CN114850907A

CN114850907A - Automatic workpiece turning process based on manipulator

Info

Publication number: CN114850907A
Application number: CN202210492258.2A
Authority: CN
Inventors: 王亮
Original assignee: Sichuan Jingben Technology Co ltd
Current assignee: Sichuan Jingben Technology Co ltd
Priority date: 2022-05-07
Filing date: 2022-05-07
Publication date: 2022-08-05
Anticipated expiration: 2042-05-07
Also published as: CN114850907B

Abstract

The invention belongs to the technical field of automatic turning equipment, and particularly relates to a workpiece automatic turning process based on a manipulator, which comprises a rough machining process of a blank and a finish machining process of a semi-finished product; the manipulator is used as a center and is matched with different stations, the workpiece is circulated in the different stations in the process of turning the workpiece, the top surface, the bottom surface and the side surface of the workpiece can be automatically processed under the coordination of automatic control and various devices, and the workpiece can be automatically processed from a blank to a semi-finished product and can also be turned from the semi-finished product to a finished product; the problem of in the batch work piece turning process, need workman's on duty and the artifical manpower consumption and the cost that changes the outfit and bring is solved, this scheme is through automatic turning, the effectual efficiency that has improved, uses manpower sparingly and material resources.

Description

Automatic workpiece turning process based on manipulator

Technical Field

The invention belongs to the technical field of automatic turning equipment, and particularly relates to a workpiece automatic turning process based on a manipulator.

Background

With the advancement of science and technology, the technology of automatic turning has also been developed, and automatic turning is to be realized, wherein an important link is to realize the circulation of workpieces among various stations and process steps, and with the improvement of the automation level of a manipulator, it is necessary to design a turning device which takes the manipulator as the center and can turn the surface of the workpiece and a corresponding turning process, so as to improve the turning process in the process of realizing batch operation of the workpiece.

Disclosure of Invention

In order to solve the problem that in the prior art, the top surface, the ground and the side surface of a workpiece need to be changed by personnel in common turning operation, the scheme provides an automatic workpiece turning process based on a manipulator.

The technical scheme adopted by the invention is as follows:

a workpiece automatic turning process based on a manipulator comprises a rough machining process of a blank and a finish machining process of a semi-finished product;

the rough machining process of the blank comprises the following steps:

a1: after a first tooling claw tool is installed at a tool placing station in a butt joint mode by a manipulator, a pneumatic chuck serving as a carrier is grabbed and placed into a vertical lathe structure;

a2: the machine 1 is replaced by a second tooling claw tool at a tool placing station, a blank of a workpiece is grabbed at a depositing station and placed on a pneumatic chuck, and the top surface of the blank is upward; the three-jaw pneumatic clamping jaw of the pneumatic chuck clamps the bottom of the blank;

a3: after the vertical lathe structure 2 is started, turning the edge of the top surface of the blank to form an arc surface;

a4: after the second tooling claw is dismounted, the mechanical arm cleans the turned workpiece blank and the pneumatic chuck by using a cleaning spray head arranged on the mechanical arm; during the cleaning process, the blank is still placed on the vertical lathe structure;

a5: after cleaning, a second tooling claw tool is installed in a butt joint mode through the manipulator, and the blank is horizontally placed at a rotating station to horizontally rotate 180 degrees; then, the manipulator again grabs the blank at the rotating station to the air chuck 6 at the same position, and the bottom surface of the blank faces upwards;

a6: after the vertical lathe structure is started, turning the bottom surface of the blank to form a groove-shaped inner cavity, namely obtaining a semi-finished product of a workpiece;

the semi-finished product finish machining process comprises the following steps:

b1: under the state that the vertical lathe structure is provided with the pneumatic chuck, the manipulator is in butt joint with a second tooling claw, and the semi-finished product is placed on the pneumatic chuck, so that the inner cavity of the semi-finished product faces upwards;

b2: the vertical lathe structure carries out first tool finish machining on the end face and the inner cavity of the bottom surface of the semi-finished product, and the height of the end face and the diameter of the inner cavity after the first tool finish machining are measured by utilizing a measuring head arranged in the vertical lathe structure; according to the comparison of the measured parameters and the set parameters, performing second-tool finish machining on the semi-finished product to enable the height of the end face and the diameter of the inner cavity to reach set values, and simultaneously machining the inner bottom surface of the inner cavity to serve as a positioning surface aligned with the sucker assembly;

b3: after the second tool claw is dismounted by the manipulator, cleaning the inner cavity of the semi-finished product and the pneumatic chuck by using a cleaning nozzle;

b4: after the second tooling claw is remounted by the manipulator, the semi-finished product is grabbed to the rotating station and horizontally rotated for 180 degrees, and then the semi-finished product is placed on the sucker component at the alignment station with the arc surface facing upwards; coaxially aligning the semi-finished product and the sucker component at the alignment station, and tightly sucking the positioning surface of the semi-finished product by the sucker component;

b5: the manipulator grabs a pneumatic chuck in the vertical lathe structure to a station of the cleaning machine for cleaning;

b6: the sucker assembly and the semi-finished product are grabbed into the vertical lathe structure by the manipulator;

b7: the outer side wall of the semi-finished product and the end surface of the top of the semi-finished product are subjected to first tool outer edge finish turning by the vertical lathe structure; the height and the diameter of the end face of the outer edge finish turning of the first cutter are measured by a measuring head arranged in the vertical lathe structure; according to the comparison between the measurement parameters and the set parameters, performing second cutter outer edge finish turning on the semi-finished product to enable the height and the diameter of the end face to reach set values; when the height and the diameter of the end face reach set values, the workpiece 11 becomes a finished product.

Optionally: the rough machining process of the blank further comprises the step A7: cleaning the inner cavity of the semi-finished product by using a cleaning nozzle; and grabbing the semi-finished product of the workpiece to a rotating station, horizontally rotating for 180 degrees, grabbing the semi-finished product to a depositing station, enabling the inner cavity of the semi-finished product to face downwards, and grabbing the next blank for processing.

Optionally: the semi-finished product finish machining process further comprises the following steps:

b8: the manipulator picks the finished product and puts into the cleaning station to clean; then, the finished product is placed on a visual detection station for detection, so that whether the size of the finished product is qualified or not is judged, and if the size of the finished product is qualified, the finished product is placed on a storage station; if the turning is not qualified, grabbing to the vertical lathe structure for turning again;

b9: after the sucker component is grabbed to a cleaning station by the manipulator for cleaning, the sucker component is placed back to the alignment station; and then finishing the second semi-finished product.

Optionally: an alignment table mechanism is arranged at the alignment station; the alignment table mechanism and the vertical lathe structure are respectively provided with a rotary clamping disc, the rotary clamping disc comprises a rotary carrier table, an air pressure connecting table and a clamping table, the rotary carrier table is disc-shaped, the air pressure connecting table is fixed at the center of the top surface of the rotary carrier table, the top surface of the air pressure connecting table is provided with a quick connector, and the quick connector is communicated with an air pressure source; a plurality of clamping tables are annularly distributed around the air pressure connecting table, and each clamping table is provided with a clamping hole.

