A swing arm CNC lathe suitable for workpiece processing and its control method

Abstract

This invention relates to the field of swing arm CNC lathes, and in particular to a swing arm CNC lathe suitable for workpiece machining and its control method. The lathe body includes a lathe body with a swing arm for clamping workpieces. The clamping end of the swing arm includes: a jaw assembly mounted on the end of the swing arm; the jaw assembly includes a mounting base with at least two clamping heads that can approach each other for clamping; and a plurality of mounting blocks, the number of which is the same as the number of clamping heads, mounted on the clamping surfaces of corresponding clamping heads. The positioning plate and the mounting blocks are connected by an elastic connecting assembly, thereby elastically displaced by the vibration force of the workpiece during clamping, avoiding rigid contact with the workpiece and preventing resistance between the blanking plate and the jaw assembly, which could lead to damage.

Description

Technical Field

[0001] This invention relates to the field of swing arm CNC lathes, and more particularly to a swing arm CNC lathe suitable for workpiece machining and its control method. Background Art

[0002] CNC lathes are among the most widely used CNC machine tools. They are mainly used for cutting and machining the inner and outer cylindrical surfaces, inner and outer conical surfaces with arbitrary cone angles, complex rotating inner and outer curved surfaces, and cylindrical and conical threads of shaft or disc parts. They can also perform grooving, drilling, reaming, boring, and other machining operations.

[0003] Existing lathes equipped with swing arms or automatic feeding robots mostly use vibratory feeders to screen and discharge workpieces. During the clamping process, the vibratory feeder is constantly vibrating, which causes the blanking plate and workpiece to vibrate as well. Using ordinary clamping devices will create rigid obstacles to the blanking plate during the clamping process, which may lead to the blanking plate tilting or workpiece damage. In view of this, a swing arm CNC lathe suitable for workpiece processing and its control method are proposed. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the existing technology and to propose a swing arm CNC lathe and its control method suitable for workpiece machining.

[0005] To achieve the above objectives, in a first aspect, the present invention provides a swing arm CNC lathe suitable for workpiece machining, comprising a lathe body, wherein a swing arm for clamping a workpiece is provided on the lathe body, and the clamping end of the swing arm includes:

[0006] A gripper assembly is mounted on the end of a swing arm. The gripper assembly includes a mounting base with at least two gripping heads that can approach each other for gripping.

[0007] A plurality of mounting blocks, the number of which is the same as the number of clamping heads, wherein the mounting blocks are mounted on the clamping surfaces of the corresponding clamping heads;

[0008] The positioning plate has several sliding grooves on the back side of its positioning surface. An elastic connecting component is provided in the sliding groove. The elastic connecting component is in an elastic state during the clamping process of the clamping head and in a rigid state after the clamping head has finished clamping.

[0009] A blocking element, wherein the blocking element is disposed on the mounting base;

[0010] It should be noted that the workpiece is screened and discharged by the vibratory feeder. The workpiece falls along the feeder plate of the vibratory feeder and stays on the feeder plate. The workpiece is clamped by the clamping end of the swing arm and transported to the clamping position of the triangular chuck, waiting for the triangular chuck to automatically clamp it.

[0011] The movement and rotation of the swing arm are existing technologies, and will not be elaborated on here.

[0012] The present invention first controls the swing arm to move to the material picking position, and then starts the gripper assembly to drive the two gripping heads to move closer to each other to make the first stroke, and clamps the workpiece through the two positioning plates;

[0013] At this time, the workpiece is vibrating along with the unloading plate. Since the positioning plate and the mounting block are connected by an elastic connection component, the vibration force of the workpiece can be elastically yielded during the clamping process, thereby avoiding rigid contact with the workpiece, which would cause resistance between the unloading plate and the gripper assembly and lead to damage.

[0014] Furthermore, after the workpiece is elastically clamped, the swing arm is activated to move the gripper assembly and the workpiece away from the unloading plate. Then, the gripper assembly is controlled to push in the second stroke, so that the positioning plate and the mounting block become rigidly connected, thereby ensuring that the workpiece is in the center position between the two gripping heads, which facilitates subsequent docking with the triangular chuck on the machine tool.

