CN116117577A

CN116117577A - Multi-station automatic processing system and method

Info

Publication number: CN116117577A
Application number: CN202111340029.0A
Authority: CN
Inventors: 刘建斌; 陈志亮; 杨俊杰
Original assignee: Kingclean Electric Co Ltd; Jiangsu Kingclean Intelligent Appliance Co Ltd
Current assignee: Kingclean Electric Co Ltd; Jiangsu Kingclean Intelligent Appliance Co Ltd
Priority date: 2021-11-12
Filing date: 2021-11-12
Publication date: 2023-05-16

Abstract

The invention relates to a multi-working-procedure automatic processing system and a method, wherein the system comprises a transition mechanism, a processing center and a robot, a multi-working-procedure workpiece clamping device of the robot comprises a plurality of first clamps and a plurality of second clamps, the robot clamps an upper structure of a workpiece processed by a first working procedure in a first processing position of the processing center through the first clamps, switches another first clamp clamping the workpiece to be processed to a first preset position, places the corresponding workpiece in the first processing position, places the workpiece processed by the first working procedure in the transition mechanism, clamps a lower structure of the workpiece in the transition mechanism through the second clamps, switches the other second clamp to the first preset position, clamps the lower structure of the workpiece processed by the second working procedure in the second processing position of the processing center, and places the workpiece clamped from the transition mechanism in the second processing position. Through robot operation for the work piece carries out the processing of multichannel process in order, has guaranteed the stability of work piece output.

Description

Multi-station automatic processing system and method

Technical Field

The invention relates to the technical field of processing automation, in particular to a multi-station automatic processing system and method.

Background

The workpiece processing mode is generally a multi-working mode, different processing positions are required to be set in a processing center to process different working procedures, and clamping positions are required to be changed for a plurality of times when different processing positions process different working procedures. In the prior art, a manual operation machining center is used for carrying out multi-workpiece machining, and the defects are as follows:

1) The operator needs to operate the machining center to finish the last machining process of the workpiece in the last machining position and needs to operate the machining center to finish the next machining process of the workpiece in the next machining position, so that the time for clamping the workpiece by the operating machine is not fixed, the daily yield is unstable, and the increase of the yield is hindered to a certain extent;

2) When the workpiece is processed in different working procedures at different processing positions, the clamping positions and the clamping modes are required to be changed for a plurality of times, so that the processing can be finished only by a plurality of sets of clamping devices according to the working procedure arrangement sequence, and the investment on the clamping devices is high; meanwhile, when the workpiece is switched from the last station to the next station for processing, different clamping devices are required to be switched to finish clamping at different clamping positions, and the production efficiency is low.

Accordingly, there is a need to provide an automated processing system that facilitates multi-process ordered processing, and that stabilizes workpiece throughput and improves workpiece production efficiency.

Disclosure of Invention

In order to solve the problems in the prior art, the invention provides a multi-station automatic processing system and a method, in particular to:

the utility model provides an automatic processing system of multiplex operation, including transition mechanism, machining center and robot, the machining center is used for carrying out multiplex operation to the work piece, be provided with first processing position and second processing position on the carrier of machining center, the last rotation of arm of robot is connected with multiplex operation work piece clamping device, multiplex operation work piece clamping device includes a plurality of first anchor clamps, a plurality of second anchor clamps and rotates the connecting piece, first anchor clamps with the second anchor clamps all with one end fixed connection of rotating the connecting piece, the other end of rotating the connecting piece with the arm rotates to be connected, rotate the connecting piece around its axial rotation in order to accomplish first anchor clamps or the second anchor clamps is in the switching of first preset position, the robot is used for through first anchor clamps clamp to get the top structure of the work piece that first process processing was accomplished in the first processing position of machining center and will press from the second anchor clamps to place corresponding work piece in first processing center after with the one end fixed connection of rotating the connecting piece, the other end of rotating the connecting piece with the arm rotates to connect, rotate the connecting piece around its axial rotation in order to accomplish first anchor clamps in the first processing position is got to the second anchor clamps through first anchor clamps and will be located in the first transition position of first clamp and the second clamp is got the first work piece in the first work piece of first position of working position and is got the first work piece.

In another aspect, a multi-station automated processing method is provided, the method is implemented based on the multi-station automated processing system, and the method includes:

when the workpiece which is positioned at the second processing station in the processing center and processed is clamped, the mechanical arm is controlled to drive the multi-procedure workpiece clamping device to move to the vicinity of the feeding and discharging machine;

controlling the first clamp to be switched to a first preset position;

controlling the first clamp to clamp the upper structure of the workpiece to be processed placed on the loading and unloading machine;

the second clamp for clamping the processed workpiece at the second processing station in the processing center is controlled to place the processed workpiece at a spare position after the workpiece to be processed is taken;

the mechanical arm is controlled to drive a first clamp for clamping a workpiece to be processed to move to the position above a first processing position of the processing center;

when the first working procedure of the workpiece positioned at the first processing station in the processing center is finished, controlling the multi-working-position workpiece clamping device to rotate to switch the other first clamp to a first preset position and taking out the workpiece processed by the first working procedure;

the multi-working-piece clamping device rotates to switch a first clamp clamped to a working piece to be processed to a first preset position and place the working piece to be processed in a first processing station in the processing center;

The control mechanical arm drives the multi-procedure workpiece clamping device to move to the position above the transition mechanism and places the workpiece processed in the first procedure in the transition mechanism;

controlling the second clamp to move to the lower part of the transition mechanism to clamp a lower structure of a workpiece in the transition mechanism;

when the second working procedure of the workpiece positioned at the second processing station in the processing center is finished, controlling the multi-working-procedure workpiece clamping device to rotate to switch the other second clamp to the first preset position and clamp the workpiece processed by the second working procedure;

and a second clamp for clamping the workpiece processed in the first working procedure is controlled to place the workpiece in a second processing station of the processing center.

The multi-station automatic processing system and method provided by the invention have the beneficial effects that:

according to the invention, the upper structure of the workpiece processed by the first process in the first processing station of the processing center is clamped by the robot and placed in the transition mechanism, and then the lower structure of the workpiece is clamped in the second processing position of the processing center from the transition mechanism to process the second process, so that the workpieces are processed by the second process after the first process is finished, the production quality of the workpieces is ensured, and the robot is used for operation, so that the picking and placing time of the workpieces is fixed, the finished yield of the workpieces is stable, and the problems that in the prior art, the processing yield is unstable and defective products are easy to generate due to the fact that the workpiece is clamped by the operation machine table in the manual operation processing center are solved; meanwhile, the first clamp and the second clamp are connected to the mechanical arm, so that the first clamp or the second clamp can be switched to the first preset position when being positioned above the corresponding processing position, the first clamp clamps the workpiece processed by the first procedure on the first processing position of the processing center, and then the second clamp is switched to the first preset position through the rotary connecting piece and clamps the workpiece to be placed on the second processing position of the processing center after the workpiece processed by the first procedure is placed on the first processing position of the processing center, the rapid movement of the workpiece among the processing positions is realized, the operation is convenient and rapid, and the production efficiency of the workpiece is improved.

Drawings

In order to more clearly illustrate the technical solution of the present invention, the following description will make a brief introduction to the drawings used in the description of the embodiments or the prior art. It should be apparent that the drawings in the following description are only some embodiments of the present invention, and that other drawings can be obtained from these drawings without inventive effort to those of ordinary skill in the art.

