WO2022262076A1 - Conveying type loading and unloading robot and loading and unloading method - Google Patents

Abstract

The present invention relates to a conveying type loading and unloading robot and a loading and unloading method, and relates to the technical field of automation; the present conveying type loading and unloading robot comprises a transport mechanism and a loading and unloading mechanism, the transport mechanism being provided with a conveyor belt, positioning mechanisms and protection mechanisms being disposed on the conveyor belt, the positioning mechanisms positioning the initial position of a workpiece, and the protection mechanisms being used for securing the machined workpiece; the loading and unloading mechanism is provided with a clamping mechanism and a travelling mechanism, the clamping mechanism clamping a workpiece and sending same to a machine tool for machining, and the travelling mechanism adjusting the machining travelling amount. The present conveying type loading and unloading robot is provided with a transport mechanism; positioning mechanisms and protection mechanisms are mounted alternately on the transport mechanism for positioning and conveying workpieces, and also cooperate with the loading and unloading mechanism to clamp workpieces, and the positioning mechanisms are also used for determining the initial machining section of a workpiece; the travelling mechanism can be used for reversing the direction of the workpiece for machining, and can also control the travelling amount of the workpiece in order to control the machining section of the workpiece.

Description

A conveying type loading and unloading robot and loading and unloading method technical field

The invention relates to a conveying type loading and unloading robot and a loading and unloading method, which belong to the technical field of automation.

Background technique

The cutting raw material of the machine tool is usually a cylindrical workpiece, usually a section is clamped by the chuck, and the remaining parts are processed in various processes. In order to control the stability during processing, coupled with the shape of the cylindrical workpiece itself, the fixed clamping part usually does not change. , after the processing is completed, the finished product is manually stored and the excess part is cut off. Conventional loading and unloading robots often control the initial processing workpiece of predetermined size to the machine tool for processing. The clamped part, or after processing, is manually reversed again for processing to improve the utilization rate of the workpiece.

At present, the price of basic raw materials such as iron ore has risen sharply, which is particularly important for the rational utilization of materials. Therefore, it is necessary to design a loading and unloading robot for reversing the workpiece to improve the utilization rate of materials.

technical problem

In order to solve the technical problems in the above-mentioned background technology, the present invention provides a conveyor-type loading and unloading robot and a loading and unloading method, that is, the conventional one-time loading process is changed to one-time loading and two-time processing to rationally utilize raw materials. The length of such secondary processed workpieces is longer than the length of the preset one-processed workpieces. Therefore, when reversing, a special reversing method needs to be designed to adapt to the range limit of the loading and unloading robot itself.

technical solution

A conveying type loading and unloading robot, comprising:

The transmission mechanism is provided with a conveyor belt for transmitting workpieces to be processed and processed workpieces. The conveyor belt is provided with a positioning mechanism and a protection mechanism. The positioning mechanism locates the initial position of the workpiece to be processed, and the protection mechanism is used to fix the processed workpiece. workpiece;

The loading and unloading mechanism is set close to the side of the transmission mechanism, and the loading and unloading mechanism is provided with a clamping mechanism and a traveling mechanism, and the traveling mechanism assists the clamping mechanism to clamp the workpiece to be processed and send it to the machine tool for processing or clamping The processed workpiece is sent to the protection mechanism, and the travel mechanism adjusts the processing travel amount.

Through the above technical solution, during the processing, the traveling mechanism adjusts the advancing amount of the workpiece during processing. After the processing is completed, the clamping mechanism clamps the processed workpiece and sends it to the protection mechanism. The protection mechanism protects and transmits the processed object.