[0015] Preferably, the sliding groove is a rectangular groove, wherein at least one of the bases has a push block fixed to its bottom, a guide block is fixed to the inner wall of the sliding groove, and a guide surface is formed on the surface of the guide block;

[0016] Specifically, during the process of being elastically clamped, the workpiece vibrates synchronously under the drive of the unloading plate, and then the vibration force is transmitted to the positioning plate through the workpiece. Since it is difficult for the positioning plate to maintain the same vibration frequency as the workpiece, relative sliding easily occurs between the workpiece and the positioning plate, resulting in inconsistent clamping depths for different workpieces.

[0017] The present invention can solve the above problems. Specifically, during the rigid clamping of the workpiece, the pushing block on the base gradually approaches the guiding surface of the guiding block. Under the guidance of the pushing block and the guiding surface, the positioning plate can be driven to move towards the side closer to the blocking member. Thus, the positioning plate drives the clamped workpiece to move towards the side closer to the blocking member, thereby ensuring that the clamping depth of each workpiece is the same, and thus ensuring the machining accuracy.

[0018] Preferably, the sliding groove is a through groove, and the bottom of the positioning plate is provided with a clearance component, the clearance component comprising:

[0019] The mounting slot is formed on the positioning surface of the positioning plate;

[0020] A sliding plate is slidably disposed inside a mounting groove, and a second spring is fixed between both ends of the sliding plate and the mounting groove;

[0021] A positioning piece, the positioning piece being fixed to the bottom surface of one of the bases;

[0022] Specifically, different workpieces may require different pushing distances due to differences in surface roughness or other factors. Some workpieces have a short distance between them and the blocking component, causing the workpiece to contact the blocking component after the positioning plate has pushed a very short distance. When the positioning plate continues to push, relative sliding will occur between it and the workpiece.

[0023] When machining workpieces with relatively smooth surfaces, the adverse effects of relative sliding are relatively small;

[0024] When machining workpieces with relatively rough surfaces, the impact of relative sliding is significant. Therefore, this invention sets up a sliding plate that contacts the workpiece. When the end of the workpiece contacts the blocking component, the positioning plate continues to move towards the blocking component, resulting in relative displacement between the positioning plate and the sliding plate. This avoids relative displacement between the positioning plate and the workpiece, ensuring clamping stability and reducing frictional wear caused by relative displacement on the workpiece or positioning plate.

[0025] Furthermore, after the push block disengages from the guide surface, it continues to move downwards until the positioning piece contacts the sliding plate. The positioning piece then presses against the sliding plate, thereby achieving rigid positioning and ensuring the stability of the workpiece.

[0026] Secondly, the present invention provides a control method for a swing-arm CNC lathe suitable for workpiece machining, the control method comprising the following steps:

[0027] Acquire pressure information, which is generated by a pressure sensor detecting the extrusion value of the workpiece;

[0028] First control information is generated based on pressure information. The first control information is used to control the swing arm to move the workpiece above the waste bin. After a delay, second control information is generated. The second control information is used to control the gripper assembly to release the workpiece.

[0029] Send the first control information to the swing arm;

[0030] Send the second control information to the gripper assembly.

[0031] Compared with the prior art, the present invention has the following beneficial effects:

[0032] 1. When the workpiece is vibrating along with the unloading plate, the positioning plate and the mounting block are connected by an elastic connection component. During the workpiece clamping process, the vibration force of the workpiece can be elastically displaced, thereby avoiding rigid contact with the workpiece. This would prevent the unloading plate and the clamping claw assembly from generating resistance and causing damage.

[0033] 2. After the workpiece is elastically clamped, the swing arm is activated to move the gripper assembly and the workpiece away from the unloading plate. Then, the gripper assembly is controlled to push in the second stroke, so that the positioning plate and the mounting block become rigidly connected, thereby ensuring that the workpiece is in the center position between the two gripping heads, which is convenient for subsequent docking with the triangular chuck on the machine tool.

[0034] Third, during the rigid clamping of the workpiece, the pushing block on the base gradually approaches the guiding surface of the guiding block. Under the guidance of the pushing block and the guiding surface, the positioning plate can be driven to move towards the side closer to the blocking part. Thus, the positioning plate drives the clamped workpiece to move towards the side closer to the blocking part, thereby ensuring that the clamping depth of each workpiece is the same, and thus ensuring the machining accuracy.