FIG. 1 is a schematic diagram of a multi-process automated processing system according to an embodiment of the present disclosure;

FIG. 2 is a schematic view of a structure of a multi-workpiece clamping device for clamping a workpiece when the first clamp is at a first preset position according to an embodiment of the present disclosure;

FIG. 3 is a schematic view of a multi-stage workpiece clamping device without clamping a workpiece according to an embodiment of the present disclosure;

FIG. 4 is a schematic view of a structure of a workpiece clamping device for clamping a workpiece when the second clamp is at the first preset position according to the embodiment of the present disclosure;

FIG. 5 is a schematic view of a machining center and workpiece mating structure provided in an embodiment of the present disclosure;

FIG. 6 is a schematic view of a machining center according to an embodiment of the present disclosure;

FIG. 7 is a schematic view of a transition mechanism according to an embodiment of the present disclosure;

Fig. 8 is a schematic structural diagram of a loading and unloading machine according to an embodiment of the present disclosure;

fig. 9 is a schematic structural view of a material storing mechanism according to an embodiment of the present disclosure, where the material storing mechanism carries a workpiece to be processed and a processed workpiece at the same time.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

Example 1:

as shown in fig. 1, fig. 2, fig. 3, fig. 4 and fig. 5, the embodiment of the present specification provides an automatic multiple-working-position machining system, including a loading and unloading machine 6, a transition mechanism 7, a machining center 8, a controller and a robot 4, the machining center 8 is used for carrying out multiple working positions on a workpiece 5, a first working position and a second working position are provided on a bearing seat 81 of the machining center 8, a multiple-working-position workpiece clamping device is rotationally connected on a mechanical arm 41 of the robot 4, the multiple-working-position workpiece clamping device includes a plurality of first clamps 1, a plurality of second clamps 2 and a rotating connecting piece 3, the first clamps 1 and the second clamps 2 are fixedly connected with one end of the rotating connecting piece 3, the other end of the rotating connecting piece 3 is rotationally connected with the mechanical arm 41, the rotating connecting piece 3 rotates around the axis direction thereof to complete the switching of the first clamps 1 or the second clamps 2 at a first preset position, the first preset position is located at the position axially under the mechanical arm 41, the robot 4 is used for taking the workpiece 5 located at the first working position in the machining center 8 through the first working position 1, the second working position 5 is located at the first working position 5, and placing the second working position in the transition mechanism is located at the second working position 5 in the first transition position 5, and placing the first clamp 5 in the first transition mechanism 5 at the position 5 is located at the position 5 corresponding to the second working position 5, and the second working position 5 is placed at the first position 5 in the first transition position 5, and is placed at the position 5, and is located at the position corresponding to the position 5 in the second working position 5 position switching position 5 and has another working position to the first working position 5.

It should be noted that, in this embodiment, the machining process of the workpiece 5 includes two machining processes, the first process is to perform end face machining on the upper end face of the workpiece 5, the second process is to perform inner hole machining on the positioning hole 51 on the upper structure of the workpiece 5, that is, the upper structure of the workpiece 5 needs to be clamped upward to perform end face machining on the upper end face, after the machining of the first process is completed, the clamping position needs to be changed, that is, the lower structure of the workpiece 5 needs to be clamped is placed in the second machining station, at this time, the upper structure of the workpiece 5 is placed downward, and the upper end face of the upper structure is flatly attached to the bearing seat 81 of the machining center 8, so as to finish inner hole machining on the positioning hole 51 of the upper structure.

The controller is used for controlling the robot 4 to drive the workpiece 5 to move among the feeding machine 6, the discharging machine 6, the transition mechanism 7 and the machining center 8 through the multi-working-position workpiece clamping device, and is also used for controlling the other first clamp 1 clamping the workpiece 5 to be machined to be switched to a first preset position and placing the workpiece 5 to be machined in the first machining position after one of the plurality of first clamps 1 clamps the machined workpiece 5 from the first machining position of the machining center 8, controlling the first clamp 1 clamping the workpiece 5 to be clamped in the first machining position to be placed in the transition mechanism 7 from the upper side of the transition mechanism 7 and controlling the second clamp 2 clamping the workpiece 5 to be clamped from the lower side of the transition mechanism 7 to the second machining position of the machining center 8 for workpiece 5 exchange, so that the ordered production of the workpiece 5 is ensured after the first working procedure is completed, the production quality of the workpiece 5 is ensured, and simultaneously, the robot 4 is used for operation, the taking and placing time of the workpiece 5 is fixed, and the workpiece 5 is stably machined.

Preferably, the machining center 8 includes a bearing seat 81, a first positioning mechanism 82, a first swing arm pressing mechanism 83, a second positioning mechanism 84 and a second swing arm pressing mechanism 85, the first positioning mechanism 82 and the second positioning mechanism 84 are both fixedly disposed on the bearing seat 81, when the workpiece 5 is vertically placed upwards at a first processing station of the bearing seat 81, the workpiece 5 is positioned through the first positioning mechanism 82, when the workpiece 5 is vertically placed downwards at a second processing station of the bearing seat 81, the first swing arm pressing mechanism 83 and the second swing arm pressing mechanism 85 are both rotationally connected to the bearing seat 81, a plane where a rotation range of the first swing arm pressing mechanism 83 is located and a plane where a rotation range of the second swing arm pressing mechanism 85 is located are both perpendicular to the plane where the bearing seat 81 is located, and the first swing arm pressing mechanism 83 and the second swing arm pressing mechanism 85 are both used for pressing the workpiece 5 on corresponding positions of the bearing seat 81.

Preferably, the first positioning mechanism 82 and the second positioning mechanism 84 each include a plurality of third positioning pins 821, the third positioning pins 821 are matched with the positioning holes 51 of the workpiece 5, and the length of the third positioning pins 821 is smaller than the length of the positioning holes 51.

Specifically, the number of the first swing arm pressing mechanisms 83 is one, the first positioning mechanisms 82 and the first swing arm pressing mechanisms 83 are located at first processing stations on the bearing seat 81, the number of the second swing arm pressing mechanisms 85 is three, and the second positioning mechanisms 84 and the second swing arm pressing mechanisms 85 are located at second processing stations on the bearing seat 81.

In this embodiment, the slot 52 is formed in the upper structure of the workpiece 5, and when the workpiece 5 is placed on the first processing station of the carrying seat 81, the first swing arm pressing mechanism 83 is controlled to rotate downward to the horizontal direction to press the workpiece 5 on the first processing station, and at this time, the first swing arm pressing mechanism 83 passes through the slot 52 and the highest position of the first swing arm pressing mechanism 83 in the vertical direction is lower than the plane where the upper end face of the workpiece 5 is located.

Meanwhile, as shown in fig. 6 and 7, since the dimension of the upper structure of the workpiece 5 in the horizontal direction is larger than the dimension of the lower structure of the workpiece 5 in the horizontal direction, in order to position the workpiece 5 on the first processing station through the positioning hole 51 located in the upper structure, three first support columns 86 are fixedly arranged on the corresponding positions of the first processing station on the bearing seat 81, third positioning pins 821 are fixedly arranged on the upper portions of the first support columns 86, when the workpiece 5 is vertically placed on the first processing station of the bearing seat 81 upwards, the positioning hole 51 passes through the corresponding third positioning pins 821, and the first support columns 86 bear the workpiece 5 through the lower end face of the structure where the bearing positioning hole 51 is located, so that the positioning of the workpiece 5 on the first processing station is realized.

As shown in fig. 7, the second positioning mechanism 84 includes three third positioning pins 821, the three third positioning pins 821 are all fixedly disposed on the second processing station on the bearing seat 81, the lower end surface of the structure where the positioning holes 51 are disposed is a plane located in the horizontal direction, when the workpiece 5 is vertically placed down on the second processing station, the third positioning pins 821 respectively pass through the three positioning holes 51 of the workpiece 5, and then the second swing arm pressing mechanism 85 is controlled to rotate down to the horizontal direction and respectively press the lower end surfaces corresponding to the positioning holes 51 so as to press the workpiece 5 on the second processing station.

