 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) In the present solution, there is no need to manually reverse the workpiece, which reduces production costs, improves the production efficiency of the NC machine tool, and achieves remarkable effects in terms of production capacity, non-defective product rate, and the working environment of personnel.

[0018] (2) The present solution can complete the production of finished multi-process products with a single machine, greatly solves the problem of uneven matching ratio of machine tools, reduces the idle time of machine tools by reducing the number of machines, lowers the operating cost of machine tools for 24 hours a day and 365 days a year, and fully improves the production capacity of machine tools.

[0019] (3) The present solution automatically completes the loading and unloading of multi-process products for NC machine tools, reduces manual labor, improves the processing efficiency and non-defective product rate of processed products, and well solves the problem that it is difficult to manage constrained labor in the processing industry, while reducing the probability of occurrence of the problem situation that costs cannot be controlled in the processing industry. Brief Description of the Drawings

[0020] [Figure 1] It is a schematic three-dimensional structural diagram of the workpiece relay stage assembly of the present invention. [Figure 2] It is a schematic three-dimensional structural diagram of the loading and unloading mechanism assembly of the present invention. [Figure 3] It is a schematic three-dimensional structural diagram of the right-angle gripper clamping assembly of the present invention. [Figure 4]This is a schematic diagram of the three-dimensional assembly structure of the article stage according to the present invention. [Figure 5] This is a schematic diagram of the three-dimensional structure of the positioning chuck assembly of the present invention. [Figure 6] This is a schematic diagram of the three-dimensional structure of the planar right-angle gripper gripping assembly of the present invention. [Figure 7] This is a flowchart of the construction method of the present invention. [Figure 8] This is a schematic diagram of the process surface reversal method, positioning surface rotation method, and gripper gripping method of the present invention. [Figure 9] This is a schematic diagram of the process surface reversal method, positioning surface rotation method, and gripper gripping method of the present invention. [Figure 10] This is a schematic diagram of the process surface reversal method, positioning surface rotation method, and gripper gripping method of the present invention. [Figure 11] This is a schematic diagram of the process surface reversal method, positioning surface rotation method, and gripper gripping method of the present invention. [Figure 12] This is a schematic diagram of the process surface reversal method, positioning surface rotation method, and gripper gripping method of the present invention. [Figure 13] This is a schematic diagram of the process surface reversal method, positioning surface rotation method, and gripper gripping method of the present invention. [Figure 14] This is a schematic diagram of the process surface reversal method, positioning surface rotation method, and gripper gripping method of the present invention. [Figure 15] This is a schematic diagram of the process surface reversal method, positioning surface rotation method, and gripper gripping method of the present invention. [Figure 16] This is a schematic diagram of the process surface reversal method, positioning surface rotation method, and gripper gripping method of the present invention. [Modes for carrying out the invention]

[0021] The following clearly and completely describes the technical concepts in embodiments of the present invention, linking them to the accompanying drawings. Clearly, the embodiments described are only a subset of, and not all, embodiments of the present invention. All other embodiments obtained based on the embodiments of the present invention without the creative effort of a person skilled in the art are all within the scope of the protection of the present invention.

[0022] In the description of this invention, the directions or positional relationships indicated by terms such as "up," "down," "inside," "outside," and "top / bottom" are based on the directions or positional relationships shown in the accompanying drawings and are solely for the purpose of facilitating and simplifying the description of this invention. They do not indicate or imply that the referred device or element has a specific direction, is configured in a specific direction, or is operated in a specific direction, and therefore cannot be understood as limitations on this invention. Furthermore, the terms "first" and "second" are solely for the purpose of describing the objective and should not be understood as indicating or implying relative importance.

[0023] In the description of this invention, unless otherwise specifically defined and limited, terms such as “attached,” “installed,” “attached / connected,” and “connection” should be understood in a broad sense. For example, “connection” may be fastening, detachable connection, integral connection, mechanical connection, electrical connection, direct connection, indirect connection via an intermediate mediator, or internal communication between two elements. Those skilled in the art will be able to understand the specific meaning of the above terms in this invention depending on the specific situation.