[0035] Fourth, by setting a sliding plate, the present invention contacts the workpiece. When the end of the workpiece contacts the blocking member, the positioning plate continues to move towards the blocking member, and a relative displacement is generated between the positioning plate and the sliding plate. This avoids the situation where the positioning plate and the workpiece are relatively displaced. On the one hand, it can ensure the stability of clamping, and on the other hand, it can reduce the friction and wear caused by the relative displacement to the workpiece or the positioning plate. Attached Figure Description

[0036] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0037] Figure 2 For the present invention Figure 1 A magnified structural diagram at point A in the diagram.

[0038] Figure 3 This is a schematic diagram of the mounting base and clamping head structure of the present invention.

[0039] Figure 4 For the present invention Figure 3 A magnified structural diagram at point B in the diagram.

[0040] Figure 5 For the present invention Figure 3 A magnified structural diagram at point C in the diagram.

[0041] Figure 6 For the present invention Figure 3 A magnified structural diagram at point D in the diagram.

[0042] Figure 7 This is a flowchart of the control method of the present invention.

[0043] In the diagram: 1. Lathe body; 101. Vibratory feeder; 102. Triangular chuck; 103. Workpiece; 104. Blanking plate; 2. Swing arm; 3. Mounting base; 4. Clamping head; 5. Mounting block; 6. Positioning plate; 7. Sliding groove; 8. Blocking component; 9. Connecting rod; 10. Base; 11. Slide plate; 12. First spring; 13. Pushing block; 14. Guide block; 15. Mounting groove; 16. Sliding plate; 17. Second spring; 18. Positioning plate; 19. Clearance space; 20. Controller; 21. Scrap bin; 22. Groove; 23. Pressure sensor; 24. Detection unit; 25. Trigger unit; 26. Third spring. Detailed Implementation

[0044] The following description is intended to disclose the invention and enable those skilled in the art to implement it. The preferred embodiments described below are merely examples, and other obvious variations will occur to those skilled in the art.

[0045] like Figures 1 to 6 The illustrated swing arm CNC lathe for workpiece machining includes a lathe body 1, on which a swing arm 2 for clamping a workpiece 103 is provided. The clamping end of the swing arm 2 includes:

[0046] The gripper assembly is mounted on the end of the swing arm 2. The gripper assembly includes a mounting base 3, which has at least two gripping heads 4 that can approach each other for gripping.

[0047] A number of mounting blocks 5, the number of mounting blocks 5 being the same as the number of clamping heads 4, are mounted on the clamping surfaces of the corresponding clamping heads 4;

[0048] The positioning plate 6 has several sliding grooves 7 on the back side of its positioning surface. An elastic connecting component is provided in the sliding groove 7. The elastic connecting component is in an elastic state during the clamping process of the clamping head 4 and in a rigid state after the clamping head 4 has finished clamping.

[0049] Blocking element 8 is mounted on mounting base 3;

[0050] It should be noted that the workpiece 103 is screened and discharged by the vibrating plate 101. The workpiece 103 falls along the feeding plate 104 of the vibrating plate 101 and stays on the feeding plate 104. The workpiece 103 is clamped by the clamping end of the swing arm 2 and transported to the clamping position of the triangular chuck 102, waiting for the automatic clamping of the triangular chuck 102.

[0051] The movement and rotation of the swing arm 2 are existing technologies, and will not be elaborated on here;

[0052] During the clamping process, the vibratory plate is constantly vibrating, which causes the blanking plate and the workpiece to also vibrate. If a conventional clamping device is used, it will create rigid resistance to the blanking plate during the clamping process, which may lead to the blanking plate tilting or the workpiece being damaged.

[0053] The present invention first controls the swing arm 2 to move to the material picking position, and then starts the gripper assembly to drive the two gripping heads 4 to move closer to each other to make the first stroke, and clamps the workpiece 103 through the two positioning plates 6.

[0054] At this time, the workpiece 103 is in a state of vibration along with the unloading plate 104. Since the positioning plate 6 and the mounting block 5 are connected by an elastic connection component, the vibration force of the workpiece 103 can be elastically yielded during the clamping process, thereby avoiding rigid contact with the workpiece 103, which would cause the unloading plate 104 and the gripper assembly to generate resistance and cause damage.