Specifically, in the present embodiment, since the processing time of the processing centers 8 exceeds twice the switching time of the upper and lower structure gripping of the workpiece 5 at the transition mechanism 7, the number of the processing centers 8 is set to two to promote the yield of the production of the workpiece 5, and the robot 4 is set between the two processing centers 8, the operation of the two processing centers 8 can be achieved.

In this embodiment, the first clamp 1 of the multi-working-condition workpiece clamping device includes a first driving mechanism 102 and a first clamping jaw assembly 101, the first driving mechanism 102 is in driving connection with the first clamping jaw assembly 101, the first clamping jaw assembly 101 includes a first clamping jaw 1011, a second clamping jaw 1012 and a third clamping jaw 1013, the first driving mechanism 102 is used for driving the corresponding first clamping jaw 1011, second clamping jaw 1012 and third clamping jaw 1013 to switch between a first state and a second state synchronously, the second clamp 2 includes a second driving mechanism 202 and a second clamping jaw assembly 201, the second driving mechanism 202 is in driving connection with the second clamping jaw assembly 201, the second clamping jaw assembly 201 includes a fourth clamping jaw 2011, a fifth clamping jaw 2012 and a sixth clamping jaw 2013, the fourth clamping jaw 2011, the fifth clamping jaw 2012 and the sixth clamping jaw 2013 are not in rotational symmetry, and the second driving mechanism 202 is used for driving the corresponding fourth clamping jaw 2011, the fifth clamping jaw 2012 and the sixth clamping jaw 2013 to switch between the third state and the fourth state synchronously during clamping of the workpiece 5.

Preferably, the first jaw 1011, the second jaw 1012 and the third jaw 1013 are arranged rotationally symmetrically about the central axis of the first jaw assembly 101.

When the first fixture 1 is located at the first preset position, the upper structure of the workpiece 5 is clamped to be placed on the first processing station of the processing center 8 for performing a first process, where in this embodiment, the first process is to perform end face processing on the upper end face of the workpiece 5; when the second clamp 2 is located at the first preset position, the lower structure of the workpiece 5 is clamped to be placed on a second processing station of the processing center 8 for second-procedure processing, and in this embodiment, the second-procedure is to process an inner hole of the positioning hole 51 on the upper structure of the workpiece 5.

Wherein, the upper structure of the workpiece 5 is a circular structure, so that the first clamping jaw 1011, the second clamping jaw 1012 and the third clamping jaw 1013 are respectively 120 degrees to the three directions of the central axis of the first driving mechanism 102, and the first clamping jaw 1011, the second clamping jaw 1012 and the third clamping jaw 1013 are arranged in a rotationally symmetrical manner; the lower structure of the workpiece 5 is an irregular circular structure, the clamping position of the sixth clamping jaw 2013 corresponding to the workpiece 5 is provided with an irregular protruding structure, the three directions of the fourth clamping jaw 2011, the fifth clamping jaw 2012 and the sixth clamping jaw 2013, which are respectively positioned to the central axis of the second driving mechanism 202, are 120 degrees, the distances from the fourth clamping jaw 2011 and the fifth clamping jaw 2012 to the central axis of the second driving mechanism 202 are the same, and the distance from the sixth clamping jaw 2013 to the central axis of the second driving mechanism 202 is larger than the distance from the fourth clamping jaw 2011 to the central axis of the second driving mechanism 202.

Specifically, as shown in fig. 2, 3 and 4, the number of the first clamps 1 is two, the number of the second clamps 2 is two, the four clamps are 90 degrees, the two first clamps 1 are adjacently arranged, and one of the four clamps is switched to the first preset position by controlling the rotation connecting piece 3 to rotate.

Specifically, the multi-working-piece clamping device further comprises a base 10, the base 10 is provided with four end faces, the four end faces are arranged in a rotation symmetry mode around the axial direction of the rotary connecting piece 3, and the four clamps are fixed on the four end faces in a one-to-one correspondence mode.

Specifically, the first clamping jaw 1011, the second clamping jaw 1012 and the third clamping jaw 1013 have the same structure, the first clamp 1 further comprises a first positioning plate, three slots are arranged around the first positioning plate, the three slots are matched with the three clamping jaws in size, and the three slots are used for limiting the three clamping jaws to move in the corresponding slot directions in the clamping process.

The first driving mechanism 102 is disposed between the base 10 and the first jaw assembly 101, the initial state of the first jaw assembly 101 is a first state, the first state of the first jaw assembly 101 is a tightened state, when the first jaw assembly 101 is switched to a second state, the second state of the first jaw assembly 101 is a loosened state, when the first jaw assembly 101 is in the second state, the corresponding range of the first jaw 1011, the second jaw 1012 and the third jaw 1013 is larger than the width of the workpiece 5 at the corresponding clamping position, the mechanical arm 41 drives the first jaw assembly 101 to approach the workpiece 5 processed by the first procedure in the first processing station in the processing center 8, so that the first jaw 1011, the second jaw 1012 and the third jaw 1013 are respectively located around the structure above the workpiece 5, and then the first jaw 1011, the second jaw 1012 and the third jaw 1013 are simultaneously driven to move inwards at the same speed by the first driving mechanism 102, and after the first jaw 1011, the second jaw 1012 and the third jaw 1013 clamp the workpiece 5, the first driving mechanism 102 stops working after the first jaw 1011, the second jaw 1012 and the third jaw 1013 clamp the workpiece 5. After the first clamp 1 is empty and the workpiece 5 machined in the first working procedure in the first machining position is clamped, the mechanical arm 41 switches the other first clamp 1 clamping the workpiece 5 to be machined to a first preset position, and places the workpiece 5 to be machined in the first machining position to continue machining.

The transition mechanism 7 is arranged near the machining center 8, the mechanical arm 41 is used for controlling the multi-working-procedure workpiece clamping device to move to the position above the transition mechanism 7, the first clamp 1 clamping the workpiece 5 machined in the first working procedure is switched to the first preset position and the workpiece 5 is placed in the transition mechanism 7 from the upper side, the mechanical arm 41 is used for controlling the multi-working-procedure workpiece clamping device to move to the position below the transition mechanism 7, and the second clamp 2 positioned above the axial direction of the rotary connecting piece 3 is used for clamping the lower structure of the workpiece 5.

Specifically, the fourth clamping jaw 2011, the fifth clamping jaw 2012 and the sixth clamping jaw 2013 have the same structure, specifically, the second fixture 2 further comprises a second positioning plate, three slots are arranged around the second positioning plate, the three slots are matched with the three clamping jaws in size, and the three slots are used for limiting the three clamping jaws to move in corresponding slot directions in the clamping process.

The second driving mechanism 202 is disposed between the base 10 and the second jaw assembly 201, the initial state of the second jaw assembly 201 is a third state, the third state of the second jaw assembly 201 is a tightening state, when the second jaw assembly 201 is switched to a fourth state, the fourth state of the second jaw assembly 201 is a loosening state, when the second jaw assembly 201 is in the fourth state, the corresponding range of the fourth jaw 2011, the fifth jaw 2012 and the sixth jaw 2013 is larger than the width of the workpiece 5 at the corresponding clamping positions, the mechanical arm 41 drives the second jaw assembly 201 to approach the workpiece 5 processed by the second process in the second processing station in the processing center 8, so that the fourth jaw 2011, the fifth jaw 2012 and the sixth jaw 2013 are respectively located around the structure below the workpiece 5, then the second driving mechanism 202 drives the fourth jaw 2011, the fifth jaw 2012 and the sixth jaw 2013 to simultaneously move inwards at the same speed, and after the fourth jaw 2011, the fifth jaw 2012 and the sixth jaw 2013 clamp the workpiece 5, the second driving mechanism 202 stops working after the workpiece 5 is clamped by the fourth jaw 2011, the fifth jaw 2012 and the sixth jaw 2013. After the second clamp 2 is empty and the workpiece 5 machined in the second machining position is clamped, the mechanical arm 41 switches the other second clamp 2 clamping the workpiece 5 machined in the first machining position to the first preset position, and places the workpiece 5 to be machined in the second machining position to continue machining.