[0024] Example 1: Referring to Figure 1-16, the process for automatic loading and unloading of multi-stage products on an NC machining center is as follows: S1: Process flow when processing raw materials for a single-step product, specifically when the truss manipulator first loads and unloads the NC machine, S2: Process flow when a truss manipulator loads and unloads raw materials of a single-process product onto an NC machine for the second time (and all raw materials after this process), S3: Process flow when processing raw materials for multi-process products, where the truss manipulator performs loading and unloading for the first step of the NC machining center, S4: Process flow when a truss manipulator performs the second loading and unloading (and all unprocessed items after this process) of the first process of an NC machining center for a multi-process product, S5: Process flow when a truss manipulator performs loading and unloading for the first time (and all unprocessed items after this process) on the second stage of a multi-stage product on an NC machining center, S6: For multi-process products, the process flow includes the loading and unloading of the truss manipulator for the second time (and all unprocessed items after this process) in the second process of the NC machining center, In S2, the NC machine includes an article transfer stage 1, a loading and unloading machine assembly 2, an article stage 3, and a positioning chuck assembly 5. The front end of the article transfer stage 1 is fitted with a positioning surface rotation assembly 21, a pair of process surface automatic reversing assemblies 22, and a rotation assembly article tray 23. 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 is fitted with a first gripper 41, a second gripper 42, a third gripper 43, and a fourth gripper 44. The front end of the article stage 3 is fitted with an article stage tray 31.

[0025] In S1, the process flow when the truss manipulator first loads and unloads the NC machining center is as follows: Step S11: Manually place the unprocessed items on the item stage, Step S12: The truss manipulator grasps the unprocessed article from the article stage with the first gripper on the gripper gripping mechanism, the gripper gripping mechanism moves to an appropriate position outside the NC machine by the traction of the truss manipulator, the gripper gripping mechanism rotates and moves so that the second gripper is in a gripping waiting position, waits for the NC machine to finish processing the article in the previous process, and confirms that there are no processed articles on the first pass. Step S13: After the article from the previous process has been processed, the gripper gripping mechanism is moved to the appropriate position on the positioning chuck mechanism on the NC machine by traction 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 the appropriate working position, places the unprocessed article a on the positioning chuck mechanism, and the gripper gripping mechanism, holding the processed article, is moved outside the NC machine by traction of the truss manipulator. Step S14: The gripper gripping mechanism grasps the processed article and moves it to the article stage by traction of the truss manipulator, the gripper gripping mechanism rotates or moves to the working position of gripper No. 2, and returns the processed article to the corresponding numbered position on the article stage.

[0026] In S2, the process flow when the truss manipulator performs the second loading and unloading of the NC machine is as follows: Step S21: The truss manipulator grasps the unprocessed article b from the article stage with the first gripper on the gripper gripping mechanism, then grasps articles abc... of different numbers in sequence, the gripper gripping mechanism moves to an appropriate position outside the NC machine by the traction of the truss manipulator, the gripper gripping mechanism rotates and moves so that the second gripper is in a gripping waiting position, and waits for the NC machine to finish processing the article in the previous process. Step S22: After the article from the previous process has been processed, the gripper gripping mechanism is moved to the appropriate position on the positioning chuck mechanism on the NC machine by traction of the truss manipulator, the second gripper grips the processed article a1 on the positioning chuck mechanism and sequentially grips articles a1, b1, c1, ... of different numbers, the gripper gripping mechanism rotates or moves the first gripper to the appropriate working position, places the unprocessed article b on the positioning chuck mechanism, the gripper gripping mechanism holds the processed article a1 and moves it outside the NC machine by traction of the truss manipulator, Step S23: The gripper gripping mechanism grasps the processed article a1 and moves it to the article stage by traction of the truss manipulator, the gripper gripping mechanism rotates or moves to the working position of gripper no. 2, and returns the processed article a1 to the corresponding numbered position on the article stage. Step S24: After the truss manipulator has performed the third loading and unloading of the NC machine, the process flow for all item loading and unloading is the same as the second loading and unloading, and steps S21, S22, and S23 are repeated in a cycle to automatically complete the loading and unloading of all items on the item stage.

[0027] In S3, when processing a raw material into a multi-step product, the process flow when the truss manipulator first loads and unloads the NC machine in the first step is as follows: Step S31: Manually place the unprocessed items on the item stage, Step S32: The truss manipulator grasps unprocessed article a from the article stage with gripper number 1 on the gripper gripping mechanism, then grasps articles a, b, c, etc. of different numbers in order, and when they are arranged in this order, the gripper gripping mechanism is moved to an appropriate position outside the NC machine by the traction of the truss manipulator, and the gripper gripping mechanism rotates or moves externally so that gripper number 2 is in a gripping waiting position, and waits for the NC machine to finish processing the articles in the previous process, and confirms that there are no processed articles on the first pass, Step S33: After the article from the previous process has been processed, the gripper gripping mechanism is moved to the appropriate position on the positioning chuck mechanism on the NC machine by traction 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 the appropriate working position, places the unprocessed article a on the positioning chuck mechanism, and the gripper gripping mechanism, holding the processed article, is moved outside the NC machine by traction of the truss manipulator. Step S34: The gripper gripping mechanism grasps the processed article and moves it to the article transfer stage by traction of the truss manipulator. The gripper gripping mechanism rotates or moves externally to the working position of the second gripper, and places the processed article on the article tray of the positioning and rotating mechanism on the article transfer stage. Based on the article processing process and article 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 S35: In response to the demand for process surface reversal and positioning rotation in the article processing process, the automatic process surface reversal mechanism grasps the processed article from the intermediate stage positioning rotation mechanism article tray, reverses it to the process surface of the second process, returns the processed article to the positioning rotation mechanism article tray, and the positioning rotation mechanism automatically rotates to satisfy the demand for process surface reversal and positioning rotation of the processed article. Step S36: The third gripper of the gripper gripping mechanism, under the traction of the truss manipulator, grips the processed article from the positioning rotation mechanism article tray after process surface inversion and positioning rotation have been completed, moves it back to the corresponding numbered position on the article stage, and other grippers can be selected separately according to actual demand.