[0055] Furthermore, after the workpiece 103 is elastically clamped, the swing arm 2 is activated to move the gripper assembly and the workpiece 103 away from the unloading plate 104. Then, the gripper assembly is controlled to push in the second stroke, so that the positioning plate 6 and the mounting block 5 become rigidly connected, thereby ensuring that the workpiece 103 is in the center position between the two gripping heads 4, which is convenient for subsequent docking with the triangular chuck 102 on the machine tool.

[0056] As a further embodiment of the present invention, the resilient connection component includes:

[0057] Several connecting rods 9 are fixed on the surface of the mounting block 5. The connecting rods 9 are inserted into the sliding groove 7, and the ends of the connecting rods 9 are fixed with bases 10.

[0058] Slide 11 is vertically slidably mounted on the surface of connecting rod 9;

[0059] The first spring 12 is disposed between the base 10 and the slide plate 11;

[0060] Specifically, a first spring 12 is provided between the base 10 and the mounting groove 15. When picking up the material, the gripper assembly pushes the first stroke. At this time, the positioning plate 6 is in an elastic clamping state. During the vibration of the workpiece 103, the first spring 12 is compressed, which can provide a clearance space 19 for the positioning plate 6, thereby avoiding rigid contact between the positioning plate 6 and the workpiece 103 during the picking up process, which could lead to damage to the workpiece 103 or the unloading plate 104.

[0061] Furthermore, after the workpiece 103 is removed from the unloading plate 104, the gripper assembly pushes in a second stroke, and the base 10 of the connecting rod 9 contacts the bottom of the sliding groove 7, thereby completing rigid positioning. Compared with elastic positioning, rigid positioning can ensure the stability of the workpiece 103 during the transfer and clamping process of the triangular chuck 102.

[0062] As a further embodiment of the present invention, the sliding groove 7 is a rectangular groove, wherein at least one base 10 has a push block 13 fixed to its bottom, and a guide block 14 is fixed to the inner wall of the sliding groove 7, and a guide surface is provided on the surface of the guide block 14.

[0063] Specifically, during the process of being elastically clamped, the workpiece 103 vibrates synchronously under the drive of the unloading plate 104, and then the vibration force is transmitted to the positioning plate 6 through the workpiece 103. Since the positioning plate 6 is difficult to maintain the same vibration frequency as the workpiece 103, relative sliding easily occurs between the workpiece 103 and the positioning plate 6, resulting in inconsistent clamping depths of different workpieces 103.

[0064] The present invention can solve the above problems. Specifically, during the process of rigidly clamping the workpiece 103, the pushing block 13 on the base 10 gradually approaches the guiding surface of the guiding block 14. Under the guidance of the pushing block 13 and the guiding surface, the positioning plate 6 can be driven to move towards the side closer to the blocking member 8. Thus, the clamped workpiece 103 is driven to move towards the side closer to the blocking member 8 through the positioning plate 6, thereby ensuring that the clamping depth of each workpiece 103 is the same, and thus ensuring the processing accuracy.

[0065] As a further embodiment of the present invention, the sliding groove 7 is a through groove, and the bottom of the positioning plate 6 is provided with a clearance component, which includes:

[0066] Mounting slot 15 is formed on the positioning surface of positioning plate 6;

[0067] A sliding plate 16 is slidably disposed inside the mounting groove 15, and a second spring 17 is fixed between both ends of the sliding plate 16 and the mounting groove 15.

[0068] Positioning piece 18, the positioning piece 18 is fixed to the bottom surface of one of the bases 10;

[0069] Specifically, different workpieces 103 may require different pushing distances due to differences in surface roughness or other factors. Some workpieces 103 have a shorter distance from the blocking member 8, causing the positioning plate 6 to push the workpiece 103 into contact with the blocking member 8 after a very short distance. When the positioning plate 6 continues to push, relative sliding will occur between it and the workpiece 103.

[0070] When machining a workpiece 103 with a relatively smooth surface, the adverse effects caused by relative sliding are relatively small;

[0071] When machining a workpiece 103 with a relatively rough surface, the impact of relative sliding is significant. Therefore, this invention provides a sliding plate 16 that contacts the workpiece 103. When the end of the workpiece 103 contacts the blocking member 8, the positioning plate 6 continues to move closer to the blocking member 8, resulting in relative displacement between the positioning plate 6 and the sliding plate 16. This avoids relative displacement between the positioning plate 6 and the workpiece 103, ensuring clamping stability and reducing frictional wear caused by relative displacement on the workpiece 103 or the positioning plate 6.