Optionally: the sucking disc assembly and the pneumatic clamping disc are workpiece carriers; the bottom of the workpiece carrier is provided with a plurality of positioning feet, and the positioning feet correspond to the clamping holes one by one, so that the rotary clamping disc and the workpiece carrier can be connected in an aligned mode.

Optionally: the pneumatic chuck comprises a chuck positioning disc and three-jaw pneumatic clamping jaws, the chuck positioning disc is disc-shaped, and the three-jaw pneumatic clamping jaws are fixed on the top surface of the chuck positioning disc and used for clamping a workpiece; the chuck pressure maintaining joint is arranged at the center of the bottom surface of the chuck positioning disc and communicated with the three-jaw pneumatic clamping jaw, and the chuck pressure maintaining joint can be in butt joint with the quick joint.

Optionally: the sucker assembly comprises a vacuum sucker and a sucker positioning disc; the vacuum sucker is connected above the sucker positioning plate; the vacuum chuck is characterized in that a negative pressure cavity is formed in the upper portion of the vacuum chuck, a chuck pressure maintaining joint is arranged at the bottom of the chuck positioning plate, the chuck pressure maintaining joint is communicated with the negative pressure cavity and can be in butt joint with a quick joint to adsorb a workpiece through negative pressure.

Optionally: a positioning table mechanism is arranged at the positioning post; the alignment table mechanism comprises an alignment table, a displacement mechanism, an adjusting arm, a photoelectric distance measuring probe and a rotary clamping disc; the displacement mechanism and the rotary clamping disc are both arranged on the alignment machine table; the displacement mechanism comprises a longitudinal module and a transverse module, and the moving directions of the longitudinal module and the transverse module are mutually vertical; the adjusting arm is connected to the transverse module, and the transverse module is connected to the longitudinal module; the adjusting arm is fixed on the transverse module, one side of the adjusting arm close to the workpiece is in an arc groove shape, and the adjusting arm is used for pushing the workpiece to move relative to the sucker component so as to enable the workpiece and the sucker component to be coaxial; the photoelectric distance measuring probe is connected to the adjusting arm and can detect the position of the outer peripheral surface of the workpiece.

Optionally: a rotary jig is arranged at the rotary station; the rotary jig comprises a rotary carrier, a rotary driver and a jacking mechanism; the rotary driver is connected to the bottom of the rotary carrier and used for controlling the horizontal rotation of the rotary carrier; the rotary carrier comprises a carrier table and a side supporting plate; a workpiece slot position for placing a workpiece is arranged at the top of the carrier table; the side surface abutting plate is arranged at the side surface of the workpiece groove and is controlled by the jacking mechanism to move, and the side surface abutting plate can abut against or loosen the workpiece in the workpiece groove.

Optionally: the first tool claw and the second tool claw are both tool claws; the tooling claw comprises a movable connector and a claw assembly, and a fixed connector which can be matched with the movable connector and can realize quick connection is arranged on the manipulator; one side of the movable connector is provided with an electric connecting male head, and the connecting directions of the electric connecting male head and the movable connector are the same; an electric connection female head is arranged on one side of the fixed connector, and the connection direction of the fixed connector and the electric connection female head is the same; when the movable connector is in butt joint with the fixed connector, the electric connection female head and the electric connection male head are in synchronous butt joint connection so as to electrically control the jaw assembly; the clamping jaw component comprises a double-station movement module and two clamping jaw fingers, the double-station movement module is provided with two moving ends, the clamping jaw fingers are J-shaped, a jaw handle is arranged on the upper portion of each clamping jaw finger, the jaw handle is fixedly connected with the moving ends of the moving module, and the two moving ends are mutually close to or far away to realize grasping or loosening actions.

The invention has the beneficial effects that:

1. in the scheme, a mechanical arm is taken as a center, different stations are arranged around the mechanical arm, the workpiece is circulated in different stations in the process of turning the workpiece, actions such as cleaning, visual detection, tool claw replacement, workpiece carrier replacement, workpiece and carrier alignment, workpiece horizontal turning and the like are realized, the workpiece can be automatically machined from a blank to a semi-finished product under the coordination of automatic control and various devices, and the turning from the semi-finished product to a finished product of the workpiece can also be realized;

2. the rotary jig in the scheme can realize horizontal overturning of the workpiece, so that the manipulator can grab the top or the bottom of the workpiece at the same grabbing and placing position, the control difficulty of the manipulator is simplified, the grabbing space of the manipulator is saved, and a lathe can carry out turning on the top surface and the ground;

3. the pneumatic chuck and the sucker component are adopted as the carrier of the workpiece in the scheme, when the sucker component is used as the carrier, turning processing can be conveniently carried out on the outer peripheral surface of the workpiece, and when the pneumatic chuck is used as the carrier, axial alignment of the workpiece is realized by radial shrinkage of claw fingers of the clamping jaws, so that alignment steps are simplified, and turning efficiency is improved.

Drawings

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Fig. 1 is a layout structure diagram of a turning device in the present embodiment;

FIG. 2 is a block diagram of the tool table in the present embodiment;

FIG. 3 is a structural diagram of a tooling claw in the scheme;

FIG. 4 is an exploded view of the tooling claw in the present embodiment;

FIG. 5 is a block diagram of the air chuck in this embodiment;

FIG. 6 is a block diagram of the chuck assembly in this embodiment;

FIG. 7 is a structural view of a vertical lathe structure in the present embodiment;

FIG. 8 is a structural view of a vertical rotary table according to the present embodiment;

FIG. 9 is a structural view of a rotating chuck plate in the present embodiment;

FIG. 10 is a structural view of a positioning table mechanism in this embodiment;

FIG. 11 is a structural view of a cleaning tank in the present embodiment;

FIG. 12 is a block diagram of the support assembly of the present solution;

fig. 13 is a structural view of a rotary jig in the present embodiment;

fig. 14 is an exploded view of the rotary jig according to the present embodiment;

FIG. 15 is a schematic diagram of a visual inspection apparatus according to the present embodiment;

fig. 16 is a structural view of a workpiece to be machined in this embodiment.