[0028] In S4, the process flow when the truss manipulator performs the second loading and unloading of the NC machining center in the first step is as follows: Step S41: The gripper gripping mechanism rotates or moves externally to the working position of gripper No. 1, gripper No. 1 on the gripper gripping mechanism grips the unprocessed article b, and then sequentially grips articles abc... of different numbers, the gripper gripping mechanism is moved to an appropriate position outside the NC machine by traction of the truss manipulator, the gripper gripping mechanism rotates or moves externally to the working position of gripper No. 2, waits for the NC machine to finish processing the article in the previous process, and can select another gripper separately according to actual demand. Step S42: After the article from the previous process has been processed, the gripper gripping mechanism is moved to the appropriate position on the positioning chuck mechanism on the NC machine by traction of the truss manipulator, the second gripper gripping positioning chuck mechanism grips the processed article a1, and articles a1, b1, c1, ... in order, the gripper gripping mechanism rotates or moves externally to the working position of the first gripper, places article b on the positioning chuck mechanism, the gripper gripping mechanism holds the processed article a1 and moves outside the NC machine by traction of the truss manipulator, Step S43: The gripper gripping mechanism grips the processed article a1 to the article transfer stage by traction of the truss manipulator, rotates or moves externally to the waiting position of gripper no. 2, places the processed article a1 on the article tray of the positioning and rotating mechanism on the article transfer stage, and based on the article processing process and article size, rotates or moves so that gripper no. 3 is in the working position, and other grippers can be selected separately according to actual needs. Step S44: In response to the demands for process surface reversal and positioning rotation in the article processing process, the automatic process surface reversal mechanism grasps the processed article a1 from the intermediate stage positioning rotation mechanism article tray, reverses it to the process surface of the second process, and returns the processed article a1 to the positioning rotation mechanism article tray. The positioning rotation mechanism then rotates automatically, thereby satisfying the demands for process surface reversal and positioning rotation of the processed article. Step S45: The third gripper of the gripper gripping mechanism, under the traction of the truss manipulator, grips the processed article a1, which has completed process surface inversion and positioning rotation, from the positioning rotation mechanism article tray, moves it, and returns it to the corresponding numbered position on the article stage. Step S46: After the truss manipulator has performed the third loading and unloading of the first pass of the NC machining center, the process flow for loading and unloading all items is the same as the second loading and unloading of the first pass, and steps S41, S42, S43, S44 and S45 are repeated in a cycle until the first pass of machining is completed for all items on the item stage, including the automatic completion of the first pass loading and unloading of all items on the item stage, the reversal of the process surface and the rotation of the positioning surface.

[0029] In S5, the process flow when the truss manipulator performs loading and unloading for the first time in the second stage of the NC machining process is as follows: Step S51: The truss manipulator grips article a1 awaiting secondary processing from the article stage with the third gripper on the gripper gripping mechanism, grips articles a1, b1, c1, etc. of different numbers in sequence, moves the gripper gripping mechanism to an appropriate position outside the NC machine by the traction of the truss manipulator, rotates or moves externally to the working position for gripping the fourth gripper, waits for the NC machine to finish processing the article in the previous process, and can select other grippers separately according to actual demand. Step S52: After the article from the previous process has been processed, the gripper gripping mechanism is moved to the appropriate position on the positioning chuck mechanism on the NC machine by traction of the truss manipulator, gripper No. 4 grips the secondary processed article on the positioning chuck mechanism, the gripper gripping mechanism rotates or externally moves gripper No. 3 to the appropriate working position, places article a1 awaiting secondary processing on the positioning chuck mechanism, the gripper gripping mechanism holds the secondary processed article and moves it outside the NC machine by traction of the truss manipulator, Step S53: The gripper gripping mechanism grasps the secondary processed article and moves it to the article transfer stage by traction of the truss manipulator. The gripper gripping mechanism rotates or moves externally to the working position of gripper No. 4, and places the secondary processed article on the article tray of the positioning and rotating mechanism on the article transfer stage. Based on the article processing process and article size, the gripper gripping mechanism rotates or moves externally so that gripper No. 2 is in the working position, and other grippers can be selected separately according to actual needs. Step S54: In response to the demands for process surface reversal and positioning rotation in the article processing process, the automatic process surface reversal mechanism grasps the secondary processed article from the intermediate stage positioning rotation mechanism article tray, reverses it to the process surface of the third step, returns the secondary processed article to the positioning rotation mechanism article tray, and the positioning rotation mechanism automatically rotates to satisfy the demands for process surface reversal and positioning rotation of the secondary processed article. Step S55: The gripper of gripper gripping mechanism No. 2, under the traction of the truss manipulator, grasps the secondary processed article, which has completed process surface inversion and positioning rotation, from the article tray of the positioning rotation mechanism, and moves it back to the corresponding numbered position on the article stage.

