CN211733075U - Unloader on cnc engraving and milling machine - Google Patents

Abstract

The utility model discloses an unloader for cnc engraving and milling machine, including setting up the feed bin in the outside one side of cnc engraving and milling machine, the outside of feed bin is provided with the peripheral protection, and the inside of feed bin is provided with combined mechanical hand, and combined mechanical hand can carry out reciprocating linear motion along X axle and Z axle, snatchs the mechanism through the end and snatchs quick change tray formula end and snatch the mechanism or wait to process the work piece and be used for going up unloading. The utility model relates to a rationally, low cost, compact structure, operation are stable, the flexibility is high, can the automatic effect of going up of full play.

Description

Unloader on cnc engraving and milling machine

Technical Field

The utility model belongs to the technical field of mechanical equipment, concretely relates to unloader for cnc engraving and milling machine.

Background

The manufacturing industry is the main body of national economy, and is the basis of the founding, the prosperous and the strong country. As the national post industry, the method always keeps a good development situation. However, as the popularity of our country disappears and the labor cost increases, the way that the traditional manufacturing industry depends on manpower to develop is narrower and narrower. The feeding and discharging equipment is used for replacing manual work, the productivity and stability in labor are improved, automation and intellectualization are realized, and the trend is reached. Because the development period of the automatic production line is long, the difficulty is high, the early-stage capital investment is large, and a common company has no capability of bearing, the single-machine automatic equipment is increased year by year, and the market competitiveness is gradually enhanced. Currently, most of the common single-machine automation equipment in the market mainly comprises six-axis robots, SCARA robots and truss robots. The use of robots has many advantages over the traditional manufacturing industry. First, the robot can largely replace a human to do long-time work which is monotonous, frequent and repeated, or work in a dangerous and severe environment. Secondly, in repeated action, the robot can keep higher precision, guarantees the stability of product quality. And thirdly, the robot can work continuously, and the production efficiency is high.

However, the cost of the robot on the market is high, and a lot of difficulties are added to enterprise transformation. On the other hand, in modern industrial automation, flexible production is more and more emphasized, and the problems of high personnel cost, low production efficiency and unstable quality in a discrete manufacturing mode are urgently needed to be solved.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the technical problem that lie in to the not enough among the above-mentioned prior art, provide a unloader for cnc engraving and milling machine to solve personnel with high costs, low in production efficiency, the unstable problem of quality under the discrete mode of making.

The utility model adopts the following technical scheme:

the utility model provides a unloader on cnc engraving and milling machine, includes the feed bin, and the feed bin setting is in outside one side of cnc engraving and milling machine, and the upper portion of feed bin is provided with the combination manipulator, and the combination manipulator can carry out reciprocal linear motion along X axle and Z axle, snatchs the mechanism through the end that the combination manipulator end set up and realizes unloading on the cnc engraving and milling machine.

Specifically, the combination manipulator includes the manipulator backup pad, and the vertical manipulator Z axle that is provided with in the manipulator backup pad, the manipulator Z epaxial level is provided with the manipulator X axle, and the end snatchs the mechanism and sets up on the manipulator X axle.

Furthermore, the X axis of the manipulator is a two-stage combined telescopic arm; the Z axis of the manipulator is driven by a ball screw.

Specifically, the tail end grabbing mechanism comprises a quick-change tray type tail end grabbing mechanism and a double-claw grabbing mechanism.

Furthermore, the quick-change tray type tail end grabbing mechanism comprises a quick-change tray, a pneumatic claw is arranged on one side of the quick-change tray, the pneumatic claw is connected with a claw switching block through a supporting connecting piece, and a finger structure of the pneumatic claw is matched with the quick-change tray; and the gripper transfer block and the supporting connecting piece connect the tail end grabbing mechanism with a manipulator X shaft of the combined manipulator.

Furthermore, the grabbing mechanism further comprises a double-holding-claw grabbing mechanism, a swing cylinder is arranged on a pneumatic claw switching block of the double-holding-claw grabbing mechanism, a first pneumatic claw and a second pneumatic claw are correspondingly arranged on the swing cylinder, and the pneumatic claw switching block is used for connecting a mechanical arm X shaft of the tail-end grabbing mechanism and a combined mechanical arm.

Specifically, the feed bin is disc feed bin or, and disc feed bin's bottom circumference is provided with waste liquid mass flow groove, and waste liquid collecting tank is connected to waste liquid mass flow groove, and circumference is provided with a plurality of trays on the disc feed bin, is used for placing the target work piece on every tray.