Description of the drawings: 1-a manipulator; 101-fixing a connector; 101 a-electrically connecting the female terminals; 101 b-a blocking push rod; 101 c-detent ball; 2-vertical lathe structure; 21-sliding door retractor; 22-a sliding door; 23-a vertical rotating table; 24-long slot; 25-vertical axis; 3-rotating the jig; 31-a stationary base; 32-a jack-out mechanism; 33-a rotary drive; 34-a rotary carrier; 341-side abutment plate; 342-a carrier table; 343-guide cross-post; 344-jig extension spring; 345-end connection plate; 346-a ramp portion; 347-workpiece slot position; 348-spring slot position; 4-a tool table; 5-aligning table mechanism; 51-alignment machine; 52-longitudinal module; 53-transverse module; 54-an electro-optical ranging probe; 55-an adjusting arm; 6-air chuck; 61-three-jaw pneumatic jack catch; 62-a chuck positioning disc; 63-chuck positioning feet; 64-chuck pressure maintaining joint; 7-tooling claw tools; 71-moving the connector; 71 a-electrically connecting the male; 71 b-middle connection disc; 71 c-a clamping groove; 72-a moving module; 73-claw fingers; 73 a-claw hook; 73 b-claw handle; 74-a lining member; 74 a-an insert; 75-a bias member; 76-jaw extension spring; 8-a visual inspection device; 81-visual inspection cabinet; 82-detection rotating platform; 83-a drive gear; 84-side camera; 85-top camera; 9-a workpiece storage table; 10-a cleaning machine; 102-an upper blowing pipe; 103-upper spray pipe; 104-a first support assembly; 1041-a first support table; 1042-outer support columns; 1043-lower blowing pipe; 1044-lower shower; 105-a second support member; 1051-a second support table; 1052-inner support columns; 106-a jacking mechanism; 1061-cleaning the expansion device; 1062-support tray; 107-a translation mechanism; 108-a rotation mechanism; 109-a cleaning box; 11-a workpiece; 12-a suction cup assembly; 121-a sucker positioning plate; 122-vacuum chuck; 123-a sucker positioning foot; 124-pressure maintaining joint; 13-rotating the clamping disc; 131-a rotary carrier table; 132-a clamping table; 133-a clamping hole; 134-pneumatic connection station; 135-quick coupling.

Detailed Description

The technical solutions in the embodiments will be described clearly and completely with reference to the accompanying drawings, and the described embodiments are only a part of the embodiments, but not all embodiments, and all other embodiments obtained by those skilled in the art without creative efforts will belong to the protection scope of the present solution based on the embodiments in the present solution.

The workpiece 11 as a part of some equipment is often designed into different shapes according to needs, the workpiece 11 capable of being turned in the scheme is a special workpiece 11 with a special customized shape and size, the shape of the workpiece 11 is shown in fig. 16, the workpiece 11 can be divided into two stages of rough machining of a blank and finish machining of a semi-finished product in the device machining process in the scheme, other machining processes exist between the two stages, machining is not performed in the equipment in the scheme, the rough machining of the blank mainly processes a cylindrical blank into the semi-finished product, and the finish machining of the semi-finished product mainly performs edge trimming on the semi-finished product to obtain a finished product, so that the required size is achieved; the semi-finished and finished workpieces 11 have the shape shown in fig. 16, that is, the workpiece 11 has a circular peripheral surface, the edge of the top surface is turned into a circular arc shape, and the bottom surface is turned with a groove-shaped inner cavity.

Example 1

As shown in fig. 1 to 15, in order to meet the requirement of automatic turning of the workpiece 11, the turning device is designed in this embodiment, the turning device includes a station circulation mechanism and different stations arranged around the station circulation mechanism, the workpiece 11 is to be grabbed by the station circulation mechanism and realize circulation of the workpiece 11 between the different stations, and the different stations are used for performing corresponding processing on the workpiece 11.

In this embodiment, the station circulation mechanism adopts the manipulator 1, the manipulator 1 is controlled by a corresponding industrial personal computer, and a specific control program of the manipulator 1 is provided by a supplier of the manipulator 1, which is not described herein again.

A depositing station, a cleaning station, a turning station, a rotating station, a contraposition station, a tool placing station and a visual detection station are respectively arranged at the periphery of the manipulator 1. A workpiece storage table 9 is arranged at the storage station, and the workpiece storage table 9 is used for storing workpieces 11 in the states of blanks, semi-finished products, finished products and the like for grabbing by the manipulator 1. A cleaning machine 10 is provided at the cleaning station for cleaning the surface of the workpiece 11. And a vertical lathe structure 2 is placed at the turning station and used for turning the workpiece 11. The rotary jig 3 is provided at the rotary station, and the workpiece 11 in the lying state can be horizontally turned over by the rotary jig 3. The position of the alignment station is provided with an alignment table mechanism 5, and the suction disc assembly 12 and the workpiece 11 can be vertically aligned by the alignment table structure to be coaxial. The utility model discloses a manipulator, including manipulator 1, instrument place position, manipulator 6, pneumatic chuck 6, work piece 11, tool table 4, a plurality of frock claw utensil 7 have been placed to tool place position department, and manipulator 1 can change different frock claw utensil 7 in this department to the convenient work piece 11 that is under different forms matches and snatchs, in addition, can also place pneumatic chuck 6 in this department, thereby utilizes pneumatic chuck 6 to connect and support work piece 11 as the carrier, puts the one side of this tool table 4 mesa to the counterpoint platform structure also. The visual detection station is provided with a visual detection device 8, and the visual detection device 8 can collect the surface shape of the finished product and the semi-finished product of the workpiece 11 so as to judge whether the finished product and the semi-finished product meet the set processing standard.

Example 2

On the basis of the structure of embodiment 1, in order to realize the quick replacement of the tooling claw 7 and the control of the tooling claw 7 by the manipulator 1, the tooling claw 7 with the following structure is designed in the embodiment.

The tooling claw 7 of this embodiment includes parts such as moving connector 71 and jaw assembly, moves connector 71 and connects at jaw assembly's stalk portion, is provided with on manipulator 1 and moves connector 71 and match and decide connector 101 to make jaw assembly can be quick assemble to manipulator 1.

One side of the movable connector 71 is provided with an electric connection male head 71a, and the connection directions of the electric connection male head and the electric connection male head are the same; an electric connection female head 101a is arranged on one side of the fixed connection head 101, and the connection directions of the electric connection female head and the electric connection female head are the same; when the movable connector 71 is in butt joint with the fixed connector 101, the electric connection female head 101a and the electric connection male head 71a are in synchronous butt joint connection so as to electrically control the action of the jaw assembly.

The tooling claw 7 can be placed on the manipulator 1 to a specific coordinate position, when the tooling claw 7 needs to be replaced, the fixed connector 101 can be butted with the movable connector 71 through the movement of the manipulator 1, and meanwhile, the electric connection female head 101a and the electric connection male head 71a can also be butted.

In order to guarantee the steadiness that the connector 71 is connected with the fixed connector 101, set up the spliced eye on moving the connector 71, set up screens groove 71c in the spliced eye, set up the spliced eye on deciding the connector 101, the middle part of spliced eye sets up porosely, and downthehole screens push rod 101b that can stretch out and draw back that sets up, set up screens ball 101c on the lateral wall of spliced eye, after spliced eye and spliced eye butt joint, can push in screens ball 101c along the radial of spliced eye screens groove 71c through screens push rod 101b, thereby realize the high-speed joint.