Preferably, the bottom of the first jaw assembly 101 is provided with a depth detection mechanism 104, the depth detection mechanism 104 comprising a depth pin 1041, the depth pin 1041 matching the locating hole 51 of the workpiece 5, the depth detection mechanism 104 being arranged to detect rotational misalignment of the workpiece 5 when the depth pin 1041 is displaced upwardly.

Preferably, the depth detection mechanism 104 further includes a linear bearing and a sensor 1043, the linear bearing is fixedly connected to the depth pin 1041, the sensor 1043 is disposed on a side of the linear bearing near the rotary connector 3, and when the depth pin 1041 is displaced upward, the linear bearing is driven to move upward to the position of the sensor 1043, and the sensor 1043 detects that the linear bearing is in place.

Preferably, the controller is configured to control the first drive mechanism 102 to stop driving the first jaw assembly 101 to grip the workpiece 5 when the depth detection mechanism 104 detects a rotational misalignment of the workpiece 5.

Specifically, taking the first fixture 1 located at the first preset position in fig. 2 and fig. 3 as an example, the sensor 1043 is located above the linear bearing, both the linear bearing and the sensor 1043 are located above the first positioning plate, when the first positioning plate is provided with an opening, the upper end of the depth pin 1041 passes through the opening and is connected with the linear bearing, the outer side of the depth pin 1041 is sleeved with the spring 1042, the lower end of the spring 1042 is fixedly connected with the outer side of the depth pin 1041, and the upper end of the spring 1042 is abutted on the first positioning plate.

When the workpiece 5 is rotationally dislocated, the depth pin 1041 and the positioning hole 51 are not aligned in the vertical direction, so that when the first clamping jaw assembly 101 clamps the workpiece downwards, the depth pin 1041 is not inserted into the positioning hole 51 and is jacked up by the workpiece 5 to move upwards, at this time, the spring 1042 compresses, and when the depth pin 1041 moves upwards and drives the linear bearing to move upwards to the position of the sensor 1043, the sensor 1043 detects that the linear bearing is in place, thereby detecting that the workpiece 5 is rotationally dislocated and notifying the controller, so as to control the first driving mechanism 102 to stop driving the first clamping jaw assembly 101 to clamp the workpiece 5. After stopping the gripping, the first jaw assembly 101 moves upward, the spring 1042 resumes its shape, causing the depth pin 1041 to return to its default position.

Preferably, a first profiling block 1014 is fixedly arranged on one side of the first clamping jaw 1011 close to the workpiece 5, a second profiling block 1015 is fixedly arranged on one side of the second clamping jaw 1012 close to the workpiece 5, a third profiling block 1016 is fixedly arranged on one side of the third clamping jaw 1013 close to the workpiece 5, and the first profiling block 1014, the second profiling block 1015 and the third profiling block 1016 are positioned on the same horizontal plane; a fourth profiling block 2014 is fixedly arranged on one side, close to the workpiece 5, of the fourth clamping jaw 2011, a fifth profiling block 2015 is fixedly arranged on one side, close to the workpiece 5, of the fifth clamping jaw 2012, a sixth profiling block 2016 is fixedly arranged on one side, close to the workpiece 5, of the sixth clamping jaw 2013, and the fourth profiling block 2014, the fifth profiling block 2015 and the sixth profiling block 2016 are located on the same horizontal plane. Through set up the profile modeling piece that corresponds on first clamping jaw 1011, second clamping jaw 1012 and third clamping jaw 1013, three profile modeling piece is located same horizontal plane for the position is got to the clamp that corresponds on the work piece 5 is on same horizontal plane, and the three profile modeling piece of collocation sets up to the profile modeling structure simultaneously, makes clamp position in clamping process three profile modeling piece and work piece 5 go up and get the close contact, reduces because the improper problem that causes work piece 5 that drops of operation, has promoted the stability of two clamping jaws clamp and has got the performance.

Preferably, the first profiling block 1014, the second profiling block 1015, the third profiling block 1016, the fourth profiling block 2014, the fifth profiling block 2015 and the sixth profiling block 2016 are made of non-metal materials or coated with non-metal materials on the surface of one side close to the workpiece 5, wherein the non-metal materials can be hard materials such as hard plastics, preferably MC nylon materials, so that the clamping jaw cannot scratch the surface of the workpiece 5 in the process of taking and placing the workpiece 5.

Preferably, the first clamp 1 and the second clamp 2 each further comprise a pushing piece 103, the pushing pieces 103 are arranged at the bottoms of the corresponding clamping jaw assemblies, the pushing pieces 103 are in driving connection with the corresponding driving mechanisms, the pushing pieces 103 on the first clamp 1 can move up and down relative to the first positioning plate, the pushing pieces 103 on the second clamp 2 can move up and down relative to the second positioning plate, and the pushing pieces 103 are used for pushing the workpieces 5 to move downwards under the driving of the corresponding driving mechanisms when the workpieces 5 are placed so as to finish placement of the workpieces 5.

Specifically, the side of the first fixture 1 and the side of the second fixture 2 are both fixedly provided with a pipe body 9, the pipe body 9 is parallel to the corresponding first fixture 1 or the axial direction of the second fixture 2, the pipe body 9 is used for blowing air to the corresponding processing position on the bearing seat 81 before the first fixture 1 or the second fixture 2 clamps the processed workpiece 5 in the processing center 8, it is ensured that no scraps remain on the surface after the processing of the workpiece 5 is completed, and after another workpiece 5 to be processed is placed, the corresponding processing position on the bearing seat 81 is blown air again, so that scraps in the processing center 8 are prevented from being stuck to the position of the bearing seat 81 in the processing center 8, and the processing accuracy is prevented from being influenced.

The embodiment of the present disclosure further provides a multi-workpiece clamping method, which is implemented based on the multi-workpiece clamping device in embodiment 1, and includes:

when the workpiece 5 which is positioned at the second processing station and processed in the processing center 8 is clamped, the mechanical arm 41 is controlled to drive the multi-workpiece clamping device to move above the workpiece 5 to be processed;

controlling the rotation connecting piece 3 to rotate so as to switch the first clamp 1 to a first preset position;

controlling the first clamp 1 and the first driving mechanism 102 to drive the first clamping jaw assembly 101 to switch from the first state to the second state;

controlling the first clamping jaw assembly 101 to clamp the upper structure of the workpiece 5 to be processed;

the second clamp 2 for clamping the processed workpiece 5 at the second processing station in the processing center 8 is controlled to place the processed workpiece 5 at a spare position after the workpiece 5 to be processed is taken;

the control mechanical arm 41 drives the first clamp 1 clamping the workpiece 5 to be processed to move to the position above the first processing position of the processing center 8;

when the first working procedure of the workpiece 5 positioned at the first processing station in the processing center 8 is finished, controlling the multi-working-procedure workpiece clamping device to rotate so as to switch the other first clamp 1 to a first preset position and take out the workpiece 5 processed by the first working procedure;

The multi-workpiece clamping device rotates to switch the first clamp 1 clamping the workpiece 5 to be processed to a first preset position and place the workpiece 5 to be processed in a first processing position in the processing center 8;

the control mechanical arm 41 drives the multi-working-procedure workpiece clamping device to move to the position above the transition mechanism 7 and places the workpiece 5 processed in the first working procedure in the transition mechanism 7;

controlling the second clamp 2 to move to the lower part of the transition mechanism 7 to clamp the lower structure of the workpiece 5 in the transition mechanism 7;

when the second process of the workpiece 5 at the second processing station in the processing center 8 is finished, controlling the multi-workpiece clamping device to rotate so as to switch the other second clamp 2 to the first preset position and take out the workpiece 5 processed by the second process;

the second clamp 2, which controls the clamping of the workpiece 5 finished in the first process, places the workpiece 5 in the second processing station of the processing center 8.