In a further embodiment, the positioning mechanism includes:

a positioning bottom plate, installed on the joint plate of the conveyor belt, for installing the remaining components of the positioning mechanism;

The two first positioning side plates are symmetrically installed on the positioning base plate through the bearing seat, and the two first positioning side plates are rotated relative to the positioning base plate to form an angle to fix the position of the cylindrical workpiece;

The clamping strips are installed on the outer surfaces of the two positioning side plates, and the clamping strips rotate relative to the positioning side plates;

Two racks are installed on the positioning bottom plate and engaged with the clamping bars, and the engagement of the clamping bars at different positions on the racks is used to adjust the inclination of the first positioning side plate;

The first support plate is elastically mounted on the positioning bottom plate and located between the two positioning side plates.

Through the above technical solution, the clamping bar is engaged with the rack, so that the two first positioning side plates form an included angle, which is convenient for fixing the cylindrical workpiece to be processed.

In a further embodiment, the positioning mechanism further includes a second positioning side plate, the second positioning side plate is perpendicular to the first positioning side plate, and the second positioning side plate positions the axial position of the workpiece.

Through the above technical solution, the initial position of the clamping mechanism is fixed when clamping, and the fixed length of the processing section of the workpiece to be processed can be determined, that is, the length of the required initial processing part can be preset as the length of the workpiece positioned by the positioning mechanism.

In a further embodiment, the protection mechanism includes:

The mounting plate is installed on the joint plate of the conveyor belt, and is distributed on the conveyor belt alternately with the positioning bottom plate, and the mounting plate is provided with a track;

a second supporting plate, elastically connected to the mounting plate, for supporting the main weight of the workpiece;

Two connecting pieces are connected to the bottom of the second support plate through the bearing seat;

Two baffles form a predetermined angle with the connecting piece, pulleys are installed at the connection between the baffles and the connecting piece, and the pulleys slide on the track of the mounting plate and pass through the second support plate The lowering drives the two baffles to deflect toward each other to form a mechanism for fixing the cylindrical workpiece.

Through the above technical solution, the processed workpiece presses down on the second support plate, and the pulley slides on the track. At this time, the two baffle plates move relatively and form a fixing mechanism with the second support plate to fix the processed cylindrical workpiece, preventing The workpiece rolls.

In a further embodiment, the clamping mechanism includes:

The first rotating table is arranged on one side of the transmission mechanism and is used to rotate the entire loading and unloading robot;

The supporting shaft is arranged on the first rotating table, and a track is provided on one side of the supporting shaft, and the supporting shaft is used to assist the clamping part of the clamping mechanism to move up and down;

a first air cylinder, which is arranged on the first turntable and whose working direction is parallel to the track of the support shaft;

a horizontal slide rail, which is slidably arranged on the track of the support shaft and connected to the telescopic rod of the first cylinder;

The first longitudinal rail and the second longitudinal rail are arranged in parallel on the sliding shaft of the transverse slide rail, and the first longitudinal rail and the second longitudinal rail assist the clamping part of the clamping mechanism to move up and down;

The second two-way cylinder is arranged on the slide shaft of the horizontal slide rail, and the telescopic direction of the second two-way cylinder is parallel to the installation direction of the first longitudinal rail to assist the clamping part of the clamping mechanism to move up and down ;

Two mounting parts are respectively slidably installed on the upper and lower parts of the first longitudinal rail and the second longitudinal rail, and one side of the two mounting parts is respectively mounted on the two telescopic rods of the second two-way cylinder, The mounting part is provided with a traveling mechanism for clamping and controlling the workpiece to travel along its axial direction.

Through the above technical solution, the clamping mechanism can rotate at a predetermined angle, and carry out the clamping of the corresponding workpiece by lifting and lowering, and use the second bidirectional cylinder to control the relative sliding of the mounting parts, so as to clamp and place the workpiece.

