Oil seal inner ring multi-machine cooperation flexible machining equipment and control method

Abstract

The invention discloses oil seal inner ring multi-machine cooperation flexible machining equipment and a control method. According to the technical key points, the three numerical control lathes, the transfer device for multi-machine cooperative machining, the feeding device and the discharging device are included, a grabbing mechanism is arranged on the transfer device for multi-machine cooperative machining, the grabbing mechanism comprises a rotating frame, a telescopic rod, a driving assembly and a grabbing claw, and the feeding device comprises a feeding conveying belt, a feeding mechanism and a maintaining mechanism. According to the oil seal inner ring grabbing device, the grabbing mechanism at the other end of the rotating arm can put down a machined oil seal inner ring and grab a to-be-machined oil seal inner ring while materials are taken and replaced in the numerical control lathe, and the material replacing time is shortened. The three numerical control lathes are fed at the same time, the production efficiency is improved, equipment is reduced, the equipment utilization rate is increased, the equipment occupied area is reduced, and the later maintenance cost is reduced.

Description

Technical Field

[0001] The present invention relates to the field of oil seal part processing, and more specifically to a multi-machine collaborative flexible processing equipment and control method for the inner ring of an oil seal. Background Art

[0002] In the current production and processing of the inner ring of an oil seal, numerically controlled machine tools are still the basic equipment of enterprises. In the processing workshop, numerically controlled machine tools and technicians basically adopt a one-person-one-machine method, and there is a lack of collaborative operation between numerically controlled machine tools. Workers repeat the single loading and unloading actions for a long time in the production workshop. It is difficult to maintain concentration for a long time in a high-noise environment, which is likely to cause unqualified products and labor injuries. Therefore, the method of using a manipulator / industrial robot to grasp the inner ring of the oil seal for loading and unloading has emerged as the times require. Currently, the existing manipulator only serves one numerically controlled machine tool, resulting in relatively low equipment utilization rate, high later maintenance cost, and large floor area. How to reduce equipment, improve equipment utilization rate, reduce later maintenance cost, and reduce floor area is crucial for improving enterprise efficiency. Summary of the Invention

[0003] Aiming at the deficiencies of the existing technology, the purpose of the present invention is to provide a multi-machine collaborative flexible processing equipment and control method for the inner ring of an oil seal to solve the above technical problems.

[0004] To achieve the above purpose, the present invention provides the following technical solutions: A multi-machine collaborative flexible processing equipment for the inner ring of an oil seal includes three numerically controlled lathes, which are distributed in a "U" shape. A multi-machine collaborative processing transfer device, a loading device, and an unloading device are arranged between several numerically controlled lathes;

[0005] The multi-machine collaborative processing transfer device includes: a base and a rotating seat arranged on the base. The rotating seat can rotate horizontally, and the rotation angle is 360°. A swing arm is arranged on the rotating seat. A rotating arm is arranged on the swing arm. A grasping mechanism is arranged on the rotating arm. The swing arm and the rotating seat can rotate vertically, and the rotation angle is 360°. The rotating arm and the swing arm can rotate vertically, and the rotation angle is 360°. A rotating sleeve is arranged on the outer side of the rotating arm. The rotating sleeve and the rotating arm can rotate axially. An activity groove is arranged on the rotating sleeve. The grasping mechanism is arranged in the activity groove. The connection position between the rotating arm and the swing arm is located at the middle position of the rotating arm. Rotating sleeves are arranged at both ends of the rotating arm. The grasping mechanism includes:

[0006] A rotating frame, rotatably arranged in the activity groove;

[0007] A telescopic rod, slidably connected to the rotating frame. There are several telescopic rods, which are circumferentially distributed on the rotating frame;

[0008] A driving component, arranged in the rotating frame and connected to the telescopic rod to drive the telescopic rod to move;

[0009] A grabbing claw is fixedly arranged at the end of the telescopic rod and is used to grab / release the inner ring of the oil seal;

[0010] The feeding device comprises:

[0011] Loading conveyor belt, used to sequentially convey the inner rings of oil seals to be processed;

[0012] A feeding mechanism, which is arranged on the upper side of the feeding conveyor belt and is used to output the inner rings of the oil seals one by one;

[0013] A holding mechanism, which is arranged on the upper side of the feeding conveyor belt and is used to block the inner ring of the oil seal so that it remains in the position to be grasped; the holding mechanism and the feeding mechanism are arranged in sequence; the position between the holding mechanism and the feeding mechanism is the feeding position;

[0014] The unloading assembly includes an unloading conveyor belt, and the unloading conveyor belt is adjacent to the loading conveyor belt.