Furthermore, the disc storage bin is of an integral material disc structure.

Specifically, the feed bin is circular jacking feed bin, and the bottom of circular jacking feed bin is provided with climbing mechanism, and circumference is provided with a plurality of jacking material trays on the circular jacking feed bin, and the interval is provided with three side locating lever on every jacking material tray, treats that the processing work piece sets up between three side locating lever.

Further, one side of the circular jacking bin is vertically provided with a workpiece position detection switch, and the workpiece position detection switch is connected with the PLC.

Compared with the prior art, the utility model discloses following beneficial effect has at least:

the utility model relates to a feeding and discharging device for a carving machine, which carries out feeding and discharging from the side door of the carving machine, thereby avoiding the influence of an automatic unit on the operation of the machine tool; each component is designed as a standard module and can be configured according to actual requirements; compared with a six-axis robot and an SCARA robot, the combined manipulator has the advantages of low cost, stable structure, quick and accurate conveying and capability of meeting the existing use requirements; the peripheral protection design is matched with the size of a machine tool, complex characteristics such as circular arcs, polyhedrons and the like are integrated, the design size accords with ergonomics, an operator can conveniently use the machine tool, the appearance is attractive, a tail end grabbing component can be replaced according to different target workpieces and use environments, the main structure of the automatic feeding device is used as a basic platform, a standard tray can be grabbed, workpieces can be directly grabbed, online feeding and discharging can be realized, when a user manually feeds and discharges materials into and from a storage bin, the fine engraving machine can be continuously processed without stopping, the processing time of the fine engraving machine is prolonged, and the production rhythm is accelerated; the production and processing priority setting can be realized, the sequence changing processing or the material level shielding is finished according to the production priority of workpieces with different material levels in the storage bin, and the flexibility of equipment is improved; when the automatic unloading equipment that goes up of unit is in the off-line state, the cnc engraving and milling machine can accomplish off-line work, and the exclusive use improves equipment's utilization ratio, reduce cost.

Furthermore, the automatic feeder of the utility model adopts an X on Z structure, which increases the Z degree of freedom of the manipulator; the X-axis of the manipulator is a two-stage combined telescopic arm, so that two-stage speed-multiplying telescopic motion is realized, and the space of the X-axis is saved.

Furthermore, the quick-change tray type tail end grabbing mechanism adopts the pneumatic paw to grab the standard quick-change tray, so that the quick matching between the quick-change tray and machine tool equipment is realized, the consumption of X-axis stroke is reduced, and the flexibility of an automation unit is improved.

Furthermore, a double-holding-claw grabbing mechanism is adopted, and one-time feeding and discharging actions inside the machine tool are realized through a pneumatic claw and a swing cylinder, so that the material handling time is shortened, and the production efficiency is improved.

Further, the utility model discloses well feed bin part can divide into disc feed bin and circular jacking feed bin according to the difference of waiting to process the work piece type, and two kinds of feed bins can switch according to the demand, have promoted the equipment flexibility.

Further, the utility model discloses well electricity cabinet case, pneumatic case are installed in the equipment bottom, and with storage system, manipulator integration in one set of system, area is little, accords with the current overall arrangement of workshop lathe, convenient maintenance and transport.

Furthermore, the automatic feeding equipment is operated by adopting keys in peripheral protection, the running mode of the equipment can be switched between a manual mode and an automatic mode at any time, the operation is simple and quick, the learning time of users is reduced, and the operation efficiency is improved; automatic feeding equipment adds the display screen and reminds alarm information, status information and lathe gauge head measuring information etc. is convenient for look over in time equipment status and warning reason.

To sum up, the utility model relates to a rationally, low cost, compact structure, operation are stable, the flexibility is high, can the automatic effect of going up the unloading of full play.

The technical solution of the present invention is further described in detail by the accompanying drawings and examples.

Drawings

Fig. 1 is an axonometric view of the present invention.

Fig. 2 is a front view of the middle and peripheral protection of the present invention.

Fig. 3 is a rear view of the middle periphery protection of the present invention.

Fig. 4 is an axonometric view of the combined manipulator of the present invention.

Fig. 5 is the front view of the terminal grabbing mechanism of the quick-change tray of the utility model.

Figure 6 is the axonometric view of disk feed bin in the utility model discloses.