In a further embodiment, the travel mechanism includes:

The second rotary table is relatively arranged on the two telescopic mounting parts, and the second rotary table is equipped with a traveling outer frame, and the traveling outer frame is designed to be V-shaped corresponding to the clamping of the cylindrical workpiece corresponding to the shape of the workpiece;

A plurality of roller shafts, one end of which is arranged in the outer frame of the travel through a bearing to rotate and symmetrically distributed along the center line of the outer frame, and helical gears are arranged on the adjacent ends of the plurality of roller shafts;

The connecting seat is installed on the bottom of the traveling frame, and the other end of the roller shaft is set on the connecting seat to rotate;

a roller, which is arranged on the roller shaft and has a rolling surface beyond the traveling frame;

The transmission gear is arranged inside the traveling outer frame through the transmission shaft, and the transmission gear is meshed with the helical gear. The transmission gear is provided with kinetic energy by the motor and transmits the kinetic energy to make the rollers rotate.

Through the above technical solution, the transmission gear meshes with the helical gear, the transmission gear is provided with kinetic energy by the motor, and the motor is started to finally make the roller rotate. At this time, the roller moves the workpiece along its axial direction, and controls the machine tool to clamp the corresponding position.

In a further embodiment, the loading and unloading mechanism further includes a travel sensor, which is set at the middle position of the first longitudinal rail for monitoring and recording the travel of the workpiece, and transmitting the data to the computer , according to the predetermined length value of the first processing section set by the positioning mechanism, after the second rotary table reverses the workpiece, the computer feeds back a signal to the traveling mechanism, and the traveling mechanism controls the workpiece to travel After crossing the primary processing section and arriving at a predetermined position, the machine tool clamps and fixes the workpiece clamped by the traveling mechanism to perform secondary processing on the workpiece.

Through the above technical solution, the travel sensor measures the displacement of the workpiece on the travel mechanism, and through computer program control, the machine tool clamps and fixes the workpiece on the clamp mechanism, and processes it according to the predetermined process, thereby controlling the processing end of the workpiece .

In a further embodiment, a working method of the loading and unloading robot includes the following steps:

Step 1. Place the workpiece to be processed on the adjusted positioning mechanism, and the transmission mechanism transmits the workpiece to be processed;

Step 2. The loading and unloading mechanism first rotates to a position parallel to the transmission mechanism, clamps the reserved section of the workpiece to be processed, the loading and unloading mechanism rotates to the machine tool, and the traveling mechanism controls the workpiece to be processed to slide along the axial direction of the workpiece to the corresponding position on the machine tool. The fixing device fixes the workpiece to be processed, and the machine tool starts processing;

Step 3. After the predetermined section is processed, the loading and unloading mechanism clamps the workpiece again, and the traveling mechanism controls the workpiece to travel a predetermined distance along the axial direction of the processing section to turn the workpiece. The loading and unloading mechanism sends the workpiece to a fixed position on the machine tool again, and the machine tool Process another section of the workpiece again;

Step 4: The loading and unloading mechanism clamps the processed workpiece and places it on the protection mechanism, and the transmission mechanism transmits the processed workpiece.

Beneficial effect

Aiming at daily machine tool processing, a conveyor-type loading and unloading robot is invented, which changes from conventional one-time processing of workpieces to one-time loading and two-time processing, and makes rational use of raw materials; this type of processing is limited by the range of activities of the loading and unloading robot itself. The workpiece is often longer, and the traveling mechanism can be used to control the workpiece to advance along its axial direction. After advancing a predetermined distance, it changes direction and sends it to the machine tool for processing.

Description of drawings

Fig. 1 is a schematic diagram of the overall system structure of the present invention.

Fig. 2 is a structural schematic diagram of the positioning mechanism of the present invention.

Fig. 3 is a structural schematic diagram of a top view of the positioning mechanism of the present invention.

Fig. 4 is a structural schematic diagram of the protection mechanism of the present invention.

Fig. 5 is a schematic diagram of the clamping structure of the present invention.

Fig. 6 is a schematic diagram of the traveling structure of the present invention.