[0030] In S6, the process flow when the truss manipulator performs the second loading and unloading of the NC machining center in the second stage is as follows: Step S61: The gripper gripping mechanism rotates or moves externally to the working position of gripper No. 3, grips item b1 awaiting secondary processing with gripper No. 1 on the gripper gripping mechanism, grips items a1, b1, c1, ... in order, moves the gripper gripping mechanism to an appropriate position outside the NC machine by traction of the truss manipulator, rotates or moves externally to the working position of gripper No. 4, and waits for the NC machine to finish processing the item in the previous process. Step S62: After the article from the previous process has been processed, the gripper gripping mechanism is moved to the appropriate position on the positioning chuck mechanism on the NC machine by traction of the truss manipulator, the fourth gripper gripping positioning chuck mechanism grips the second-processed article a2, and articles a2, b2, c2, etc., of different numbers in order, the gripper gripping mechanism rotates or moves externally to the working position of the third gripper, places article b1 awaiting second processing on the positioning chuck mechanism, the gripper gripping mechanism holds the second-processed article a2 and moves outside the NC machine by traction of the truss manipulator, Step S63: The gripper gripping mechanism grips the secondary processing article a2 to the article transfer stage by traction of the truss manipulator, rotates or moves externally to the gripper waiting position for gripper number 4, places the secondary processed article a2 on the article tray of the positioning and rotating mechanism on the article transfer stage, and based on the article processing process and article size, rotates or moves externally to the working position of gripper number 2, and other grippers can be selected separately according to actual needs. Step S64: In response to the demands for process surface reversal and positioning rotation in the article processing process, the automatic process surface reversal mechanism grasps the secondary processed article a2 from the intermediate stage positioning rotation mechanism article tray, reverses it to the process surface of the third step, returns the secondary processed article a2 to the positioning rotation mechanism article tray, and the positioning rotation mechanism automatically rotates to satisfy the demands for process surface reversal and positioning rotation of the secondary processed article a2. Step S65: The gripper of gripper gripping mechanism No. 2, under the traction of the truss manipulator, grips the secondary processed article a2, which has completed process surface inversion and positioning rotation, from the positioning rotation mechanism article tray, moves it, and returns it to the corresponding numbered position on the article stage. Alternatively, other grippers can be selected according to actual demand. Step S66: After the truss manipulator has performed the third loading and unloading of the second process of the NC machining center, the process flow for all item loading and unloading is the same as the process flow for the second loading and unloading of the second process. This includes repeating and circulating steps S61, S62, S63, S64 and S65 until the second process machining of all items on the item stage is complete, and automatically completing the loading and unloading of all items on the item stage, the reversal of the process surface and the rotation of the positioning surface.

[0031] In step S6, the process flow in which the truss manipulator loads and unloads the third process of the NC machining center, inverts the process surface, and rotates the positioning surface is the same as the process flow of the second process. Steps S51, S52, S53, S54, S55, S61, S62, S63, S64, S65 and S66 are repeated in a cycle, and the loading and unloading, process surface inversion, and positioning surface rotation for all processes of all items on the item stage are automatically completed until all processes of machining for all items on the item stage are completed.

[0032] In S1-S6, the NC machining process has six methods for reversing the process surface, four methods for rotating the positioning surface, and twelve methods for gripper gripping. By effectively arranging and combining the process surface reversal method, positioning surface rotation method, and gripper gripping method, 188 common machining methods can be combined. The above process surface reversal method, positioning surface rotation method, and gripper gripping method are shown in Figures 7 to 16, and more arrangements can be created according to actual demand.