[0072] Furthermore, after the push block 13 disengages from the guide surface, it continues to move downwards until the positioning piece 18 contacts the sliding plate 16. The positioning piece 18 then presses against the sliding plate, thereby completing rigid positioning and ensuring the stability of the workpiece 103.

[0073] Although the workpiece 103 has been deburred in the previous processing, there may still be cases where the burrs on the end face of some workpiece 103 are not properly processed. When there are burrs on the surface of workpiece 103, there will be burr obstruction between the blocking member 8 and workpiece 103, which will affect the clamping depth of workpiece 103. In view of this, the following implementation method is proposed: the blocking member 8 is cylindrical and fixed in the middle of the mounting base 3. The positioning plate 6 is provided with a clearance space 19 on the side near the blocking plate.

[0074] Specifically, under normal circumstances, the burrs generated during the cutting process are mostly located at the edge of the end of the workpiece 103, and there are very few burrs in the middle of the end face of the workpiece 103. By setting the blocking member 8 to be cylindrical and having a cross-sectional area smaller than the end face area of ​​the workpiece 103, the blocking member 8 can be prevented from contacting the edge burrs of the workpiece 103, thereby reducing the impact of burrs on the clamping depth of the workpiece 103.

[0075] Secondly, the burrs at the end of the workpiece 103 can also hinder clamping and cause instability in clamping. The present invention provides a clearance space 19 on one side of the positioning plate 6 so that the positioning plate 6 will not clamp the end of the workpiece 103 during clamping, thereby avoiding the burr position and avoiding the adverse effects of the burr position on clamping.

[0076] Normally, most workpieces 103 end faces do not have burrs. Burrs on the edges can be cut or ground in subsequent processing.

[0077] However, some cast alloys may have defects such as air bubbles inside, which may cause burrs to be generated at the end face during the previous cutting process. After processing, the length of the finished product will also be affected. Therefore, they need to be discarded. In view of this, the following implementation method is proposed: the end of the blocking member 8 is provided with a detection component, which is used to detect whether there are burrs at the end of the workpiece 103. The lathe body 1 is provided with a controller 20 and a scrap bin 21. When the controller 20 detects that there are burrs at the end of the workpiece 103, it controls the swing arm 2 to move the workpiece 103 to the scrap bin 21.

[0078] The detection component detects burrs on the end face. When burrs are present, the workpiece 103 is promptly removed from the fixation and placed into the waste bin 21.

[0079] As a further embodiment of the present invention, the detection component includes:

[0080] Groove 22, groove 22 is formed at the end of the blocking member 8;

[0081] Pressure sensor 23 is disposed inside groove 22. When pressure sensor 23 detects that the pressure value reaches the set value, it determines that there is a burr at the end of workpiece 103.

[0082] It should be noted that the pressure sensor 23 has a detection part 24 and a trigger part 25, and a third spring 26 is provided between the detection part 24 and the trigger part 25;

[0083] During the process of moving and contacting the blocking member 8, the workpiece 103 will contact the edge of the groove 22, and the burr will be in a protruding position. This will squeeze the trigger part 25 of the pressure sensor 23 located inside the groove 22, thereby compressing the third spring 26, so that the detection part 24 can detect the increase in pressure value, thereby determining that the end of the workpiece 103 has a burr.

[0084] like Figure 7 The above describes a control method for a swing-arm CNC lathe suitable for workpiece machining. The control method includes the following steps:

[0085] Pressure information is acquired by pressure sensor 23 detecting the extrusion value of workpiece 103;

[0086] First control information is generated based on pressure information. The first control information is used to control the swing arm 2 to move the workpiece 103 above the waste bin 21. After a delay, second control information is generated. The second control information is used to control the gripper assembly to release the workpiece 103.

[0087] Send the first control information to swing arm 2;

[0088] Send the second control information to the gripper assembly;

[0089] The pressure sensor 23 detects the extrusion state of the workpiece 103. When a pressure value is detected, it indicates that there are burrs. At this time, the swing arm 2 is controlled to move above the waste bin 21 and the gripper assembly is released, thereby discharging the waste into the waste bin 21.

[0090] As a further embodiment of the present invention, the specific control method of the swing arm 2 includes the following steps:

[0091] Obtain first control information;

[0092] According to the first control information, it swings above the waste bin 21.