Reference signs: transmission mechanism 1, conveyor belt 11, positioning mechanism 12, positioning bottom plate 121, rack 122, clip bar 123, first positioning side plate 124, second positioning side plate 125, first support plate 126, protection mechanism 13 , Mounting plate 131, connector 132, baffle plate 133, second support plate 134, pulley 135, loading and unloading mechanism 2, clamping mechanism 21, first rotary table 211, support shaft 212, first cylinder 213, transverse slide rail 214, the first longitudinal rail 215, the second longitudinal rail 216, the second two-way cylinder 217, the mounting part 218, the traveling mechanism 22, the second rotary table 221, the traveling outer frame 222, the roller shaft 223, the roller 224, the helical gear 225, Gear 226, power transmission shaft 227, motor 228, connection seat 229, advance sensor 23, machine tool 3.

Embodiments of the present invention

In the following description, numerous specific details are given in order to provide a more thorough understanding of the present invention. However, it will be apparent to those skilled in the art that the present invention may be practiced without one or more of these details; in other instances, certain technical features known in the art are omitted in order to avoid obscuring the present invention. to describe.

In a further embodiment, the conveyor-type loading and unloading robot includes a transmission mechanism 1 and a loading and unloading mechanism 2, wherein the transmission mechanism 1 is provided with transmission, and the conveyor belt 11 is used to transmit the workpieces to be processed and processed workpieces, and the conveyor belt 11 is provided with a positioning mechanism 12 and the protection mechanism 13, the positioning mechanism 12 and the protection mechanism 13 are alternately and evenly distributed, the positioning mechanism 12 locates the initial position of the workpiece to be processed, the protection mechanism 13 is used to fix the processed workpiece, and the loading and unloading mechanism 2 is installed near the side of the transmission mechanism 1. And the loading and unloading mechanism 2 is provided with a clamping mechanism 21 and a traveling mechanism 22. The clamping mechanism 21 clamps the workpiece to be processed and sends the workpiece to the machine tool 3 for processing. During the processing, the traveling mechanism 22 adjusts the processing advance. , the clamping mechanism 21 clamps the processed workpiece and sends it to the protection mechanism 13, and the protection mechanism 13 protects and transmits the processed object.

Further, in order to improve work efficiency and processing quantity, it is possible to form a systematic automated process by means of a plurality of loading and unloading mechanisms 2 and corresponding machine tools 3 beside the transmission mechanism 1 .

In a further embodiment, the positioning mechanism 12 is mainly used to locate the initial position of the unprocessed object, so that the clamping mechanism 21 can be clamped from the side of the conveyor belt 11. The positioning mechanism 12 includes a positioning bottom plate 121, a first positioning side plate 124, and a clamping strip. 123, the rack 122 and the first support plate 126, wherein the positioning bottom plate 121 is installed on the joint plate of the conveyor belt 11, and the first positioning side plate 124 is provided with two, and is symmetrically installed on the positioning bottom plate 121 respectively through the bearing seat, and the two The first positioning side plate 124 can be rotated, and the clip bar 123 is installed on the outer surfaces of the two positioning side plates. The clamping strip 123 is clamped, and the first support plate 126 is installed on the positioning base plate 121 through an elastic member such as a spring, and is between the two first positioning side plates 124. The workpiece is partially placed on the positioning mechanism 12, and partly extends out of the positioning mechanism 12. , the clamping mechanism 21 clamps the protruding part, because the workpiece to be cut is usually a cylindrical workpiece, the position of the clip bar 123 engaged on the rack 122 is controlled, so that the two first positioning side plates 124 form an included angle, It is convenient to fix cylindrical workpieces to be processed.

In a further embodiment, the positioning mechanism 12 also includes a second positioning side plate 125, the second positioning side plate 125 is perpendicular to the first positioning side plate 124, the second positioning side plate 125 positions the axial position of the workpiece, the second positioning side The plate 125 makes the workpiece in the positioning machine a fixed length, and the initial position when the clamping mechanism 21 is clamped is fixed, so that the fixed length of the workpiece to be processed can be determined, that is, the length of the processing part required for the first time can be preset as the positioning The length at which the mechanism 12 is positioned.