Figure 7 is the utility model discloses in the axonometric drawing of circular jacking feed bin.

Fig. 8 is a front view of the middle double-gripper end grabbing mechanism of the present invention.

Wherein: 1. a fine carving machine; 2. a combined manipulator; 3. a storage bin; 4. a pneumatic tank; 5. peripheral protection; 6. a button plane; 7. a display screen; 8. a demonstrator; 9. a pneumatic box door; 10. a waste liquid collection box; 11. an alarm lamp; 12. feeding a circular arc door; 13. upper protection; 14. lower protection; 15. a lower enclosure; 16. an exhaust fan; 17. repairing the door; 18. an electric cabinet box; 19. a heat sink; 20. ground feet; 21. a Z axis of the manipulator; a robot support plate; 23. a manipulator X axis; 24. a tail end grabbing mechanism; 25. a workpiece to be processed; 26. quickly replacing the tray; 27. a paw transfer block; 28. a support link; 29. a pneumatic gripper; 30. a tray; 31. a waste liquid collecting tank; 32. a target workpiece; 33. a disc storage bin; a workpiece position detection switch; 35. a workpiece to be processed; 36. a jacking mechanism; 37. a side positioning rod; 38. jacking the material tray; 39. a circular jacking storage bin; 40. a first pneumatic gripper; 41. a second pneumatic gripper; 42. a pneumatic claw transfer block; 43. and a swing cylinder.

Detailed Description

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "one side", "one end", "one side", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

The utility model provides a feeding and discharging device for a carving machine, which adopts an integrated design form of automation and the carving machine; automatic feeding and discharging, fast product and jig switching, automatic processing production and automatic detection are realized; the method can be suitable for processing a plurality of products in small batch.

Referring to fig. 1, the feeding and discharging device for the engraving and milling machine of the present invention includes a combined manipulator 2, a stock bin 3, a pneumatic box 4, a peripheral protection 5 and an electric cabinet 18; pneumatic case 4 sets up under peripheral protection 5, feed bin 3 sets up in the inside top of peripheral protection 5, combination manipulator 2 sets up the upper portion at feed bin 3, electricity cabinet case 18 sets up the inside below at peripheral protection 5, cnc engraving and milling machine 1 respectively with combination manipulator 2, pneumatic case 4, peripheral protection 5 and electricity cabinet case 18 are connected, combination manipulator 2 can snatch the target work piece 32 in the feed bin 3 and send into cnc engraving and milling machine 1 according to the signal that cnc engraving and milling machine 1 sent and process in, and put back the finished product that has processed into feed bin 3.

Referring to fig. 2 and 3, the peripheral protection 5 includes a button plane 6, a display screen 7, a demonstrator 8, a pneumatic box door 9, a waste liquid collecting box 10, an alarm lamp 11, a feeding arc door 12, an upper protection 13, a lower protection 14, a lower enclosure 15, an exhaust fan 16, a maintenance door 17, a heat sink 19 and a foot margin 20; an upper protection 13 and a lower protection 14 are arranged on the front side of the box body of the peripheral protection 5, the upper protection 13 is arranged above the lower protection 14, a lower enclosure baffle 15 is arranged at the bottom of the lower protection 14, a feeding arc door 12 is arranged on the front side of the upper protection 13, and an alarm lamp 11 is arranged above the upper protection 13; the pneumatic box door 9 is arranged on one side of the lower protection 14, the waste liquid collecting box 10 is arranged on the lower portion of the pneumatic box door, and the demonstrator 8, the display screen 7 and the button plane 6 are sequentially arranged on the box body above the pneumatic box door 9.

Referring to fig. 3, an electric cabinet 18 is disposed at a lower portion of a rear side of the peripheral protection 5, a heat sink 19 is disposed on the electric cabinet 18, feet 20 are disposed on a cabinet body at a bottom of the electric cabinet 18, a maintenance door 17 is disposed above the electric cabinet 18, and an exhaust fan 16 is disposed at one side thereof.

The button plane 6 comprises buttons of emergency stop, start, pause, manual/automatic, material changing and the like; the method is simple and quick, the learning time of users is reduced, the working efficiency is improved, and the misoperation is reduced; the manual mode and the automatic mode can be switched at any time, and an operator can conveniently load and unload materials manually; can meet the daily basic operation requirements of the user of the loading device.