[0033] This solution provides a method for the automatic loading and unloading of multi-stage products in an NC machining center. The NC machining center includes an article transfer 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 multiple grippers, which include a gripper 1 41, a gripper 2 42, a gripper 3 43, and a gripper 44. A pair of process surface automatic reversal assemblies 22 and a positioning surface rotation assembly 21 are mounted on the article transfer stage 1. The gripper gripping mechanism can be divided into two mechanisms, a right-angle gripper gripping assembly 4 and a planar gripper gripping assembly 7, depending on the needs of different equipment. The first is a right-angle arrangement and may include a first gripper 41, a second gripper 42, a third gripper 43, and a fourth gripper 44 or more. The second is a planar arrangement and may include a first gripper 41, a second gripper 42, a third gripper 43, and a fourth gripper 44 or more.

[0034] Based on a pair of process surface automatic reversal assemblies 22, a positioning and rotation assembly 21, and a right-angle gripper assembly 4, there are six methods for reversing the process surface based on the machining process of the NC machine, each of which is as follows: A1: Flip the right side over to the top, A2: Flip the left side over to face upwards. A3: Invert the bottom surface to become the top surface, A4: Flip the front side to the top, A5: Flip the rear side to the top, A6: The process surface does not invert.

[0035] There are four methods for rotating the positioning surface, each of which is: 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 rear side, B4: The positioning surface does not rotate.

[0036] There are 12 types of gripper gripping methods, each of which is: C1: The clamp grips the material in the left and right directions along the X-axis, with gripper 1 lifting the material, gripper 2 lowering the material, and gripper 1 picking the material. C2: The clamp grips the material in the left and right directions along the X-axis, with gripper 1 lifting the material, gripper 2 lowering the material, and gripper 2 picking the material. C3: The clamp grips the material in two directions: the front X-axis, the middle X-axis, and the rear Y-axis. Gripper #1 lifts the material, gripper #2 lowers it, and gripper #3 picks it up. C4: The clamp grips the material in two directions: the front X-axis, the middle Y-axis, and the rear X-axis. Gripper #1 lifts the material, gripper #3 lowers it, and gripper #2 picks it up. C5: The clamp grips in two directions: the front X-axis, the middle Y-axis, and the rear Y-axis. Gripper #1 lifts the member, gripper #3 lowers the member, and gripper #3 picks the member. C6: The clamp grips in two directions: the front X-axis, the middle Y-axis, and the rear X-axis. The second gripper moves the member up, the third gripper moves the member down, and the second gripper moves the member up. C7: The clamp grips in two directions: the front X-axis, the middle Y-axis, and the rear Y-axis. The second gripper moves the member up, the third gripper moves the member down, and the third gripper moves the member up. C8: The clamp grips the material in the front-to-back direction along the Y-axis, with gripper #3 lifting the material, gripper #4 lowering the material, and gripper #3 picking the material. C21: The clamp grips the material in the left and right directions along the X-axis, with gripper 1 moving the material up and gripper 2 moving the material down. C22: The clamp grips in two directions, the X-axis and the Y-axis, with gripper #1 moving the member up and gripper #3 moving the member down. C23: The clamp grips in two directions, the X-axis and the Y-axis, with the second gripper moving the member up and the third gripper moving the member down. C24: The clamp grips the material in the front-to-back direction along the Y-axis, with gripper #3 moving the material up and gripper #4 moving the material down.

[0037] By effectively arranging and combining the process surface reversal method, the positioning surface rotation method, and the gripper gripping method, 188 common manufacturing methods can be combined. Furthermore, the above-mentioned process surface reversal method, positioning surface rotation method, and gripper gripping method can be combined to create even more manufacturing methods according to actual demands, and 188 common process flows can be programmed and registered in the control system.

[0038] Operating principle: When an NC machine processes a single step, depending on the type of process of the item to be processed, first, the unprocessed item is placed on the item stage 3 manually. Then, the truss manipulator 6 and right-angle gripper gripping assembly 4 in the loading and unloading machine assembly 2 within the NC machine 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 outside the NC machine. Furthermore, when processing multi-step items, it is necessary to perform the reversal of the process surface and the rotation of the positioning surface when processing the unprocessed item, thus enabling the use of an item transfer stage. The pair of process surface automatic reversal assemblies 22, positioning rotation assemblies 21, and right-angle gripper gripping assemblies 4 adaptively complete process surface reversal and positioning surface rotation according to the actual process requirements. This solves the problem of having to manually reverse articles during automatic loading and unloading of multi-stage product processing by NC machining centers, and the problem of the gripper's gripping range being small during loading and unloading, resulting in only being able to fit a small number of products. By eliminating the need to reverse articles manually, production costs are reduced, the production efficiency of NC machining centers is increased, and there are significant effects on production capacity, yield rate, and the working environment for personnel.