By the multi-working-procedure workpiece clamping method, after the workpiece 5 processed in the first working procedure on the first processing position of the processing center 8 is clamped by the first clamp 1, the second clamp 2 is switched to the first preset position by rotating the rotating connecting piece, the workpiece 5 is clamped and placed on the second processing position of the processing center 8, the rapid switching of the workpiece 5 among the processing positions is realized, the operation is convenient, and the production efficiency is improved.

The controller in the embodiment of the present disclosure includes a multi-workpiece clamping control module, where the multi-workpiece clamping control module is configured to control the mechanical arm 41 to drive the multi-workpiece clamping device to move above the workpiece 5 to be processed when clamping the processed workpiece 5 located at the second processing station in the processing center 8; controlling the first clamp 1 to switch to a first preset position; controlling the first clamp 1 and the first driving mechanism 102 to drive the first clamping jaw assembly 101 to switch from the first state to the second state; controlling the first clamping jaw assembly 101 to clamp the upper structure of the workpiece 5 to be processed; the second clamp 2 for clamping the processed workpiece 5 at the second processing station in the processing center 8 is controlled to place the processed workpiece 5 at a spare position after the workpiece 5 to be processed is taken; the control mechanical arm 41 drives the first clamp 1 clamping the workpiece 5 to be processed to move to the position above the first processing position of the processing center 8; when the first working procedure of the workpiece 5 positioned at the first processing station in the processing center 8 is finished, controlling the multi-working-procedure workpiece clamping device to rotate so as to switch the other first clamp 1 to a first preset position and take out the workpiece 5 processed by the first working procedure; the multi-workpiece clamping device rotates to switch the first clamp 1 clamping the workpiece 5 to be processed to a first preset position and place the workpiece 5 to be processed in a first processing position in the processing center 8; the control mechanical arm 41 drives the multi-working-procedure workpiece clamping device to move to the position above the transition mechanism 7 and places the workpiece 5 processed in the first working procedure in the transition mechanism 7; controlling the second clamp 2 to move to the lower part of the transition mechanism 7 to clamp the lower structure of the workpiece 5 in the transition mechanism 7; when the second process of the workpiece 5 at the second processing station in the processing center 8 is finished, controlling the multi-workpiece clamping device to rotate so as to switch the other second clamp 2 to the first preset position and take out the workpiece 5 processed by the second process; the second clamp 2, which controls the clamping of the workpiece 5 finished in the first process, places the workpiece 5 in the second processing station of the processing center 8. The first clamp 1 and the second clamp 2 are controlled to be switched at the first preset position through the multi-station workpiece clamping control module, so that the workpieces 5 are rapidly conveyed among a plurality of processing stations, and the production efficiency is improved.

In this embodiment, the transition mechanism 7 includes a clamping mechanism 71, a translation mechanism 72 and a fixing seat 73, the translation mechanism 72 is movable relative to the fixing seat 73, the clamping mechanism 71 includes a first clamping piece 711 and a second clamping piece 712, the first clamping piece 711 and the second clamping piece 712 are disposed opposite to each other, the first clamping piece 711 is fixed on the fixing seat 73, the second clamping piece 712 is fixedly connected with the translation mechanism 72, the translation mechanism 72 is used for driving the second clamping piece 712 to move between a first position and a second position, a first positioning pin 7111 is fixedly disposed above the first clamping piece 711 and above the second clamping piece 712, the first positioning pin 7111 is matched with the positioning hole 51 of the workpiece 5, and when the workpiece 5 is placed between the first clamping piece 711 and the second clamping piece 712, the first positioning pin 7111 is inserted into the corresponding positioning hole 51.

Because the clamping positions need to be changed when different processing positions carry out the processing of different processes, but the clamping device is very easy because the positioning of the placing position is inaccurate, the workpiece cannot be accurately placed at the next processing position when the workpiece is clamped again after the clamping positions are changed, the production efficiency of the workpiece is reduced, and the production quality of the workpiece is possibly influenced. Therefore, by arranging the transition mechanism 7, when the workpiece 5 processed in the first process is clamped from the first processing position and then placed in the transition mechanism 7, the first positioning pin 7111 is inserted into the corresponding positioning hole 51, so that the workpiece 5 can be accurately positioned, and the workpiece 5 can be accurately clamped again and then placed in the second processing position for second process processing; and the second clamping member 712 is configured to move between the first position and the second position, so that when the lower structure of the workpiece 5 is clamped from the transition mechanism 7, the second clamping member 712 can move away from the first clamping member 711, and the clamping position change from the upper structure to the lower structure is completed, so that the processing of each process on the workpiece 5 is sequentially completed in the sequence of the processing processes.

Preferably, a first positioning pin 7111 is fixedly provided above each of the first clamping member 711 and the second clamping member 712, the first positioning pin 7111 is matched with the positioning hole 51 of the workpiece 5, and when the workpiece 5 is placed between the first clamping member 711 and the second clamping member 712, the first positioning pin 7111 is inserted into the corresponding positioning hole 51.

Specifically, a third driving mechanism 76 is further arranged on the fixing seat 73, the third driving mechanism 76 is arranged at the rear end of the translation mechanism 72, the third driving mechanism 76 is in driving connection with the translation mechanism 72, an X-direction linear guide rail 75 is fixedly arranged above the fixing seat 73, the translation mechanism 72 can move on the linear guide rail 75 under the driving of the third driving mechanism 76, a limiting mechanism 74 is arranged at the front end of the linear guide rail 75, when the translation mechanism 72 slides to be abutted against the limiting mechanism 74, the movement is stopped, and at the moment, the distance between the second clamping piece 712 and the first clamping piece 711 is matched with the corresponding clamping position of the workpiece 5 to be placed. The X direction is a direction from the second clamping member 712 to the first clamping member 711, and the direction from the second clamping member 712 to the first clamping member 711 is a direction from the rear end to the front end of the linear guide 75.

Specifically, the size of the lower end surface of the workpiece 5 at the position of the positioning hole 51 is larger than the corresponding clamping position size of the workpiece 5 placed in the clamping mechanism 71, so that after the translation mechanism 72 stops moving when sliding to abut against the limiting mechanism 74, when the workpiece 5 is placed in the clamping mechanism 71, after the first positioning pin 7111 is inserted into the positioning hole 51, the lower end surface of the positioning hole 51 at the position can be stably clamped above the first clamping member 711 and the second clamping member 712.

After the workpiece 5 is placed in the clamping mechanism 71, the robot 4 is controlled to clamp the lower structure of the workpiece 5 from the lower part of the clamping mechanism 71, the robot 4 is controlled to move upwards until the positioning hole 51 is separated from the first positioning pin 7111, the third driving mechanism 76 is controlled to drive the translation mechanism 72 to move in the direction away from the first clamping piece 711, and the second clamping piece 712 is synchronously driven to move in the direction away from the first clamping piece 711, so that the robot 4 can clamp the lower structure of the workpiece 5 and place the workpiece in the second processing position of the processing center 8 for processing in the second process.