The display screen 7 can display and explain the existing state of the feeder; the machine tool measuring head measuring information, the material level state information, the machine tool state, the alarm information and the like can be displayed in real time; the user can conveniently determine whether the feeder works normally under the current state.

The demonstrator 8 can meet the requirement of the electric personnel for debugging and calibrating the position of the feeder.

The pneumatic box door 9 can meet the requirement of appearance protection of the pneumatic box 4; organic glass is designed on the door; the user can observe the connection and use state of the pneumatic box conveniently.

Since a small amount of machine tool cutting fluid is brought out by the combined mechanical arm 2 in production and processing, the waste fluid collecting box 10 is added to collect waste fluid.

The alarm lamp 11 can give an alarm buzzing prompt in an emergency state, and the alarm lamp 11 is designed to be positioned at the upper right of the feeder; the user can observe the alarm state of the feeder at any time.

The feeding arc door 12 is connected with an upper protector 13 of the feeder through a guide rail and a rotating shaft; the loading operation of the silo 3 can be carried out by opening the loading circular arc door 12.

The upper protection 13 is connected with the feeder support frame; on the basis of meeting the safety protection of equipment; the appearance is beautiful; reliability; the lower protection 14 can protect the electric cabinet 18, the pneumatic cabinet and the like.

The lower fence 15 can complete the protection of the ground feet 20.

The exhaust fan 16 and the heat sink 19 can dissipate heat from the electric cabinet 18.

The maintenance door 17 adopts a double-leaf door split structure; the stability of door structure is guaranteed while saving space.

The ground foot 20 is a support for the entire structure; and the shock resistance of the structure is enhanced.

The peripheral protection 5 is integrated with the complex characteristics of an arc polyhedron and the like; the attractiveness of the feeder is improved; the design size is in accordance with ergonomics; the use by operators is convenient; the integral frame adopts a structure that a metal plate is matched with organic glass; the requirement of structural stability is met while light weight and good visibility are ensured; adopting a circular arc; polyhedral features; increasing the interior space; is simple and elegant; in the integral design, the feeder structure and the electric cabinet box 18 are combined into a whole; the occupied space is reduced.

Referring to fig. 4, the combined robot 2 includes a Z-axis 21, a supporting plate 22, an X-axis 23, and a terminal grabbing mechanism 24; the manipulator Z shaft 21 is vertically arranged on the manipulator supporting plate 22, the manipulator X shaft 23 is horizontally arranged on the manipulator Z shaft 21, the tail end grabbing mechanism 24 is arranged on the manipulator X shaft 23, and the manipulator supporting plate 22 is fixedly connected with the feeder supporting frame; assembling a manipulator X-axis 23 and a manipulator Z-axis 21 on a manipulator support plate 22; the structure is stable and reliable; the combined mechanical arm 2 grabs the quick-change tray type tail end grabbing mechanism or the workpiece to be processed 25 through the tail end grabbing mechanism 24 to carry out loading and unloading; an X onZ structure is adopted; can perform reciprocating linear motion along the X-axis 23 and Z-axis 21 of the manipulator.

The X-axis 23 of the manipulator is a two-stage combined telescopic arm; the gear rack and the synchronous belt are combined; realizing two-stage speed-multiplying telescopic motion; the Z axis 21 of the manipulator is driven by a ball screw; the operation is stable; the bearing capacity is large.

Referring to fig. 5, the tail-end grabbing mechanism 24 may be divided into a quick-change tray-type tail-end grabbing mechanism and a double-gripper grabbing mechanism according to different objects to be grabbed; the quick-change tray type tail end grabbing mechanism comprises a workpiece 25 to be processed; a quick-change tray 26; a gripper transfer block 27; a support link 28; the workpiece 25 to be machined is arranged on the quick-change tray 26, the quick-change tray 26 is taken and placed through the pneumatic gripper 29, the pneumatic gripper 29 is connected with the gripper transfer block 27 through the supporting connecting piece 28, and the finger structure of the pneumatic gripper 29 is matched with the quick-change tray 26; a gripper transfer block 27 and a support link 28 connect the end gripping mechanism 24 to the robot X-axis 23.