[0039] The foregoing describes only preferred and specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitution or modification made by a person skilled in the art within the scope of the art presented herein, based on the proposed art and its improvements, should be included within the scope of protection of the present invention. [Explanation of Symbols]

[0040] 1. Item transfer stage 2 Loading and Unloading Machine Assembly 3. Item Stage 4 Right-angle gripper gripping assembly 5 Positioning chuck assembly 6 Truss Manipulator 7 Planar Gripper Gripping Assembly 21 Rotation assembly of positioning surface 22. Process surface automatic reversal assembly 23 Rotating Assembly Item Tray 31 Item Stage Tray 41 Grippa No. 1 42 Grippa No. 2 43 Grippa #3 44 Grippa (number 4) 5 Positioning chuck assembly

Claims

1. A method for the automatic loading and unloading of a product using an NC machining system comprising an article transfer stage, a loading and unloading machine assembly equipped with a truss manipulator and a gripper gripping mechanism having grippers numbered 1 to 4, an article stage, and a positioning chuck assembly, S1: When processing an unprocessed article into a single-step product, the process flow when the truss manipulator performs the initial loading and unloading of the article to the NC machining center, S2: Process flow when the truss manipulator performs the second and subsequent loading and unloading of the article to the NC machining center in the processing of the single-step product, S3: When processing an unprocessed item into a multi-step product, the process flow when the truss manipulator first loads and unloads the item in the first step of the NC machining center, S4: Process flow when the truss manipulator performs loading and unloading of the article for the second time and subsequent times in the first process of the NC machining center during the processing of the multi-process product, S5: Process flow when the truss manipulator performs loading and unloading of the product for the first time in the second process of the NC machining center during the processing of the multi-process product, S6: A manufacturing method characterized in that, in the processing of the multi-step product, the truss manipulator performs loading and unloading of the article for the second time and thereafter in the second step of the NC machining center.

2. The method according to Claim 1, characterized in that the gripper gripping mechanism is arranged as a right-angle gripper gripping assembly or a planar gripper gripping assembly.

3. The process flow when performing the first loading and unloading in S1 is as follows: Step S11: Manually place the unprocessed items on the item stage, Step S12: The truss manipulator pulls the unprocessed article from the article stage with the first gripper on the gripper gripping mechanism, the gripper gripping mechanism is moved to an appropriate position outside the NC machine by the truss manipulator's pull, the gripper gripping mechanism is rotated and moved so that the second gripper is in a gripping waiting position, and the system waits for the NC machine to finish processing the article, as this is the first loading and there are no processed articles inside the NC machine. Step S13: After the processing of the article by the NC machine is completed, the gripper gripping mechanism is moved to the appropriate position on the positioning chuck assembly on the NC machine by the traction of the truss manipulator, the processed article on the positioning chuck assembly is gripped by the second gripper, the gripper gripping mechanism is rotated or moved so that the first gripper is in the appropriate working position, the unprocessed article is placed on the positioning chuck assembly, and the gripper gripping mechanism holding the processed article is moved outside the NC machine by the traction of the truss manipulator. Step S14: The method according to claim 1, which includes moving the gripper gripping mechanism holding the processed article to the article stage by traction of the truss manipulator, and rotating or moving it to the working position of the second gripper, thereby returning the processed article to the corresponding position on the article stage.

4. The process flow when performing the second and subsequent loading and unloading in S2 is as follows: Step S21: The truss manipulator, by pulling, grips the next unprocessed article from the article stage with the first gripper on the gripper gripping mechanism and moves it to an appropriate position outside the NC machining center, rotates and moves the gripper gripping mechanism so that the second gripper is in a gripping waiting position, and waits for the NC machining center to finish processing the article in the previous step. Step S22: After the processing of the article by the NC machine is completed, the gripper gripping mechanism is moved to the appropriate position on the positioning chuck assembly on the NC machine by the traction of the truss manipulator, the processed article on the positioning chuck assembly is gripped by the second gripper, the gripper gripping mechanism is rotated or moved so that the first gripper is in the appropriate working position, the unprocessed article is placed on the positioning chuck assembly, and the gripper gripping mechanism holding the processed article is moved outside the NC machine by the traction of the truss manipulator. Step S23: The gripper gripping mechanism holding the processed article is moved to the article stage by traction of the truss manipulator, rotated or moved to the working position of the second gripper, and the processed article is returned to the corresponding numbered position on the article stage. Step S24: The method according to claim 1, characterized in that, in the third loading and unloading, steps S21, S22, and S23 are repeated in a cycle to automatically complete the loading and unloading of all items on the item stage.