In a further embodiment, the protection mechanism 13 includes a mounting plate 131, a second support plate 134, a connecting piece 132 and a baffle plate 133, wherein the mounting plate 131 is installed on the node plate of the conveyor belt 11 and the positioning bottom plate 121 is alternately distributed on the conveyor belt 11 On, the mounting plate 131 is provided with a track for the sliding of the pulley 135, the second supporting plate 134 is elastically connected to the mounting plate 131, the connecting piece 132 is connected to the bottom of the second supporting plate 134 through the bearing seat and can rotate, and the two baffles 133 connects the connecting piece 132 and forms a predetermined angle. A pulley 135 is installed at the connection between the baffle plate 133 and the connecting piece 132. The pulley 135 slides on the track of the mounting plate 131. When the processed workpiece is picked up by the clamping mechanism 21 When on the protection mechanism 13, the workpiece presses down the second support plate 134, and the pulley 135 slides on the track. At this time, the two baffle plates 133 move relatively and form a fixed mechanism with the second support plate 134 for fixing the processed cylinder. shape workpiece.

In a further embodiment, the clamping mechanism 21 includes a first rotary table 211, a support shaft 212, a first cylinder 213, a transverse slide rail 214, a first longitudinal rail 215, a second longitudinal rail 216, a second two-way cylinder 217 and Two mounts 218, wherein the first turntable 211 is installed on one side of the conveyor, the first turntable 211 controls the rotation of the clamping mechanism 21, the support shaft 212 is installed on the first turntable 211, and the support shaft 212 One side is provided with a track, the first cylinder 213 is installed on the first rotary table 211 and the working direction of its telescopic rod is parallel to the track of the support shaft 212, the transverse slide rail 214 slides on the track of the support shaft 212, and the transverse slide rail 214 Connect the shrinking rod of the first cylinder 213, that is, the first cylinder 213 controls the horizontal slide rail 214 to slide on the track of the support shaft 212, and the first vertical rail 215 and the second vertical rail 216 are installed in parallel on the slide of the horizontal slide rail 214. On the shaft, the second two-way cylinder 217 is installed on the slide shaft of the transverse slide rail 214, the telescopic direction of the second two-way cylinder 217 is parallel to the first longitudinal rail 215, and two mounting parts 218 are installed on the first longitudinal rail 215 and the first longitudinal rail 215 respectively. The upper and lower ends of the two longitudinal rails 216, the first longitudinal rail 215 and the second longitudinal rail 216 assist the mounting part 218 to slide up and down, and form a well-shaped stable structure at the same time, so that the clamping mechanism 21 can run stably when clamping the object. One side of the piece 218 is respectively installed on the two telescopic rods of the second two-way cylinder 217, that is, the second two-way cylinder 217 controls the relative sliding of the mounting piece 218, thereby clamping and placing the workpiece.

In a further embodiment, the travel mechanism 22 includes a second rotary table 221, a roller shaft 223, a connecting seat 229, a roller 224 and a transmission gear 226, wherein the second rotary table 221 has two opposite ends arranged on the mounting member 218. and the center of rotation is on the same straight line. The second rotary table 221 is used to rotate the direction of the workpiece. The second rotary table 221 is equipped with a traveling outer frame 222. The traveling outer frame 222 is designed to be V-shaped corresponding to the shape of the workpiece and corresponding to the clamping cylindrical shape. The workpiece has two roller shafts 223, one end is arranged inside the traveling outer frame 222 through a bearing, and a helical gear 225 is arranged on the close end of the two roller shafts 223, and the connecting seat 229 is installed on the bottom of the traveling outer frame 222, and the roller shaft 223 The other end is arranged on the connecting seat 229 to rotate. The connecting seat 229 is a central through hole for passing through the transmission shaft 227. The corresponding bearings are installed on both sides to cooperate with the roller shaft 223 to rotate in the traveling outer frame 222. The roller 224 is installed with the roller shaft 223 And the roller 224 exceeds the traveling outer frame 222, the rotation direction of the roller 224 is the axial direction of the clamping mechanism 21 clamping the workpiece, the transmission gear 226 is installed inside the traveling outer frame 222 through the transmission shaft 227, and the transmission gear 226 and the helical gear 225 meshing, the transmission gear 226 is provided with kinetic energy by the motor 228, and the motor 228 is started to finally rotate the roller 224. At this time, the roller 224 makes the workpiece move along its axial direction and is sent to the corresponding position of the machine tool 3 for clamping.