[0093] As a further embodiment of the present invention, the pressure sensor 23 operates in the following manner:

[0094] Obtain the pressure value;

[0095] Pressure information is generated based on the pressure value;

[0096] The pressure information is sent to the controller 20.

[0097] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed invention.

Claims

1. A swing arm CNC lathe suitable for workpiece machining, comprising a lathe body (1), wherein a swing arm (2) for clamping a workpiece (103) is provided on the lathe body (1), characterized in that, The clamping end of the swing arm (2) includes: A gripper assembly is mounted on the end of a swing arm (2). The gripper assembly includes a mounting base (3) having at least two gripping heads (4) that can approach each other for gripping. A plurality of mounting blocks (5), the number of which is the same as the number of clamping heads (4), wherein the mounting blocks (5) are mounted on the clamping surfaces of the corresponding clamping heads (4); The positioning plate (6) has several sliding grooves (7) on the back side of the positioning surface. An elastic connecting component is provided in the sliding groove (7). The elastic connecting component is in an elastic state during the clamping process of the clamping head (4) and in a rigid state after the clamping head (4) has finished clamping. A blocking element (8) is provided on the mounting base (3); The resilient connection component includes: Several connecting rods (9) are fixed on the surface of the mounting block (5). The connecting rods (9) are inserted into the sliding groove (7). The end of the connecting rod (9) is fixed with a base (10). Slide plate (11), which is vertically slidably fitted onto the surface of connecting rod (9); A first spring (12) is disposed between the base (10) and the slide plate (11); The sliding groove (7) is a rectangular groove, wherein at least one of the bases (10) has a push block (13) fixed to its bottom, and a guide block (14) is fixed to the inner wall of the sliding groove (7), and a guide surface is provided on the surface of the guide block (14).

2. A swing-arm CNC lathe suitable for workpiece machining according to claim 1, characterized in that, The sliding groove (7) is a through groove, and the bottom of the positioning plate (6) is provided with a clearance component, the clearance component including: Mounting slot (15), which is formed on the positioning surface of positioning plate (6); A sliding plate (16) is slidably disposed inside the mounting groove (15), and a second spring (17) is fixed between both ends of the sliding plate (16) and the mounting groove (15). Positioning piece (18), which is fixed to the bottom surface of one of the bases (10).

3. A swing-arm CNC lathe suitable for workpiece machining according to claim 1, characterized in that, The blocking member (8) is cylindrical and is fixed in the middle of the mounting base (3). The positioning plate (6) has a clearance space (19) on the side near the blocking plate.

4. A swing-arm CNC lathe suitable for workpiece machining according to claim 3, characterized in that, The end of the blocking member (8) is provided with a detection component, which is used to detect whether there are burrs at the end of the workpiece (103). The lathe body (1) is provided with a controller (20) and a scrap bin (21). The controller (20) is used to control the swing arm (2) to move the workpiece (103) to the scrap bin (21) when a burr is detected at the end of the workpiece (103).

5. A swing-arm CNC lathe suitable for workpiece machining according to claim 4, characterized in that, The detection components include: The groove (22) is formed at the end of the blocking member (8); Pressure sensor (23) is located inside the groove (22). When the pressure sensor (23) detects that the pressure value reaches the set value, it determines that the end of the workpiece (103) has burrs.

6. A control method for a swing-arm CNC lathe suitable for workpiece machining, applicable to the swing-arm CNC lathe suitable for workpiece machining as described in claim 5, characterized in that, The control method includes the following steps: The pressure information is obtained by the pressure sensor (23) detecting the extrusion value of the workpiece (103); First control information is generated based on pressure information. The first control information is used to control the swing arm (2) to move the workpiece (103) above the waste bin (21). Second control information is generated after a delay. The second control information is used to control the gripper assembly to release the workpiece (103). Send the first control information to the swing arm (2); Send the second control information to the gripper assembly.

7. The control method for a swing-arm CNC lathe suitable for workpiece machining according to claim 6, characterized in that, The specific control method of the swing arm (2) includes the following steps: Obtain first control information; According to the first control information, it swings above the waste bin (21).

8. A control method for a swing-arm CNC lathe suitable for workpiece machining according to claim 6, characterized in that, The specific working method of the pressure sensor (23) includes the following steps: Obtain the pressure value; Pressure information is generated based on the pressure value; The pressure information is sent to the controller (20).

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