5. The process flow when loading and unloading are performed for the first time in the first step of the multi-step product in S3 is: Step S31: Manually placing the unprocessed articles onto the article stage, Step S32: The truss manipulator, by pulling, grasps the unprocessed article from the article stage with the first gripper on the gripper gripping mechanism and moves it to an appropriate position outside the NC machine, rotates or moves the gripper gripping mechanism so that the second gripper is in a gripping waiting position, and waits for the NC machine to finish processing the article, as this is the first loading and there are no processed articles inside the NC machine. Step S33: After the processing of the article by the NC machine is completed, the gripper gripping mechanism is moved to the appropriate position on the positioning chuck assembly on the NC machine by the traction of the truss manipulator, the processed article on the positioning chuck assembly is gripped by the second gripper, the gripper gripping mechanism is rotated or moved so that the first gripper is in the appropriate working position, the unprocessed article is placed on the positioning chuck assembly, and the gripper gripping mechanism holding the processed article is moved outside the NC machine by the traction of the truss manipulator. Step S34: The gripper gripping mechanism holding the processed article is moved to the article transfer stage by traction of the truss manipulator, the gripper gripping mechanism is rotated or moved so that the second gripper is in the working position, the processed article is placed on the rotating assembly article tray of the article transfer stage, and the gripper gripping mechanism is rotated or moved so that the third gripper of the gripper gripping mechanism is in the working position. Step S35: In response to the demand for process surface reversal and positioning rotation in the article processing process, the automatic process surface reversal mechanism grasps the processed article from the rotating assembly article tray, reverses it to the process surface for the second step, and then returns the processed article to the positioning rotating assembly article tray. The rotating assembly of the positioning surface then rotates automatically, thereby satisfying the demand for process surface reversal and positioning rotation of the processed article. Step S36: A method for automatic loading and unloading of multi-process products of an NC machine according to claim 1, comprising: pulling the truss manipulator, gripping the processed article, which has completed process plane inversion and positioning rotation, from the rotating assembly article tray by the third gripper of the gripper gripping mechanism, and moving it back to the corresponding position on the article stage.

6. The process flow when performing the second loading and unloading of the first step of the multi-step product in S4 is as follows: Step S41: The gripper gripping mechanism is rotated or moved to the working position of the first gripper, the first gripper grips the next unprocessed article from the article stage, the truss manipulator pulls it to an appropriate position outside the NC machining center, the second gripper is rotated or moved to the working position of the second gripper, and the NC machining center waits for the previous article to finish processing. Step S42: After the processing of the article by the NC machine is completed, the gripper gripping mechanism is moved to the appropriate position on the positioning chuck assembly on the NC machine by the traction of the truss manipulator, the processed article on the positioning chuck assembly is gripped by the second gripper, the gripper gripping mechanism is rotated or moved so that the first gripper is in the working position, the unprocessed article is placed on the positioning chuck assembly, and the gripper gripping mechanism holding the processed article is moved outside the NC machine by the traction of the truss manipulator. Step S43: The gripper gripping mechanism holding the processed article is moved to the article transfer stage by traction of the truss manipulator, the second gripper is rotated or moved to a waiting position, the processed article is placed on the rotating assembly article tray of the article transfer stage, and the gripper gripping mechanism is rotated or moved so that the third gripper is in the working position. Step S44: In response to the demand for process surface reversal and positioning rotation of the article processing process, the automatic process surface reversal mechanism grasps the processed article from the rotating assembly article tray, reverses it to the process surface for the second step, returns the processed article to the rotating assembly article tray, and the rotating assembly of the positioning surface automatically rotates, thereby satisfying the demand for process surface reversal and positioning rotation of the processed article in the processing process. Step S45: The truss manipulator pulls the third gripper of the gripper gripping mechanism to grasp the processed article, which has completed process plane inversion and positioning rotation, from the rotating assembly article tray, move it, and return it to the corresponding numbered position on the article stage. Step S46: The manufacturing method according to claim 1, characterized in that, in the third and subsequent loading and unloading, steps S41, S42, S43, S44, and S45 are repeated in a cycle, and the loading and unloading of the first process, the reversal of the process surface, and the rotation of the positioning surface are automatically completed for all articles on the article stage until the processing of the first process for all articles on the article stage is completed.