Further, within the design of the machine tool 3 itself, the carrying mechanism 22 can also be used to process the preset workpiece more than twice, that is, the length and diameter of the workpiece are controlled within the allowable range of processing to avoid axis deflection.

In a further embodiment, the loading and unloading mechanism 2 is also provided with a travel sensor 23. The travel sensor 23 is installed at the middle position of the first longitudinal rail 215 for monitoring and recording the travel of the workpiece. The predetermined length value of the first processing section, after the second rotary table 221 reverses the workpiece, the computer feeds back the signal to the traveling mechanism 22, and the traveling mechanism 22 makes the workpiece advance over the first processing section and reach the predetermined position, the machine tool 3 Clamp and fix the workpiece clamped by the traveling mechanism 22, and perform secondary processing on the workpiece. In the preset process, the displacement of the machine tool 3 when clamping the workpiece is fixed, and the traveling mechanism 22 Cooperating with the machine tool 3 to clamp the workpiece, it is necessary to control the workpiece at a predetermined position. For this reason, when the traveling mechanism 22 prevents the workpiece from advancing to the predetermined position, the traveling sensor 23 transmits the data to the computer, and the computer calculates the difference in time and controls the traveling mechanism 22 again. Adjust the workpiece to the predetermined position.

Working principle: first place the workpiece to be processed on the positioning mechanism 12 on the transmission mechanism 1, the positioning mechanism 12 is installed on the joint plate of the conveyor belt 11, the workpiece is partially placed on the positioning mechanism 12, and part of it extends out of the positioning mechanism 12. The holding mechanism 21 clamps the protruding part, because the workpiece to be cut is usually a cylindrical workpiece, the clip bar 123 is engaged on the rack 122, so that the two first positioning side plates 124 form an angle, and the second positioning side plate 125 locates the axial position of the workpiece, and the workpiece is placed on the first support plate 126. At this time, the positioning mechanism 12 fixes the cylindrical workpiece to be processed, and the conveyor belt 11 transmits the positioning mechanism 12 to the predetermined position. The mechanism 21 adjusts the height through the first cylinder 213, and the horizontal slide rail 214 elongates the sliding seat to finally make the mounting part 218 corresponding to the part where the workpiece protrudes from the positioning mechanism 12. The second two-way cylinder 217 controls the two mounting parts 218 to clamp the workpiece. A rotary table 211 rotates, and at the same time, the first cylinder 213 adjusts the height again to rotate the workpiece onto the machine tool, and adjusts the horizontal slide rail 214 and the second rotary table 221 so that the axial end of the workpiece is aligned with the fixing device of the machine tool. At this time, the traveling mechanism 22 Start work, two mounts 218 connect the second turntable 221, the second turntable 221 connects the traveling outer frame 222, is provided with the roller 224 on the traveling outer frame 222, and the roller 224 is installed on the roller shaft 223, and the roller shaft 223 one end is provided with Inside the traveling outer frame 222 and the other end of the roller shaft 223 is arranged on the connecting seat 229 to rotate, wherein the traveling mechanism 22 finally clamps the workpiece, and the end close to the two roller shafts 223 is provided with a helical gear 225, and the transmission gear 226 is connected to the helical gear. The gear 225 meshes, the transmission gear 226 is provided with kinetic energy by the motor 228, controls the motor 228, and finally makes the roller 224 rotate. At this time, the roller 224 makes the workpiece move along its axial direction and is sent to the corresponding position where the machine tool 3 is fixed and clamped. After the initial processing , the traveling mechanism 22 makes the workpiece move along its axial direction, takes out the workpiece, and rotates 180 degrees through the second rotary table 221 for the next processing. After the processing is completed, the first rotary table 211 rotates, and the loading and unloading mechanism 2 sends the workpiece to the protection mechanism 13, when the processed workpiece is clamped by the clamping mechanism 21 and placed on the protection mechanism 13, the workpiece presses down the second support plate 134, and the pulley 135 slides on the track. At this time, the two baffle plates 133 move relatively The second supporting plate 134 forms a fixing mechanism for fixing the processed cylindrical workpiece.