Referring to fig. 8, the double-gripper gripping mechanism includes a first pneumatic gripper 40, a second pneumatic gripper 41, a gripper transfer block 42, and a swing cylinder 43; the swing cylinder 43 is fixed on the air claw transfer block 42, the first pneumatic claw 40 and the second pneumatic claw 41 are respectively arranged on the swing cylinder 43, and the swing cylinder 43 can switch the positions of the first pneumatic claw 40 and the second pneumatic claw 41; the gas claw transfer block 42 connects the tail end grabbing mechanism 24 with the manipulator X-axis 23; the double-holding-claw grabbing mechanism can realize one-time loading and unloading actions inside the machine tool.

The storage bin 3 stores and conveys materials; the bins may be classified into a disc bin 33 and a circular jacking bin 39 according to the type of a workpiece to be processed.

Referring to fig. 6, a waste liquid collecting tank 31 is circumferentially arranged at the bottom of a disc bin 33, a plurality of trays 30 are circumferentially and sequentially arranged on the disc bin 33, the trays 30 are connected with the disc bin 33 through blind rivets, each tray 30 is used for placing a target workpiece 32, the target workpiece 32 is positioned on the tray 30, and the waste liquid collecting tank 31 can collect cutting liquid on the target workpiece 32, the trays 30 and the disc bin 33; and the cutting fluid can be guided into the waste fluid collection box 10 for uniform treatment.

The disc storage bin 33 adopts an integral tray structure; the material level is changed by directly driving and rotating the rotary motor; the grabbing standard quick-change tray 30 meets the production requirement; the flexibility of automatic processing is improved.

Referring to fig. 7, a jacking mechanism 36 is disposed at the bottom of a circular jacking bin 39, a plurality of jacking material trays 38 are circumferentially disposed on the circular jacking bin 39, three side positioning rods 37 are disposed on each jacking material tray 38 at intervals, and a workpiece 35 to be processed is disposed between the three side positioning rods 37. The circular jacking bin 39 jacks the jacking material tray 38 and the workpiece 35 to be processed layer by layer through the bottom jacking mechanism 36; the top space of the circular jacking bin 39 is effectively utilized; the capacity of the storage bin is enlarged; ensuring longer automatic processing time; a workpiece position detection switch 34 is vertically arranged on one side of the circular jacking bin 39, and the control mode is a PLC (programmable logic controller) and workpiece position detection switch 34 combination mode; the material grabbing accuracy is ensured; the positioning, replacement and adjustment of different workpieces 35 to be processed can be completed through the jacking mechanism 36 and the side positioning rod 37; the automation flexibility is improved.

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of the embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

The utility model relates to a unloader for cnc engraving and milling machine's working process as follows:

an operator opens the feeding arc door 12 of the peripheral protection 5; by operating the change button in the button plane 6; the workpieces 25 to be machined are placed in turn on the quick-change pallet 26 or the jacking material pallet 38. After all the feeding operations are finished; the loader arc door 12 is closed.

The engraving and milling machine 1 sends a feeding signal; controlling an automatic door of the engraving and milling machine 1 to be opened; the combined mechanical arm 2 of the automatic feeder grabs the tray 30 or the workpiece 35 to be processed in the stock bin 3; the combined mechanical arm 2 enters the engraving and milling machine 1; after moving to the designated position; the tray 30 or the workpiece 35 to be processed is sent into a jig of the engraving and milling machine 1; the tail end grabbing mechanism 24 in the combined mechanical arm 2 loosens the tray 30 or the workpiece 35 to be processed; withdrawing the engraving and milling machine 1; the engraving and milling machine 1 is closed automatically; the engraving and milling machine 1 starts to process; after the processing is finished; the finished product is inspected again; the automatic door of the engraving and milling machine 1 is opened; the combined mechanical arm 2 enters the engraving and milling machine 1; grabbing a finished product; withdrawing the engraving and milling machine 1; moving to the position above the stock bin 3; placing the finished product to a specified material level of a material tray; re-grabbing the workpiece to be processed; and completing one-time automatic feeding and discharging.

During the production process, due to the real-time nature of the production task, a situation may arise where the production priorities of the target workpieces 32 differ; the automatic feeder can be divided according to the priority of the production task, and the material level of the target workpiece 32 with higher priority is added into the processing sequence in advance to realize the sequence-changing processing; the material level of the target workpiece 32 from which the machining task has been cancelled may be masked, and the machining of the workpiece may be omitted.

In the production process, if the user carries out manual operation to feed bin 3, cnc engraving and milling machine 1 can not shut down, and continuous processing increases lathe process time for the production beat. When the automatic unloading equipment that goes up of unit is in the off-line state, cnc engraving and milling machine 1 independent utility improves equipment's utilization ratio, reduce cost.