7. The process flow when loading and unloading are performed for the first time in the second step of the multi-step product in S5 is as follows: Step S51: By pulling the truss manipulator, the truss manipulator grasps the article awaiting secondary processing from the article stage with the third gripper on the gripper gripping mechanism and moves it to an appropriate position outside the NC machining center, rotates or moves the fourth gripper so that it is in the gripping waiting work position, and waits for the NC machining center to finish processing the article in the previous process. Step S52: After the processing of the article by the NC machine is completed, the gripper gripping mechanism is moved to an appropriate position on the positioning chuck assembly on the NC machine by the traction of the truss manipulator, the secondarily processed article on the positioning chuck assembly is gripped by the fourth gripper, the third gripper is rotated or moved to an appropriate working position to place the article awaiting secondarily processing on the positioning chuck assembly, and the gripper gripping mechanism holding the secondarily processed article is moved outside the NC machine by the traction of the truss manipulator. Step S53: The gripper gripping mechanism holding the secondary processed article is moved to the article transfer stage by traction of the truss manipulator, rotated or moved to the working position of the fourth gripper, the secondary processed article is placed on the rotating assembly article tray of the article transfer stage, and the gripper gripping mechanism is rotated or moved so that the second gripper is in the working position. Step S54: In response to the demand for process surface reversal and positioning rotation in the article processing process, the automatic process surface reversal mechanism grasps the secondary processed article from the rotating assembly article tray, reverses it to the process surface for the third step, returns the secondary processed article to the rotating assembly article tray, and the rotating assembly of the positioning surface automatically rotates, thereby satisfying the demand for process surface reversal and positioning rotation of the secondary processed article in the processing process. Step S55: The method according to claim 1, characterized in that the gripper of the gripper gripping mechanism 2 grasps the secondary processed article, which has completed process surface inversion and positioning rotation, from the assembly article tray by traction of the truss manipulator, moves it, and returns it to the corresponding position on the article stage.

8. The process flow when the second loading and unloading of the multi-process product is performed in the second step of the S6 process is as follows: Step S61: Rotate or move the gripper gripping mechanism to the working position of the third gripper, grip the next item awaiting secondary processing from the item stage with the third gripper on the gripper gripping mechanism, move it to an appropriate position outside the NC machining center by traction of the truss manipulator, rotate or move the gripper gripping mechanism to the working position of the fourth gripper, and wait for the NC machining center to finish processing the item in the previous process. Step S62: After the processing of the article by the NC machine is completed, the gripper gripping mechanism is moved to the appropriate position on the positioning chuck assembly on the NC machine by the traction of the truss manipulator, the secondary processed article on the positioning chuck assembly is gripped by the fourth gripper, the gripper gripping mechanism is rotated or moved so that the third gripper is in the working position, the article awaiting secondary processing is placed on the positioning chuck assembly, and the gripper gripping mechanism holding the secondary processed article is moved outside the NC machine by the traction of the truss manipulator. Step S63: The gripper gripping mechanism holding the secondary processed article is moved to the article transfer stage by traction of the truss manipulator, the fourth gripper is rotated or moved to a waiting position, the secondary processed article is placed on the rotating assembly article tray of the article transfer stage, and the gripper gripping mechanism is rotated or moved so that the second gripper is in the working position. Step S64: In response to the demand for process surface reversal and positioning rotation in the article processing process, the automatic process surface reversal mechanism grasps the secondary processed article from the rotating assembly article tray, reverses it to the process surface for the third step, returns the secondary processed article to the rotating assembly article tray, and the rotating assembly of the positioning surface automatically rotates, thereby satisfying the demand for process surface reversal and positioning rotation of the secondary processed article in the processing process. Step S65: The truss manipulator pulls the second gripper of the gripper gripping mechanism to grasp the secondary processed article, which has completed process plane inversion and positioning rotation, from the rotating assembly article tray, move it, and return it to the corresponding position on the article stage. Step S66: The manufacturing method according to claim 1, characterized in that, in the third and subsequent loading and unloading, steps S61, S62, S63, S64, and S65 are repeated in a cycle, and the loading and unloading of the second process of all articles on the article stage, the reversal of the process surface and rotation of the positioning surface are automatically completed until the second process of processing of all articles on the article stage is completed.

9. The method according to claim 7 or 8, characterized in that, after step S6, the truss manipulator performs the same process flow as the second process flow for loading and unloading articles, inverting the process surface and rotating the positioning surface for the third and subsequent processes of the NC machining center, and repeats and cycles the steps corresponding to steps S51 to S55 in claim 7 and steps S61 to S65 in claim 8, until all process machining of all articles on the article stage is completed, thereby automatically completing the loading and unloading, inverting the process surface and rotating the positioning surface for all processes of all articles on the article stage.

10. The method according to claim 1, characterized in that, in S1-S6, multiple process flows for automatic loading and unloading are configured by effectively arranging and combining a process surface reversal method, a positioning surface rotation method, and a gripper gripping method according to the machining process of the NC machining machine.

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