The preferred embodiments of the present invention have been described in detail above in conjunction with the accompanying drawings. However, the present invention is not limited to the specific details of the above embodiments. Within the scope of the technical concept of the present invention, various equivalent transformations can be carried out to the technical solutions of the present invention. These equivalent transformations all belong to the protection scope of the present invention.

Claims (8)

1. A conveying type loading and unloading robot, characterized in that it comprises:

   The transmission mechanism is provided with a conveyor belt for transmitting workpieces to be processed and processed workpieces, and several sets of positioning mechanisms and protection mechanisms are alternately arranged on the conveyor belt along the length direction of the conveyor belt. The positioning mechanism locates the initial position of the workpiece to be processed, and the protection mechanism The mechanism is used to fix the processed workpiece;

   The loading and unloading mechanism is set close to the side of the transmission mechanism, and the loading and unloading mechanism is provided with a clamping mechanism and a traveling mechanism, and the traveling mechanism assists the clamping mechanism to clamp the workpiece to be processed and send it to the machine tool for processing or clamping The processed workpiece is sent to the protection mechanism, and the travel mechanism adjusts the processing travel amount.
2. A conveying type loading and unloading robot according to claim 1, wherein the positioning mechanism comprises:

   a positioning bottom plate, installed on the joint plate of the conveyor belt, for installing the remaining components of the positioning mechanism;

   The two first positioning side plates are symmetrically installed on the positioning base plate through the bearing seat, and the two first positioning side plates are rotated relative to the positioning base plate to form an angle to fix the position of the cylindrical workpiece;

   The clamping strips are installed on the outer surfaces of the two positioning side plates, and the clamping strips rotate relative to the positioning side plates;

   Two racks are installed on the positioning bottom plate and engaged with the clamping bars, and the engagement of the clamping bars at different positions on the racks is used to adjust the inclination of the first positioning side plate;

   The first support plate is elastically mounted on the positioning bottom plate and located between the two positioning side plates.
3. A conveying type loading and unloading robot according to claim 2, wherein the positioning mechanism further includes a second positioning side plate, the second positioning side plate is perpendicular to the first positioning side plate, and the second positioning side plate is perpendicular to the first positioning side plate. Two positioning side plates locate the axial position of the workpiece.
4. A conveying type loading and unloading robot according to claim 1, said protection mechanism comprising:

   The mounting plate is installed on the joint plate of the conveyor belt, and is distributed on the conveyor belt alternately with the positioning bottom plate, and the mounting plate is provided with a track;

   a second supporting plate, elastically connected to the mounting plate, for supporting the main weight of the workpiece;

   Two connecting pieces are connected to the bottom of the second support plate through the bearing seat;

   Two baffles form a predetermined angle with the connecting piece, pulleys are installed at the connection between the baffles and the connecting piece, and the pulleys slide on the track of the mounting plate and pass through the second support plate The lowering drives the two baffles to deflect toward each other to form a mechanism for fixing the cylindrical workpiece.
5. A kind of delivery type loading and unloading robot according to claim 1, is characterized in that, described clamping mechanism comprises:

   The first rotating table is arranged on one side of the transmission mechanism and is used to rotate the entire loading and unloading robot;