Preferably, the first clamping member 711 and the second clamping member 712 are both in a contoured configuration, and the side of the first clamping member 711 and the second clamping member 712 adjacent to the workpiece 5 are matched with the corresponding position of the workpiece 5.

Preferably, the first clamping member 711 and the second clamping member 712 are coated with a non-metallic material on a side surface of the workpiece 5 or the first clamping member 711 and the second clamping member 712 are made of a non-metallic material. The nonmetallic material may be a hard material such as hard plastic, preferably MC nylon material, to ensure that the surface of the workpiece 5 is not scratched during the process of taking and placing the workpiece 5 between the first clamping member 711 and the second clamping member 712.

Embodiments of the present disclosure also provide a transition method for a multi-process automated processing system, the method implemented based on the transition mechanism in embodiment 2, including:

Controlling the third driving mechanism 76 to drive the translation mechanism 72 to drive the second clamping piece 712 to move towards the direction approaching the first clamping piece 711, and stopping the movement when the translation mechanism 72 abuts against the limiting mechanism 74;

when the first working procedure machining is finished on the workpiece 5 in the first machining position of the machining center 8, the robot 4 is controlled to clamp the upper structure of the workpiece 5 machined by the first working procedure from the first machining position of the machining center 8, the upper structure is placed between the first clamping piece 711 and the second clamping piece 712 from the upper part of the clamping mechanism 71, and meanwhile, the first positioning pin 7111 penetrates through the positioning hole 51 to limit the workpiece in the horizontal direction;

the control robot 4 moves up from the lower structure of the clamping mechanism 71 which clamps the workpiece 5 to the position hole 51 to be separated from the first position pin 7111;

controlling the third driving mechanism 76 to drive the translation mechanism 72 to drive the second clamping member 712 to move away from the first clamping member 711;

the control robot 4 places the workpiece 5 in a second processing station of the processing center 8.

By means of the transition method for the multi-process automatic processing system, when the robot 4 clamps the upper structure of the workpiece 5 processed in the first process from the first processing station, the robot is placed in the transition mechanism 7, clamps the lower structure of the workpiece 5 from the transition mechanism 7, and then can accurately place the robot in the second processing position of the processing center 8 to process the second process, so that accurate transportation of the workpiece 5 between the processing positions is achieved, and production efficiency and production quality are improved.

The controller in the embodiment of the present disclosure further includes a transition control module, where the transition control module is configured to control the third driving mechanism 76 to drive the translation mechanism 72 to drive the second clamping member 712 to move towards the direction approaching the first clamping member 711, and the movement is stopped when the translation mechanism 72 abuts against the limiting mechanism 74; when the first working procedure machining is finished on the workpiece 5 in the first machining position of the machining center 8, the robot 4 is controlled to clamp the upper structure of the workpiece 5 machined by the first working procedure from the first machining position of the machining center 8, the upper structure is placed between the first clamping piece 711 and the second clamping piece 712 from the upper part of the clamping mechanism 71, and meanwhile, the first positioning pin 7111 penetrates through the positioning hole 51 to limit the workpiece in the horizontal direction; the control robot 4 moves up from the lower structure of the clamping mechanism 71 which clamps the workpiece 5 to the position hole 51 to be separated from the first position pin 7111; controlling the third driving mechanism 76 to drive the translation mechanism 72 to drive the second clamping member 712 to move away from the first clamping member 711; the control robot 4 places the workpiece 5 in a second processing station of the processing center 8. The transition control module controls the third driving mechanism 76 to drive the translation mechanism 72 to move, so that the clamping mechanism 71 is clamped and loosened, the workpiece 5 is accurately positioned, the workpiece 5 can be accurately conveyed between processing positions, and the production efficiency is improved.

In this embodiment, the loading and unloading machine 6 is used for placing the workpiece 5 to be processed and the workpiece 5 after processing, and the controller is used for controlling the multi-process workpiece clamping device to clamp the workpiece 5 to be processed on the loading and unloading machine 6 and then place the workpiece 5 after processing in the processing center 8 at a position where the workpiece 5 to be processed is left after being taken.

Preferably, a detachable third positioning mechanism 61 is arranged on the loading and unloading machine 6, a second positioning pin 611 is fixedly arranged on the third positioning mechanism 61, the second positioning pin 611 is matched with the positioning hole 51 of the workpiece 5, and the second positioning pin 611 penetrates into the positioning hole 51 when the workpiece 5 to be processed is placed on the loading and unloading machine 6.

Specifically, three second support columns 612 are fixedly arranged on the third positioning mechanism 61, and second positioning pins 611 are fixedly arranged on each support column 612, so that when the feeding and discharging machine 6 is fed manually, i.e. the workpiece 5 to be processed is placed in the corresponding third positioning mechanism 61, the second positioning pins 611 penetrate through corresponding positioning holes 51 on the workpiece 5 to be processed, and accurate positioning of the workpiece 5 to be processed in the feeding and discharging machine 6 is realized, so that the robot 4 can be accurately placed in the first processing position for processing after clamping the workpiece 5 to be processed.

Meanwhile, after the second process is completed, the processed workpiece 5 is placed at a position where the workpiece 5 to be processed is left after being taken, and at this time, the positioning hole 51 is not sleeved on the second positioning pin 611.

Preferably, the loading and unloading machine 6 is a circulating loading and unloading machine, the circulating loading and unloading machine comprises a plurality of horizontally placed storage mechanisms 62 positioned at different heights, a plurality of translation conveying mechanisms 63 and lifting mechanisms 64, the third positioning mechanism 61 is arranged on the storage mechanisms 62, the storage mechanism 62 positioned at the highest position is arranged close to the robot 4, the lifting mechanisms 64 are arranged below the storage mechanisms 62 and are in driving connection with the storage mechanisms 62, the lifting mechanisms 64 are used for lifting the storage mechanisms 62 to move in the Z direction, the storage mechanisms 62 positioned at other heights are in driving connection with the translation conveying mechanisms 63 in a one-to-one correspondence manner, and the translation conveying mechanisms 63 are used for driving the corresponding storage mechanisms 62 to move in the Y direction. In fig. 1, the direction perpendicular to the X direction in the horizontal direction is the Y direction, and the Z direction is perpendicular to the X direction and the Y direction.

As shown in fig. 8, in this embodiment, the circulating feeding and discharging machine includes two horizontally placed storage mechanisms 62 located at different heights, namely a first storage mechanism 621 and a second storage mechanism 622, where the first storage mechanism 621 and the second storage mechanism 622 correspond to a first translation conveying mechanism 631 and a second translation conveying mechanism 632, respectively, the first translation conveying mechanism 631 is used to drive the first storage mechanism 621 to move along a Y direction on a Y direction guide rail located on a plane where the first translation conveying mechanism 631 is located, and the second translation conveying mechanism 632 is used to drive the second storage mechanism 622 to move along a Y direction on a Y direction guide rail located on a plane where the second translation conveying mechanism 632 is located, where the plane height of the first translation conveying mechanism 631 is lower than that of the second translation conveying mechanism 632.

Specifically, the robot 4 and the manual material changing position are respectively located at the left and right ends of the circulating feeding and discharging machine in fig. 8, when the first material storing mechanism 621 or the second material storing mechanism 622 is close to the manual material changing position, the operator takes out the workpiece 5 processed by the first material storing mechanism 621 or the second material storing mechanism 622, and puts the workpiece 5 to be processed into the first material storing mechanism 621 or the second material storing mechanism 622 to complete manual material changing.