The jaw assembly comprises a double-station movement module and two jaw fingers 73, the double-station movement module is provided with two moving ends, and the two jaw fingers 73 are respectively connected to the two moving ends and can be close to each other or far away from each other. The claw finger 73 is J-shaped, and the upper part of the claw finger 73 is provided with a claw handle 73b, and the claw handle 73b is fixedly connected with the moving end of the moving module 72, so that the claw finger 73 can be gripped or released.

In order to match the clamping of the workpiece 11, the opposite inner sides of the two claw fingers 73 are in a groove shape, and the free ends of the claw fingers 73 are provided with claw hooks 73a, so that the lower edge of the workpiece 11 can be clamped by the claw hooks 73 a. In addition, in order to improve the adhesion of the jaw fingers 73 to the outer wall of the workpiece 11, an embedded part 74a is embedded on the groove bottom of the groove of the jaw fingers 73, and a lining part 74 is arranged on the opposite inner side of each jaw finger 73, the lining part 74 is rotatably connected with the embedded part 74a, and the rotating axis of the lining part 74 is parallel to the central line of the jaw assembly. The opposite inner sides of each claw finger 73 are also rotatably connected with inclined pressing pieces 75, the inclined pressing pieces 75 are connected with rollers, and the inner sides of the claw fingers 73 extend out; the axis of rotation of the ramp 75 is perpendicular to the centre line of the jaw assembly and a torsion spring or/and a position sensor may be provided at the axis of rotation of the ramp 75.

And a jaw extension spring 76 is respectively arranged on two sides of each jaw finger 73, an intermediate connecting disc 71b is connected between the movable connecting head 71 and the movable module 72, and the jaw extension springs 76 are connected between the intermediate connecting disc 71b and the two jaw fingers 73, so that the jaw extension springs 76 are used for providing tension for the two jaw fingers 73 to be close to each other.

The tool claw 7 has two types, the claw for grabbing the pneumatic chuck 6 and the sucker component 12 is not provided with the inclined pressing piece 75, and the tool claw 7 is defined as a first tool claw in the scheme; while the gripper 7 for gripping blanks, semi-finished products and finished products has a bias piece 75, this solution defines such a gripper 7 as the second gripper.

Example 3

On the basis of the structure of the embodiment 1, in order to conveniently ensure the determination of the central position of the workpiece 11 during the turning on the vertical lathe structure 2, the workpiece 11 is often required to be placed on a carrier for turning, and the embodiment designs the air chuck 6 and the suction cup assembly 12 which can be used as carriers of the workpiece 11.

The pneumatic chuck 6 comprises a chuck positioning disc 62 and three-jaw pneumatic clamping jaws 61, the chuck positioning disc 62 is disc-shaped, and the three-jaw pneumatic clamping jaws 61 are fixed on the top surface of the chuck positioning disc 62 and used for clamping the workpiece 11; a plurality of chuck positioning feet 63 are arranged on the bottom surface of the chuck positioning plate 62; a chuck pressure maintaining joint 64 is provided at the center of the bottom surface of the chuck positioning plate 62, and the chuck pressure maintaining joint 64 communicates with the three-jaw pneumatic jaws 61.

The sucker assembly 12 comprises a vacuum sucker 122 and a sucker positioning disc 121; the vacuum chuck 122 is connected above the chuck positioning plate 121, and a chuck positioning foot 123 is arranged at the bottom of the chuck positioning plate 121; the upper part of the vacuum chuck 122 is provided with a negative pressure cavity, the vacuum chuck 122 can be made of rubber materials, and the negative pressure cavity can adsorb and fix the bottom of the workpiece 11 when generating negative pressure. A suction cup pressure maintaining joint 124 is arranged at the bottom of the vacuum suction cup 122, and the suction cup pressure maintaining joint 124 is communicated with the negative pressure cavity and is exposed from the bottom of the positioning plate; the suction cup dwell joint 124 is a commercially available standard.

In addition, in order to facilitate the connection and support of the air chuck 6 and the suction cup assembly 12 as carriers of the workpiece 11, the present scheme designs a corresponding rotary clamping disk 13, where the rotary clamping disk 13 includes a rotary carrier table 131, an air pressure connecting table 134 and a clamping table 132, the rotary carrier table 131 is in a disk shape, the air pressure connecting table 134 is fixed at the center of the top surface of the rotary carrier table 131, a quick joint 135 is arranged on the top surface of the air pressure connecting table 134, and the quick joint 135 is communicated with an air pressure source; a plurality of clamping tables 132 are annularly distributed around the air pressure connecting table 134, and each clamping table 132 is provided with a clamping hole 133.

The rotary clamping disc 13 is used for fixing the air chuck 6 or the sucker assembly 12, and when the connection is carried out, the chuck positioning feet 63 of the air chuck 6 or the sucker positioning feet 123 of the sucker assembly 12 correspond to the clamping holes 133 one by one; the suction cup dwell joint 124 or the chuck dwell joint 64 can interface the quick connector 135. The inner side wall of the clamping hole 133 is provided with a clamping tongue, and the outer walls of the chuck positioning foot 63 and the sucker positioning foot 123 are provided with clamping grooves matched with the clamping tongue.

Example 4

Based on the structure of embodiment 3, the vertical lathe structure 2 designed in this embodiment includes an outer cabinet, a vertical rotary table 23, and a rotary chuck 13 structure described in embodiment 3.

The outer cabinet is of a square cabinet structure, and the vertical rotating platform 23 is arranged in the outer cabinet; the upper part of the outer cabinet is provided with a turning room, and the upper part of the vertical rotating platform 23 extends into the turning room. A sliding door 22 which can be opened and closed in a transverse sliding mode is arranged on the front side of the turning room; the sliding door 22 is slidably engaged with the outer cabinet. A sliding door retractor 21 is arranged on the top of the outer cabinet, and the sliding door retractor 21 is connected with a sliding door 22 and used for controlling the opening and closing of the sliding door 22. The sliding door retractor 21 may be a pneumatic retractor or an electric retractor. A cutter for turning is further arranged in the turning room, and the fixing mode and the cutter feeding mode of the cutter belong to the existing structures and are not described again.

The vertical rotary table 23 comprises a rotary table body and a vertical shaft 25; the rotating table body is disc-shaped, and a plurality of radially-distributed long grooves 24 are formed in the rotating table body; the vertical shaft 25 is coaxially connected below the turntable body and can be driven to rotate by a motor or a pneumatic rotator. The rotary clamping disk 13 in this embodiment is detachably connected to the rotary table body; a plurality of inverted T-shaped sliders may be provided on the bottom surface of the rotating clamping disk 13, the sliders extending into the elongated slots 24 to secure the rotating clamping disk.