   The supporting shaft is arranged on the first rotating table, and a track is provided on one side of the supporting shaft, and the supporting shaft is used to assist the clamping part of the clamping mechanism to move up and down;

   a first air cylinder, which is arranged on the first turntable and whose working direction is parallel to the track of the support shaft;

   a horizontal slide rail, which is slidably arranged on the track of the support shaft and connected to the telescopic rod of the first cylinder;

   The first longitudinal rail and the second longitudinal rail are arranged in parallel on the sliding shaft of the transverse slide rail, and the first longitudinal rail and the second longitudinal rail assist the clamping part of the clamping mechanism to move up and down;

   The second two-way cylinder is arranged on the slide shaft of the horizontal slide rail, and the telescopic direction of the second two-way cylinder is parallel to the installation direction of the first longitudinal rail to assist the clamping part of the clamping mechanism to move up and down ;

   Two mounting parts are respectively slidably installed on the upper and lower parts of the first longitudinal rail and the second longitudinal rail, and one side of the two mounting parts is respectively mounted on the two telescopic rods of the second two-way cylinder, The mounting part is provided with a traveling mechanism for clamping and controlling the workpiece to travel along its axial direction.
6. A conveying type loading and unloading robot according to claim 5, wherein the traveling mechanism comprises:

   The second rotary table is relatively arranged on the two telescopic mounting parts, and the second rotary table is equipped with a traveling outer frame, and the traveling outer frame is designed to be V-shaped corresponding to the clamping of the cylindrical workpiece corresponding to the shape of the workpiece;

   A plurality of roller shafts, one end of which is arranged in the outer frame of the travel through a bearing to rotate and symmetrically distributed along the center line of the outer frame, and helical gears are arranged on the adjacent ends of the plurality of roller shafts;

   The connecting seat is installed on the bottom of the traveling frame, and the other end of the roller shaft is set on the connecting seat to rotate;

   a roller, which is arranged on the roller shaft and has a rolling surface beyond the traveling frame;

   The transmission gear is arranged inside the traveling outer frame through the transmission shaft, and the transmission gear is meshed with the helical gear. The transmission gear is provided with kinetic energy by the motor and transmits the kinetic energy to make the rollers rotate.
7. A conveying type loading and unloading robot according to claim 1, characterized in that, the loading and unloading mechanism further includes a travel sensor, and the travel sensor is set at the middle position of the first longitudinal rail for monitoring and recording The amount of travel of the workpiece, and transmit the data to the computer, the computer according to the predetermined length value of the first processing section set by the positioning mechanism, after the second rotary table reverses the workpiece, the computer feeds back the signal to the The traveling mechanism controls the workpiece to travel over the first processing section and reaches a predetermined position, the machine tool clamps and fixes the workpiece held by the traveling mechanism, and performs secondary processing on the workpiece.
8. The loading and unloading method of the loading and unloading robot based on any one of claims 1 to 7, characterized in that, comprising the following steps:

   Step 1. Place the workpiece to be processed on the adjusted positioning mechanism, and the transmission mechanism transmits the workpiece to be processed;

   Step 2. The loading and unloading mechanism first rotates to a position parallel to the transmission mechanism, and grabs the reserved section of the workpiece to be processed. The loading and unloading mechanism rotates to the machine tool, and the traveling mechanism controls the workpiece to be processed to slide along the axial direction of the workpiece to the corresponding position on the machine tool. The fixing device fixes the workpiece to be processed, and the machine tool starts processing;

   Step 3. After the predetermined section is processed, the loading and unloading mechanism clamps the workpiece again, and the traveling mechanism controls the workpiece to travel a predetermined distance along the axial direction of the processing section to turn the workpiece. The loading and unloading mechanism sends the workpiece to a fixed position on the machine tool again, and the machine tool Process another section of the workpiece again;

   Step 4: The loading and unloading mechanism clamps the processed workpiece and places it on the protection mechanism, and the transmission mechanism transmits the processed workpiece.