Specifically, a corresponding lifting mechanism 64 is further disposed below the first storage mechanism 621, the lifting mechanism 64 is in driving connection with the first storage mechanism 621, a plane where the lifting mechanism 64 is located below the plane where the first translation conveying mechanism 631 is located, when the first storage mechanism 621 finishes feeding, that is, when the processed workpiece 5 in the first storage mechanism 621 near the manual feeding position is completely replaced by the workpiece 5 to be processed, the first storage mechanism 621 is driven by the first translation conveying mechanism 631 to slide to a direction near the robot 4 until the workpiece is located right above the lifting mechanism 64, when the second storage mechanism 622 near the robot 4 finishes all processing of the workpiece 5 to be processed, the second storage mechanism 622 is driven by the second translation conveying mechanism 632 to move to a direction far away from the robot 4 until the manual feeding position is located, and then the first storage mechanism 621 is lifted to a highest preset position to stop lifting, wherein the highest preset position is located at a height higher than the plane where the second storage mechanism 622 is located.

When all the workpieces 5 to be processed in the first storage mechanism 621 located at the highest preset position are processed, the lifting mechanism 64 drives the first storage mechanism 621 to descend to the plane where the first translation conveying mechanism 631 is located, the descending movement is stopped, the second translation conveying mechanism 632 drives the second storage mechanism 622 to move to a position close to the robot 4 to stop moving, and meanwhile, the first storage mechanism 621 is driven to slide to a position close to the manual material changing position to stop so that the first storage mechanism 621 can be subjected to next material changing manually. Through setting up the unloader in the circulation, realized that first storage mechanism 621 and second storage mechanism 622 replace the circulated switch to be close to robot 4 positions, make things convenient for robot 4 swiftly to treat the clamp of processing work piece 5 and get and place, saved the time of loading, unloading, promoted the speed of loading and unloading.

The embodiment of the present disclosure provides a control method of a cyclic loading and unloading machine, where the method is implemented based on the loading and unloading machine 6 in embodiment 1, and includes:

when the workpiece 5 to be processed in the second storage mechanism 622 close to the robot 4 is completely processed, controlling the second translation conveying mechanism 632 to drive the second storage mechanism 622 to move to a direction far away from the robot 4 to a position close to the manual feed position to stop moving;

The first translation conveying mechanism 631 is controlled to drive the first storage mechanism 621 to slide in a direction approaching the robot 4 until the first storage mechanism 621 is positioned right above the lifting mechanism 64;

the lifting mechanism 64 is controlled to lift the first storage mechanism 621 to the highest preset position to stop lifting, wherein the height of the highest preset position is higher than the plane height of the second storage mechanism 622;

when all the workpieces 5 to be processed in the first storage mechanism 621 positioned at the highest preset position are processed, the lifting mechanism 64 is controlled to drive the first storage mechanism 621 to descend to the plane where the first translation conveying mechanism 631 is positioned, and the descending movement is stopped;

the first translation conveying mechanism 631 is controlled to drive the first storage mechanism 621 to slide to a direction close to the manual material changing position to stop moving close to the manual material changing position;

the second translational conveying mechanism 632 is controlled to drive the second storage mechanism 622 to move to a position close to the robot 4 in a direction close to the robot 4, so that the robot 4 is convenient to clamp the workpiece 5 to be processed in the second storage mechanism 622.

By the control method of the circulating feeding and discharging machine, the first storage mechanism 621 and the second storage mechanism 622 are switched to the position close to the robot 4 in a circulating mode, the circulating feeding process of the feeding and discharging machine 6 is achieved, feeding and discharging of the feeding and discharging machine 6 are completed synchronously, feeding and discharging time is saved, meanwhile, the robot 4 is convenient to clamp and place the workpiece 5 to be processed, and the beat of workpiece processing production is accelerated.

The controller in the embodiment of the present disclosure further includes a control module of the cyclic loader-unloader, where the control module of the cyclic loader-unloader is configured to control the second translational conveying mechanism 632 to drive the second storage mechanism 622 to move in a direction away from the robot 4 to a position close to the manual feed position to stop moving when all the workpieces 5 to be processed in the second storage mechanism 622 close to the robot 4 are processed; the first translation conveying mechanism 631 is controlled to drive the first storage mechanism 621 to slide in a direction approaching the robot 4 until the first storage mechanism 621 is positioned right above the lifting mechanism 64; the lifting mechanism 64 is controlled to lift the first storage mechanism 621 to the highest preset position to stop lifting, wherein the height of the highest preset position is higher than the plane height of the second storage mechanism 622; when all the workpieces 5 to be processed in the first storage mechanism 621 positioned at the highest preset position are processed, the lifting mechanism 64 is controlled to drive the first storage mechanism 621 to descend to the plane where the first translation conveying mechanism 631 is positioned, and the descending movement is stopped; the first translation conveying mechanism 631 is controlled to drive the first storage mechanism 621 to slide to a direction close to the manual material changing position to stop moving close to the manual material changing position; the second translational conveying mechanism 632 is controlled to drive the second storage mechanism 622 to move to a position close to the robot 4 in a direction close to the robot 4, so that the robot 4 is convenient to clamp the workpiece 5 to be processed in the second storage mechanism 622.

The working principle (automatic control method) of the multi-station automatic processing system is as follows:

when the multi-workpiece clamping device clamps the machined workpiece 5 positioned at the second machining position in the machining center 8, the control mechanical arm 41 drives the multi-workpiece clamping device to move to the vicinity of the feeding and discharging machine 6;

controlling the first clamp 1 to switch to a first preset position;

controlling the first clamp 1 to clamp the upper structure of a workpiece 5 to be processed placed on the loading and unloading machine 6;

the second clamp 2 for clamping the processed workpiece 5 at the second processing station in the processing center 8 is controlled to be switched to a first preset position, and the processed workpiece 5 is placed at a spare position after the workpiece 5 to be processed is taken;

controlling the multi-workpiece clamping device to rotate, switching the first clamp 1 clamping the workpiece 5 to be processed to a first preset position and placing the workpiece 5 to be processed in a first processing position in the processing center 8;

when the second process of the workpiece 5 at the second processing station in the processing center 8 is finished, controlling the multi-workpiece clamping device to rotate so as to switch the other second clamp 2 to the first preset position and clamp and take out the workpiece 5 processed by the second process;

the second clamp 2 which controls the workpiece 5 clamped by the first clamp to be processed in the first process is used for placing the workpiece 5 clamped by the second clamp in a second processing station of the processing center 8 for processing in the second process.

All actions in the working principle of the multi-working-procedure automatic processing system are realized by the controller in the embodiment.

In this embodiment of the present disclosure, the controller includes a processor and a memory, where the memory stores at least one instruction, at least one program, a code set, or an instruction set, and the at least one instruction, the at least one program, the code set, or the instruction set is loaded and executed by the processor to implement an automatic control method of the multi-process automated processing system as described above.

The foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the invention are intended to be included within the scope of the invention.

Claims

1. The multi-station automatic processing system is characterized by comprising a transition mechanism (7), a processing center (8) and a robot (4), wherein the processing center (8) is used for carrying out multi-station processing on a workpiece (5), a first processing station and a second processing station are arranged on a bearing seat (81) of the processing center (8), a multi-station workpiece clamping device is rotationally connected on a mechanical arm (41) of the robot (4), the multi-station workpiece clamping device comprises a plurality of first clamps (1), a plurality of second clamps (2) and a rotating connecting piece (3), the first clamps (1) and the second clamps (2) are fixedly connected with one end of the rotating connecting piece (3), the other end of the rotating connecting piece (3) is rotationally connected with the mechanical arm (41), the rotating connecting piece (3) axially rotates around the rotating connecting piece to complete the switching of the first clamps (1) or the second clamps (2) at a first preset position, the robot (4) is used for clamping an upper structure of a workpiece (5) machined by a first procedure in a first machining position of the machining center (8) through a first clamp (1), switching another first clamp (1) clamping the workpiece (5) to be machined to a first preset position, placing the workpiece (5) machined by the first procedure in the transition mechanism (7) after the corresponding workpiece (5) is placed in the first machining position, clamping a lower structure of the workpiece (5) in the transition mechanism (7) through a second clamp (2), switching another second clamp (2) to the first preset position, clamping the lower structure of the workpiece (5) machined by the second procedure in the second machining position of the machining center (8), and then placing the workpiece (5) clamped from the transition mechanism (7) in the second machining position.