Example 5

On the basis of the structure of embodiment 3, the aligning table mechanism 5 designed in this embodiment includes structures such as an aligning table 51, a rotary clamping disk 13, a displacement mechanism, an adjusting arm 55, and a photoelectric distance measuring probe 54; the rotating chuck plate 13 has the structure described in embodiment 3.

The alignment platform 51 is in a square plate shape, and the displacement mechanism and the rotary clamping disc 13 are both arranged on the alignment platform 51. The displacement mechanism comprises a longitudinal module 52 and a transverse module 53, wherein the moving directions of the longitudinal module 52 and the transverse module 53 are mutually vertical; the adjustment arm 55 is connected to the transverse module 53 and the transverse module 53 is connected to the longitudinal module 52. The photoelectric distance measuring probe 54 is connected to the adjustment arm 55, and detects the position of the outer peripheral surface of the workpiece 11. An adjusting arm 55 is fixed on the transverse module 53, one side of the adjusting arm 55 close to the workpiece 11 is arc-shaped, and the adjusting arm 55 is used for pushing the workpiece 11 to move relative to the suction cup assembly 12 so as to enable the workpiece 11 and the suction cup assembly 12 to be coaxial. The photoelectric distance measuring probe 54 is electrically connected with an industrial personal computer, the industrial personal computer calculates the axis of the workpiece 11 according to the detection value of the position of the peripheral surface of the workpiece 11, and controls the displacement mechanism to push the workpiece 11, so that the axis of the workpiece 11 is vertically coincided with the center of the sucker assembly 12.

Example 6

On the basis of the structure of the embodiment, the cleaning machine 10 designed by the embodiment comprises a cleaning tank 109, a supporting assembly, a cleaning assembly, a blowing assembly and the like.

The cleaning tank 109 is square, a top opening is provided at the top of the cleaning tank 109, and the workpiece 11 can be put in or taken out from the top opening. The opening part at the top can be provided with a movable door which can be opened and closed, and the movable door can be of a structure made of transparent materials, so that the cleaning state or the cleaning progress can be conveniently observed.

The supporting component is arranged at the inner bottom of the cleaning box 109 and comprises a first supporting component 104 and a second supporting component 105; the centers of the first support member 104 and the second support member 105 overlap and are used to support objects of different sizes, respectively.

The first support assembly 104 includes a first support platform 1041, and the support columns disposed on the first support platform 1041 are outer support columns 1042, and the outer support columns 1042 have a plurality of quadrilateral distributions. The first supporting platform 1041 may be quadrilateral, and an outer supporting column 1042 is respectively disposed at the inner side of four corners of the first supporting platform 1041.

The second support assembly 105 includes a second support stand 1051, the second support stand 1051 is disposed on the first support stand 1041, the support columns disposed on the second support stand 1051 are inner support columns 1052, and the inner support columns 1052 are plural and distributed in a quadrilateral shape; the inner support columns 1052 are lower in height than the outer support columns 1042.

A jacking assembly is arranged in the middle of the first support table 1041; the jacking assembly comprises a cleaning expansion piece 1061 and a supporting plate 1062; the support plate 1062 is connected to a telescopic shaft of the cleaning telescopic unit 1061 to vertically lift the workpiece 11.

The cleaning assembly comprises an upper spray pipe 103 and a lower spray pipe 1044; the upper spray pipe 103 is arranged above the support assembly and can move horizontally; the lower spray pipe 1044 is arranged on the first support table 1041, and a nozzle of the lower spray pipe 1044 is inclined upwards and can spray fan-shaped water mist; two lower spray pipes 1044 are respectively arranged on the inner sides of the four sides of the first supporting platform 1041.

A translation mechanism 107 is provided on a side wall of an upper portion of the cleaning tank 109, and the upper shower pipe 103 is connected to the translation mechanism 107 so as to be horizontally movable. This translation mechanism 107 can adopt the removal module 72 of market purchase, when translation mechanism 107 is electrified, can drive shower 103 horizontal migration, should go up shower 103 intercommunication water source after, should go up the shower hole on the shower 103 and spout water smoke downwards and wash the surface of work piece 11.

The blowing assembly comprises an upper blowing pipe 102 and a lower blowing pipe 1043; the upper blowing pipe 102 is U-shaped, and the end part of the upper blowing pipe is rotatably connected to the side wall of the cleaning box 109; the lower blowing pipe 1043 is disposed on the first supporting table 1041, and a nozzle of the lower blowing pipe 1043 is inclined upward and can jet air flow. A rotating mechanism 108 is arranged on the side wall of the cleaning box 109, the upper air blowing pipe 102 is connected to the rotating mechanism 108 and is controlled to rotate by the rotating mechanism 108, and the U-shaped inner side of the upper air blowing pipe 102 is provided with an air jet hole and can spray water mist to the inner side so as to blow and dry the outer surface of the workpiece 11.

After the workpiece 11 is placed in the cleaning box 109, the bottom of the workpiece 11 is supported by the supporting plate 1062, the cleaning assembly is then opened, the outer surface of the workpiece 11 is cleaned by clean water, then the supporting plate 1062 is lowered under the control of the cleaning expansion device 1061, after the workpiece 11 is lowered to a certain distance, the workpiece 11 is supported by the inner support 1052 or the outer support 1042, and the inner support 1052 or the outer support 1042 have different heights, so that workpieces 11 or objects with different sizes can be supported. When the support plate 1062 is separated from the bottom of the workpiece 11, the cleaning assembly is activated again to clean the bottom of the workpiece 11, and the waste water generated by the cleaning operation can be discharged from the drain pipe at the bottom of the cleaning tank 109. After cleaning, the surface of the workpiece 11 can be dried by using the blowing assembly.

Example 7

On the basis of the structure of embodiment 1, the visual inspection apparatus 8 designed in this embodiment includes a visual inspection cabinet 81, an inspection rotary table 82, a driving gear 83, a side camera 84, and a top camera 85; the detection rotary table 82 is rotatably disposed in the visual detection cabinet 81, the driving gear 83 is engaged with an edge of the detection rotary table 82 and can control the rotation thereof, and a side camera 84 and a top camera 85 are disposed right above and at a side of the detection rotary table 82, respectively. The top camera 85 may be a line camera.

When the device is used, the workpiece 11 is placed at the center of the disc-shaped detection rotating platform 82, the detection rotating platform 82 is rotated, the shape of the outer surface of the workpiece 11 is collected by the side camera 84 and the top camera 85, the collected images are compared by the industrial personal computer, and whether the processed workpiece 11 meets the requirements or not is judged.

Example 8

In addition to the structure of embodiment 1, the rotary jig 3 designed in this embodiment includes a fixed base 31, a rotary carrier 34, a rotary driver 33, a pushing mechanism 32, and the like.