In order to satisfy the market demand, the utility model discloses to the small batch volume parts machining of the many varieties under the discrete manufacturing condition, designed a unloader on cnc engraving and milling machine, carry swift, accurate, the flexibility is high, stable in structure, and low cost. Automatic material loading ware can pair the use fast with a plurality of series cnc engraving and milling machines, receives the workshop place to influence for a short time, and each subassembly all designs into standard module, can dispose according to actual demand, can full play automatic advantage of going up unloading unit equipment.

The above contents are only for explaining the technical idea of the present invention, and the protection scope of the present invention cannot be limited thereby, and any modification made on the basis of the technical solution according to the technical idea of the present invention all fall within the protection scope of the claims of the present invention.

Claims (10)

1. The utility model provides a unloader on cnc engraving and milling machine, its characterized in that, includes feed bin (3), and feed bin (3) set up in outside one side of cnc engraving and milling machine (1), and the upper portion of feed bin (3) is provided with combination manipulator (2), and combination manipulator (2) can be followed X axle and Z axle and carried out reciprocating linear motion, snatchs the last unloading that mechanism (24) realized cnc engraving and milling machine (1) through the end that combination manipulator (2) end set up.

2. The loading and unloading device for the engraving and milling machine as claimed in claim 1, wherein the combined manipulator (2) comprises a manipulator support plate (22), a manipulator Z shaft (21) is vertically arranged on the manipulator support plate (22), a manipulator X shaft (23) is horizontally arranged on the manipulator Z shaft (21), and the tail end grabbing mechanism (24) is arranged on the manipulator X shaft (23).

3. The loading and unloading device for the engraving and milling machine as claimed in claim 2, wherein the X-axis (23) of the manipulator is a two-stage combined telescopic arm; the robot Z-axis (21) is driven by a ball screw.

4. The loading and unloading device for the engraving and milling machine as recited in claim 1, wherein the end gripping mechanism (24) comprises a quick-change tray type end gripping mechanism and a double-gripper gripping mechanism.

5. The loading and unloading device for the engraving and milling machine, as recited in claim 4, characterized in that the quick-change tray type end grabbing mechanism comprises a quick-change tray (26), a pneumatic claw (29) is arranged on one side of the quick-change tray (26), the pneumatic claw (29) is connected with a claw transfer block (27) through a supporting connector (28), and a finger structure of the pneumatic claw (29) is matched with the quick-change tray (26); the gripper transfer block (27) and the support connecting piece (28) connect the tail end grabbing mechanism (24) with the X-axis (23) of the combined manipulator (2).

6. The loading and unloading device for the engraving and milling machine, as recited in claim 4, characterized in that the grabbing mechanism further comprises a double-gripper grabbing mechanism, a swing cylinder (43) is disposed on a pneumatic gripper transfer block (42) of the double-gripper grabbing mechanism, a first pneumatic gripper (40) and a second pneumatic gripper (41) are correspondingly disposed on the swing cylinder (43), and the pneumatic gripper transfer block (42) is used for connecting the tail end grabbing mechanism (24) and the manipulator X-axis (23) of the combined manipulator (2).

7. The loading and unloading device for the engraving and milling machine, as recited in claim 1, characterized in that the bin (3) is a disc bin (33) or a waste liquid collecting groove (31) is circumferentially arranged at the bottom of the disc bin (33), the waste liquid collecting groove (31) is connected with the waste liquid collecting box (10), a plurality of trays (30) are circumferentially arranged on the disc bin (33), and each tray (30) is used for placing a target workpiece (32).

8. The loading and unloading device for the engraving and milling machine as claimed in claim 7, wherein the disc magazine (33) is of an integral disc structure.

9. The loading and unloading device for the engraving and milling machine, according to claim 1, is characterized in that the bin (3) is a circular jacking bin (39), a jacking mechanism (36) is arranged at the bottom of the circular jacking bin (39), a plurality of jacking material trays (38) are circumferentially arranged on the circular jacking bin (39), three side locating rods (37) are arranged on each jacking material tray (38) at intervals, and the workpiece (35) to be processed is arranged among the three side locating rods (37).

10. The loading and unloading device for the engraving and milling machine as claimed in claim 9, wherein a workpiece position detection switch (34) is vertically arranged on one side of the circular jacking bin (39), and the workpiece position detection switch (34) is connected with a PLC controller.

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