2. The multi-station automated processing system according to claim 1, wherein the processing center (8) comprises a bearing seat (81), a first positioning mechanism (82), a first swing arm pressing mechanism (83), a second positioning mechanism (84) and a second swing arm pressing mechanism (85), the first positioning mechanism (82) and the second positioning mechanism (84) are both fixedly arranged on the bearing seat (81), the workpiece (5) is vertically placed upwards on a first processing station of the bearing seat (81) and is positioned by the first positioning mechanism (82), the workpiece (5) is vertically placed downwards on a second processing station of the bearing seat (81) and is positioned by the second positioning mechanism (84), the first swing arm pressing mechanism (83) and the second swing arm pressing mechanism (85) are both rotationally connected to the bearing seat (81), a rotation range of the first pressing mechanism (83) and a rotation range of the second pressing mechanism (85) are both rotationally connected to the bearing seat (81), and the workpiece (5) is pressed on a corresponding rotation range of the swing arm pressing mechanism (85) and the bearing seat (81) and the second swing arm pressing mechanism (85).

3. The multiple process automation processing system of claim 2, wherein the first positioning mechanism (82) and the second positioning mechanism (84) each comprise a plurality of third positioning pins (821), the third positioning pins (821) are matched with the positioning holes (51) of the workpiece (5), and the length of the third positioning pins (821) is less than or equal to the length of the positioning holes (51).

4. The multiple workpiece handling system of claim 1, further comprising a controller for controlling the switching of the first clamp (1) or the second clamp (2) to a first preset position on the multiple workpiece handling device.

5. The multiple workpiece automated processing system of claim 4, wherein the first clamp (1) comprises a first drive mechanism (102) and a first jaw assembly (101), the first drive mechanism (102) and the first jaw assembly (101) being in driving connection, the first jaw assembly (101) comprising a first jaw (1011), a second jaw (1012) and a third jaw (1013), the first drive mechanism (102) being for driving the respective first jaw (1011), the second jaw (1012) and the third jaw (1013) during gripping of a workpiece (5) being switched synchronously between a first state and a second state, the second clamp (2) comprising a second drive mechanism (202) and a second jaw assembly (201), the second drive mechanism (202) and the second jaw assembly (201) being in driving connection, the second jaw assembly (201) comprising a fourth jaw (2011), a fifth jaw (2012) and a sixth jaw (2013), the fourth jaw (2011), the fifth jaw (2011) and the fifth jaw (2011) being arranged in rotation in the respective second jaw (2011) and the fourth jaw (2013) being arranged for driving the workpiece (2015) in a rotation manner of the respective second jaw assembly (201) The fifth jaw (2012) and the sixth jaw (2013) are synchronously switched between a third state and a fourth state.

6. The multiple-workpiece automated processing system of claim 4, wherein the transition mechanism (7) comprises a clamping mechanism (71), a translation mechanism (72) and a fixed seat (73), the translation mechanism (72) is movable relative to the fixed seat (73), the clamping mechanism (71) comprises a first clamping member (711) and a second clamping member (712), the first clamping member (711) and the second clamping member (712) are disposed in opposition, the first clamping member (711) is fixed on the fixed seat (73), the second clamping member (712) and the translation mechanism (72) are fixedly connected, the translation mechanism (72) is configured to move the second clamping member (712) between a first position and a second position, when the second clamping member (712) is in the second position, a distance between the second clamping member (712) and the first clamping member (711) is greater than a dimension of a workpiece (5) in a clamping position, and the controller is configured to control movement of the human machine tool (4) away from the first clamping member (711) in a direction after the clamping mechanism (5) is moved.

7. The multi-station automated processing system of claim 4, further comprising a loading and unloading machine (6), wherein the loading and unloading machine (6) is configured to place a workpiece (5) to be processed and a workpiece (5) to be processed, and the controller is configured to control the multi-station workpiece clamping device to clamp the workpiece (5) to be processed on the loading and unloading machine (6) and then place the workpiece (5) to be processed in the processing center (8) at a position that is free after the workpiece (5) to be processed is taken.

8. The multi-station automated processing system of claim 7, wherein the loading and unloading machine (6) is a cyclic loading and unloading machine, the cyclic loading and unloading machine comprises a plurality of horizontally placed storage mechanisms (62) located at different heights, a plurality of translation conveying mechanisms (63) and a lifting mechanism (64), the storage mechanism (62) located at the highest position is arranged close to the robot (4), the lifting mechanism (64) is arranged below the storage mechanism (62) and is in driving connection with the storage mechanism (62), the lifting mechanism (64) is used for lifting the storage mechanism (62) to move in the Z direction, the storage mechanisms (62) located at other heights are in one-to-one driving connection with the translation conveying mechanisms (63), and the translation conveying mechanisms (63) are used for driving the corresponding storage mechanisms (62) to move in the Y direction.

9. The multi-station automatic processing system according to claim 7, wherein a detachable third positioning mechanism (61) is arranged on the loading and unloading machine (6), a second positioning pin (611) is fixedly arranged on the third positioning mechanism (61), the second positioning pin (611) is matched with a positioning hole (51) of the workpiece (5), and the second positioning pin (611) penetrates into the positioning hole (51) when the workpiece (5) to be processed is placed on the loading and unloading machine (6).

10. A multi-station automated processing method implemented based on the multi-station automated processing system of any one of claims 1-9, the method comprising:

when the workpiece (5) which is positioned at the second processing position and processed in the processing center (8) is clamped, the mechanical arm (41) is controlled to drive the multi-workpiece clamping device to move to the vicinity of the feeding and discharging machine (6);

controlling the first clamp (1) to switch to a first preset position;

controlling the first clamp (1) to clamp the upper structure of a workpiece (5) to be processed placed on the loading and unloading machine (6);

the second clamp (2) for clamping the processed workpiece (5) positioned at the second processing station in the processing center (8) is controlled to place the processed workpiece (5) at a spare position after the workpiece (5) to be processed is taken;

the mechanical arm (41) is controlled to drive the first clamp (1) clamping the workpiece (5) to be processed to move to the position above the first processing position of the processing center (8);

when the first working procedure of the workpiece (5) positioned at the first processing position in the processing center (8) is finished, controlling the multi-working-procedure workpiece clamping device to rotate so as to switch the other first clamp (1) to a first preset position and take out the workpiece (5) processed by the first working procedure;

The multi-workpiece clamping device rotates to switch a first clamp (1) clamping a workpiece (5) to be machined to a first preset position and place the workpiece (5) to be machined in a first machining position in a machining center (8);

the control mechanical arm (41) drives the multi-working-procedure workpiece clamping device to move to the position above the transition mechanism (7) and places the workpiece (5) processed in the first working procedure in the transition mechanism (7);

controlling the second clamp (2) to move to the lower part of the transition mechanism (7) to clamp a lower structure of the workpiece (5) in the transition mechanism (7);

when the second working procedure of the workpiece (5) positioned at the second processing position in the processing center (8) is finished, controlling the multi-working-procedure workpiece clamping device to rotate so as to switch the other second clamp (2) to the first preset position and clamp and take out the workpiece (5) processed by the second working procedure;

and a second clamp (2) for controlling the clamping of the workpiece (5) processed in the first working procedure is used for placing the workpiece (5) in a second processing station of a processing center (8).