The fixed base 31 is of a frame structure and is used for mounting the rotary carrier 34, the rotary driver 33, the ejection mechanism 32 and the like.

The rotary carrier 34 is a structure for vertically lifting the workpiece 11. The rotary driver 33 is connected to the fixed base 31, and a rotating shaft of the rotary driver 33 is connected to a bottom of the rotary carrier 34, and can control the rotary carrier 34 to rotate horizontally. The rotary carrier 34 comprises a carrier table 342 and a side supporting plate 341, and a workpiece slot 347 for placing the workpiece 11 is arranged at the top of the carrier table 342; the rotating shaft of the rotating driver 33 is connected to the bottom of the carrier stage 342 and controls the carrier stage 342 to rotate horizontally, thereby realizing the turning-down of the workpiece 11. The side abutting plate 341 is disposed at the side of the workpiece slot 347 and cooperates with the carrier table 342 to clamp the workpiece 11, thereby ensuring the stability of the position of the workpiece 11 during the turning process.

A guide cross-post 343 is fixedly connected to a side surface of the side surface abutting plate 341, and the guide cross-post 343 is in sliding fit with the carrier table 342. A spring slot 348 is disposed on the carrier table 342, a jig extension spring 344 is disposed at the spring slot 348, a free end of the guide cross post 343 extends to the spring slot 348 and is connected to one end of the jig extension spring 344, the other end of the jig extension spring 344 is connected to an end connection plate 345, and the end connection plate 345 is fixedly connected to the carrier table 342.

The jacking mechanism 32 comprises a telescopic device, a telescopic table, a pushing wheel and the like; the two pushing mechanisms 32 are respectively disposed on the fixed bases 31 on both sides of the rotary carrier 34, and the two pushing mechanisms 32 are synchronously operated to control the movement of the side supporting plate 341.

The telescopic device can adopt a pneumatic telescopic device structure or an electric telescopic device structure. The telescopic table is connected to a telescopic shaft of the telescopic device and is controlled to lift by the telescopic shaft; the two sides of the telescopic table in the horizontal direction are tilted upwards to form a U shape, the end parts of the tilting parts of the telescopic table are respectively provided with a pushing wheel, and the two pushing wheels are respectively used for controlling the side supporting plate 341 to move before and after the workpiece 11 is turned. The inclined surface portion 346 is disposed at the lower portion of the side supporting plate 341, and the inclined surface portion 346 can be engaged with the inclined surface portion 346, so that when the pushing wheel is lifted vertically, the side supporting plate 341 can be pushed away from the carrier table 342.

When in use, one side of the workpiece slot 347 is provided with an arc slot to match the shape of the workpiece 11, one side of the workpiece slot 347 is adjacent to the side abutting plate 341 and abuts against the side of the workpiece slot 347 by the side abutting plate 341, when the workpiece 11 horizontally rotates, the workpiece 11 is horizontally placed in the workpiece slot 347, and the side abutting plate 341 and the carrier table 342 can cooperate to clamp the workpiece 11 under the elastic force of the jig extension spring 344; before or after the direction of the workpiece 11 is reversed, the inclined surface portion 346 can be pushed by the pushing wheel, so that the side surface abutting plate 341 is far away from the carrier table 342, and the workpiece 11 can be loaded into the workpiece slot 347 or the workpiece 11 can be taken from the workpiece slot 347 conveniently.

Example 9

With reference to embodiments 1 to 8, the procedure of rough machining the blank of the workpiece 11 by the turning machine includes the following steps:

a1: the manipulator 1 moves an operation end to a tool placing station, a first tooling claw is installed in a butt joint mode, and a pneumatic chuck 6 is grabbed by the first tooling claw and placed on the vertical lathe structure 2;

a2: the manipulator 1 replaces a second tooling claw at the tool placing station; grabbing a blank of the workpiece 11 at the workpiece storage table 9, and placing the blank at the pneumatic chuck 6 of the vertical lathe structure 2 to enable the top surface of the blank to face upwards; the three-jaw pneumatic clamping jaw 61 of the pneumatic chuck 6 clamps the bottom of the blank under the control of corresponding air pressure;

a3: after the vertical lathe structure 2 is started, the vertical rotating table 23 in the vertical lathe structure 2 rotates, and the cutter correspondingly feeds, so that the arc surface at the edge of the top surface of the blank is turned and formed;

a4: a cleaning spray head is arranged at the operation end of the manipulator 1, and after the manipulator 1 puts the second tool claw back to the tool placing station, the workpiece 11 which is formed by turning and the pneumatic chuck 6 are cleaned by the cleaning spray head; the cleaning medium can be pure water or air flow; in the cleaning process, the blank is still placed on the vertical lathe structure 2;

a5: after cleaning, the manipulator 1 is provided with a second tooling claw again, a blank formed by machining an arc surface is grabbed and horizontally placed on the rotary jig 3, and the rotary jig 3 horizontally rotates the blank for 180 degrees; then, the manipulator 1 grips the blank again from the same position, and the bottom surface of the blank faces upwards and is clamped on the pneumatic chuck 6 again;

a6: starting the vertical lathe structure 2, turning a blank by using a cutter and forming an inner cavity at the bottom surface of the blank, wherein after the inner cavity is machined, a workpiece 11 becomes a semi-finished product;

a7: repeating the step A4, and cleaning the inner cavity of the semi-finished product; after cleaning, the second tooling claw tool is installed again, the semi-finished product of the workpiece 11 is grabbed to the rotary jig 3 and horizontally rotated for 180 degrees, then the semi-finished product is grabbed to the workpiece depositing table 9, the inner cavity of the workpiece depositing table is downward, and the next blank is processed.

After the second blank is processed, the manipulator 1 may extend into the cleaning machine 10, and the second tooling claw is cleaned and air-dried by using the lower spray pipe 1044 and the lower blow pipe 1043; after the second tooling claw tool is cleaned, the second tooling claw tool is replaced to the tool placing station, and then the cleaning nozzle arranged at the operation end of the manipulator 1 is used for cleaning the pneumatic chuck 6.

Example 10

On the basis of the structure of the embodiment 1, after rough machining of the blank material, the vertical lathe structure 2 is the air chuck 6 which is installed before, and if the vertical lathe structure 2 is not provided with the air chuck 6, the manipulator 1 is used for grabbing the air chuck 6 for installation; when the semi-finished product is subjected to finish machining, the process steps of finish machining the blank of the workpiece 11 by using the turning machining device are as follows:

b1: the manipulator 1 replaces a second tooling claw tool, picks a semi-finished product to be processed from the workpiece storage table 9 and puts the semi-finished product into the rotary jig 3; after the semi-finished product is horizontally turned over by the rotary jig 3, the semi-finished product is placed on a pneumatic chuck 6 on the vertical lathe structure 2, and the inner cavity of the semi-finished product is upward;

b2: carrying out first tool finish machining on the end face and the inner cavity of the bottom surface of the semi-finished product by using a tool on the vertical lathe structure 2; a measuring head is arranged in the vertical lathe structure 2 and is used for measuring the height of the end face and the diameter of the inner cavity after the first cutter is subjected to finish machining; the vertical lathe structure 2 performs second-tool finish machining on the semi-finished product according to the calculated parameters to enable the height of the end face and the diameter of the inner cavity to reach set values, and simultaneously machines the inner bottom surface of the inner cavity as a positioning surface aligned with the sucker assembly;

b3: after the manipulator 1 puts the second tool claw back to the tool placing station, the inner cavity of the semi-finished product and the pneumatic chuck 6 are cleaned by a cleaning nozzle arranged at the operation end of the manipulator 1; the cleaning medium can be pure water or air flow; in the cleaning process, the semi-finished product is still placed on the vertical lathe structure 2;

b4: after the manipulator 1 is provided with a second tooling claw, the semi-finished product is grabbed onto the rotary jig 3 and horizontally rotated for 180 degrees, and then the semi-finished product is placed on the sucker component 12 at the alignment station with the arc surface facing upwards; the alignment table structure finely adjusts the position of the semi-finished product, so that the suction disc assembly 12 and the semi-finished product are vertically aligned to ensure that the suction disc assembly and the semi-finished product are coaxial, and then the negative pressure cavity is vacuumized, so that the suction disc assembly 12 tightly sucks the positioning surface of the semi-finished product;

b5: after replacing a first tooling claw, the manipulator 1 grabs the pneumatic chuck 6 on the vertical machine tool structure, and after putting the pneumatic chuck 6 into the cleaning machine 10 for cleaning, puts the pneumatic chuck back to the tool placing station;

b6: the mechanical arm 1 grabs the sucker assembly 12 and the semi-finished product into the vertical lathe structure 2 together and is fixed by the rotary clamping disc 13; in the process, the workpiece is held under pressure by the chuck assembly 12.

B7: carrying out first tool outer edge finish turning on the top end surface (namely the top surface) and the outer side wall of the semi-finished product by using a tool on the vertical lathe structure 2; a measuring head is arranged in the vertical lathe structure 2 to measure the height and the diameter of the end face of the outer edge finish turning of the first cutter; the vertical lathe structure 2 is used for carrying out second cutter outer edge finish turning on the semi-finished product according to the comparison between the measurement parameters and the set parameters, so that the height and the diameter of the end face reach set values; when the height and the diameter of the end face reach set values, the workpiece 11 becomes a finished product;

b8: after the first tooling claw is replaced, the manipulator 1 picks the finished product and puts the finished product into the cleaning machine 10 for cleaning, and after cleaning, the finished product can be placed on a visual detection station for detection so as to judge whether the size of the finished product is qualified or not, and if the size of the finished product is qualified, the finished product is placed on a storage station; if the turning is not qualified, grabbing the vertical lathe structure for turning again;

b9: after the manipulator 1 replaces the second tooling claw, the sucker component 12 is grabbed and put into the cleaning machine 10 for cleaning, and the cleaned sucker component 12 is put back to the alignment station. The second semi-finished product is then finished and so on.

The foregoing examples are provided for clarity of illustration only and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications derived therefrom are intended to be within the scope of the present invention.

Claims

1. The automatic workpiece turning process based on the manipulator is characterized in that: comprises a rough machining process of a blank and a fine machining process of a semi-finished product;

the rough machining process of the blank comprises the following steps:

a1: after a first tooling claw tool is installed at a tool placing station in a butt joint mode by a manipulator (1), a pneumatic chuck (6) serving as a carrier is grabbed and placed into a vertical lathe structure (2);

a2: the machine 1 is replaced by a second tooling claw tool at a tool placing station, a blank of a workpiece (11) is grabbed at a depositing station and placed on the pneumatic chuck (6), and the top surface of the blank faces upwards; the three-jaw pneumatic clamping jaw (61) of the pneumatic chuck (6) clamps the bottom of the blank;

a3: after the vertical lathe structure (2) is started, turning the edge of the top surface of the blank to form an arc surface;

a4: after the manipulator (1) unloads the second tool claw, a cleaning spray head arranged on the manipulator (1) is used for cleaning the turned workpiece (11) blank and the pneumatic chuck (6); in the cleaning process, the blank is still placed on the vertical lathe structure (2);

a5: after cleaning, a second tooling claw tool is installed in a butt joint mode on the mechanical arm (1), and the blank is horizontally placed at a rotating station to horizontally rotate 180 degrees; then, the manipulator (1) again grabs the blank at the rotating station to the air chuck (6) at the same position, and the bottom surface of the blank faces upwards;

a6: after the vertical lathe structure (2) is started, turning the bottom surface of the blank to form a groove-shaped inner cavity, and thus obtaining a semi-finished product of the workpiece (11);

b1: under the state that the vertical lathe structure (2) is provided with the pneumatic chuck (6), the manipulator (1) is in butt joint with a second tooling claw, and the semi-finished product is placed on the pneumatic chuck (6) so that the inner cavity of the semi-finished product faces upwards;

b2: the vertical lathe structure (2) carries out first tool finish machining on the end face and the inner cavity of the bottom surface of the semi-finished product, and a measuring head is arranged in the vertical lathe structure (2) to measure the height of the end face and the diameter of the inner cavity after the first tool finish machining; according to the comparison between the measured parameters and the set parameters, performing second-tool finish machining on the semi-finished product to enable the height of the end face and the diameter of the inner cavity to reach set values, and simultaneously machining the inner bottom surface of the inner cavity to serve as a positioning surface aligned with the sucker component (12);

b3: after the manipulator (1) unloads the second tooling claw, cleaning the inner cavity of the semi-finished product and the pneumatic chuck (6) by using a cleaning spray head;

b4: after the manipulator (1) is remounted with a second tooling claw, the semi-finished product is grabbed to the rotating station and horizontally rotated for 180 degrees, and then the semi-finished product is placed on the sucker component (12) at the alignment station with the arc surface facing upwards; the semi-finished product and the sucker component (12) are coaxially aligned at the alignment station, and the sucker component (12) tightly sucks the positioning surface of the semi-finished product;

b5: the manipulator (1) grabs a pneumatic chuck (6) in the vertical lathe structure (2) to a station of the cleaning machine (10) for cleaning;

b6: the mechanical arm (1) grabs the sucker component (12) and the semi-finished product into the vertical lathe structure (2) together;

b7: the vertical lathe structure (2) is used for carrying out first cutter outer edge finish turning on the outer side wall of the semi-finished product and the end face of the top of the semi-finished product; the height and the diameter of the end face of the finish turning of the outer edge of the first cutter are measured by a measuring head arranged in the vertical lathe structure (2); according to the comparison between the measurement parameters and the set parameters, performing second cutter outer edge finish turning on the semi-finished product to enable the height and the diameter of the end face to reach set values; when the height and the diameter of the end face reach set values, the workpiece (11)1 becomes a finished product.

2. The robot-based automatic turning process for workpieces according to claim 1, wherein: the rough machining process of the blank further comprises the step A7: cleaning the inner cavity of the semi-finished product by using a cleaning nozzle; after the semi-finished product of the workpiece (11) is grabbed to the rotating station and horizontally rotated for 180 degrees, the semi-finished product is grabbed to the depositing station, the inner cavity of the semi-finished product faces downwards, and the next blank is grabbed for processing.

3. The robot-based automatic turning process for workpieces according to claim 1, wherein: the semi-finished product finish machining process further comprises the following steps:

b8: the mechanical arm (1) picks a finished product and puts the finished product into a cleaning station for cleaning; then, the finished product is placed on a visual detection station for detection, so that whether the size of the finished product is qualified or not is judged, and if the size of the finished product is qualified, the finished product is placed on a storage station; if the vertical lathe structure is not qualified, grabbing the vertical lathe structure (2) for turning again;

b9: the manipulator (1) picks up the sucker component (12) to a cleaning station for cleaning, and then the sucker component (12) is placed back to the alignment station; and then finishing the second semi-finished product.

4. The robot-based automatic turning process for workpieces according to any one of claims 1 to 3, wherein: an alignment platform mechanism (5) is arranged at the alignment station; the alignment table mechanism (5) and the vertical lathe structure (2) are respectively provided with a rotary clamping disc (13), the rotary clamping disc (13) comprises a rotary carrier table (131), an air pressure connecting table (134) and a clamping table (132), the rotary carrier table (131) is disc-shaped, the air pressure connecting table (134) is fixed at the center of the top surface of the rotary carrier table (131), the top surface of the air pressure connecting table (134) is provided with a quick connector (135), and the quick connector (135) is communicated with an air pressure source; a plurality of clamping tables (132) are annularly distributed on the periphery of the air pressure connecting table (134), and each clamping table (132) is provided with a clamping hole (133).

5. The robot-based automatic turning process for workpieces according to claim 5, wherein: the sucker component (12) and the air chuck (6) are both workpiece (11) carriers; the bottom of the workpiece (11) carrier is provided with a plurality of positioning feet, and the positioning feet correspond to the clamping holes (133) one by one, so that the rotary clamping disc (13) and the workpiece (11) carrier can be connected in an aligned mode.

6. The robot-based automatic turning process for workpieces according to claim 5, wherein: the pneumatic chuck (6) comprises a chuck positioning disc (62) and three-jaw pneumatic clamping jaws (61), the chuck positioning disc (62) is disc-shaped, and the three-jaw pneumatic clamping jaws (61) are fixed on the top surface of the chuck positioning disc (62) and used for clamping a workpiece (11); a chuck pressure maintaining joint (64) is arranged at the center of the bottom surface of the chuck positioning disc (62), the chuck pressure maintaining joint (64) is communicated with the three-jaw pneumatic clamping jaw (61), and the chuck pressure maintaining joint (64) can be in butt joint with the quick joint (135).

7. The robot-based automatic turning process for workpieces according to claim 5, wherein: the sucker assembly (12) comprises a vacuum sucker (122) and a sucker positioning disc (121); the vacuum sucker (122) is connected above the sucker positioning plate (121); the vacuum chuck (122) upper portion is provided with the negative pressure chamber, is provided with sucking disc pressurize joint (124) in the bottom department of sucking disc positioning disk (121), and this sucking disc pressurize joint (124) communicate with the negative pressure chamber to can with quick-operation joint (135) butt joint, in order to adsorb work piece (11) through the negative pressure.

8. The robot-based automatic turning process for workpieces according to claim 4, wherein: an alignment table mechanism (5) is arranged at the alignment post; the contraposition table mechanism (5) comprises a contraposition table (51), a displacement mechanism, an adjusting arm (55), a photoelectric distance measuring probe (54) and a rotary clamping disc (13); the displacement mechanism and the rotary clamping disc (13) are both arranged on the alignment machine table (51); the displacement mechanism comprises a longitudinal module (52) and a transverse module (53), and the moving directions of the longitudinal module (52) and the transverse module (53) are mutually vertical; the adjusting arm (55) is connected to the transverse module (53), and the transverse module (53) is connected to the longitudinal module (52); the adjusting arm (55) is fixed on the transverse module (53), one side of the adjusting arm (55) close to the workpiece (11) is in an arc groove shape, and the adjusting arm (55) is used for pushing the workpiece (11) to move relative to the sucker component (12) so as to enable the workpiece (11) and the sucker component (12) to be coaxial; the photoelectric distance measuring probe (54) is connected to the adjustment arm (55) and can detect the position of the outer peripheral surface of the workpiece (11).

9. The robot-based automatic turning process for workpieces according to claim 1, wherein: a rotary jig (3) is arranged at the rotary station; the rotary jig (3) comprises a rotary carrier (34), a rotary driver (33) and a jacking mechanism (32); the rotary driver (33) is connected to the bottom of the rotary carrier (34) and is used for controlling the horizontal rotation of the rotary carrier; the rotary carrier (34) comprises a carrier table (342) and a side abutting plate (341); a workpiece slot position (347) for placing the workpiece (11) is arranged at the top of the carrier table (342); the side surface abutting plate (341) is arranged at the side surface of the workpiece groove position (347) and is controlled to move by the ejecting mechanism (32), and the side surface abutting plate (341) can abut against or loosen the workpiece (11) in the workpiece groove position (347).

10. The robot-based automatic turning process for workpieces according to claim 1, wherein: the first tooling claw tool and the second tooling claw tool are both tooling claw tools (7); the tooling claw (7) comprises a movable connector (71) and a claw assembly, and a fixed connector (101) which can be matched with the movable connector (71) and can realize quick connection is arranged on the manipulator (1); an electric connection male head (71a) is arranged on one side of the movable connector (71), and the connection direction of the electric connection male head (71a) is the same as that of the movable connector (71); an electric connection female head (101a) is arranged on one side of the fixed connecting head (101), and the connecting direction of the fixed connecting head (101) is the same as that of the electric connection female head (101 a); when the movable connector (71) is in butt joint with the fixed connector (101), the electric connection female head (101a) and the electric connection male head (71a) are in synchronous butt joint connection so as to electrically control the jaw assembly; the clamping jaw assembly comprises a double-station movement module and two clamping jaw fingers (73), the double-station movement module is provided with two moving ends, the clamping jaw fingers (73) are J-shaped, a clamping jaw handle (73b) is arranged on the upper portion of each clamping jaw finger (73), the clamping jaw handle (73b) is fixedly connected with the moving end of the movement module (72), and the two moving ends can be clamped or loosened when being close to or far away from each other.