[0015] As a further improvement of the present invention, the driving assembly includes a driving cylinder, which is provided with a plurality of driven rods, the driven rods correspond to the number of telescopic rods, and are connected to the telescopic rods one-to-one, the driven rods extend / retract simultaneously, a high-pressure air nozzle is provided in the movable groove, the high-pressure air nozzle is arranged toward the rotating frame, a jet switch is provided in the movable groove, the jet switch is connected to the high-pressure air nozzle, and a driving block is provided on the grabbing claw, and the position of the driving block corresponds to the position of the jet switch.

[0016] As a further improvement of the present invention, a transmission switch and a pushing block are provided on the grabbing claw. The pushing block is movably arranged on the grabbing claw. When the grabbing claw grabs the inner ring of the oil seal, the pushing block is located close to the grabbing claw. When the grabbing claw does not grab the inner ring of the oil seal, the pushing block is located away from the grabbing claw. The pushing block pushes the feeding mechanism and keeps the mechanism moving.

[0017] As a further improvement of the present invention, the feeding mechanism comprises:

[0018] The feeding bracket is fixedly arranged on the frame of the feeding conveyor belt and is located on both sides of the feeding conveyor belt;

[0019] A first reference block is fixedly arranged at the end of the feeding bracket;

[0020] A first limit block is fixedly arranged on the upper side of the feeding bracket;

[0021] A loading frame, which is slidably disposed on the loading bracket and is located between the first limit block and the first reference block;

[0022] A first driven block is fixedly arranged on the loading frame;

[0023] The first spring is arranged between the loading frame and the first reference block, one end of the first spring is fixedly connected to the loading frame, and the other end of the first spring is fixedly connected to the reference block.

[0024] As a further improvement of the present invention, the holding mechanism comprises:

[0025] The retaining bracket is fixedly arranged on the frame of the feeding conveyor belt and is located on both sides of the feeding conveyor belt;

[0026] A second reference block is fixedly arranged at the end of the holding bracket;

[0027] A second limiting block is fixedly arranged on the upper side of the holding bracket;

[0028] A holding frame, the holding frame is slidably disposed on the holding bracket and is located between the second limit block and the second reference block;

[0029] A second follower block is fixedly arranged on the retaining frame;

[0030] The second spring is arranged between the holding frame and the second reference block, one end of the second spring is fixedly connected to the holding frame, and the other end of the second spring is fixedly connected to the reference block.

[0031] As a further improvement of the present invention, a loading switch is provided on the frame of the loading conveyor belt, and the loading switch includes a switch frame, a switch spring, and a switch button. The switch spring is arranged in the switch frame, and the switch button is slidably connected in the switch frame. When the switch button is separated from the bottom of the switch frame, an electrical signal is triggered, and when the loading switch contacts the transmission switch, an electrical signal is triggered.

[0032] As a further improvement of the present invention, a pushing rod is provided between the first driven block and the second driven block, and a pushing groove is provided at the lower side of the pushing block.

[0033] A control method for a multi-machine collaborative flexible processing device for an oil seal inner ring, comprising the following steps:

[0034] Step 1: First, install the inner ring of the oil seal on the gripping claw, manually install the inner ring of the oil seal to be processed on three CNC lathes, and start the CNC lathes. Set the opposite CNC lathes as A1 and A2, and the CNC lathe between A1 and A2 as B; set the two ends of the rotating arm as C1 and C2 respectively;

[0035] Step 2: Rotate the rotating seat, rocker arm and rotating arm so that C1 is close to A1 and C2 is close to A2, and wait for the inner rings of the oil seals in A1 and A2 to be processed;

[0036] Step 3: After the inner rings of the oil seals in A1 and A2 are processed, the rotating arm rotates so that C1 extends into A1 and C2 extends into A2. The rotating frame rotates so that the idle grabbing claws take the processed inner rings of the oil seals, and then rotates to place the inner rings of the oil seals to be processed into the processing position of the CNC lathe.

[0037] Step 4: The rotating arm rotates to make C1 and C2 leave the CNC lathe, and then the rotating seat, rocker arm and rotating arm rotate to make C1 / C2 located directly above the loading position; at this time, C2 / C1 is close to B, waiting for the inner ring of the oil seal in B to be processed;

[0038] Step 5: After the inner ring of the oil seal in B is processed, the rotating arm rotates to allow C2 / C1 to extend into B, and the rotating frame rotates to allow the idle grabbing claw to take the processed inner ring of the oil seal, and then rotates to place the inner ring of the oil seal to be processed to the processing position of the CNC lathe; at the same time, C1 / C2 places the processed inner ring of the oil seal to the loading position, and then re-grabs the inner ring of the oil seal to be processed;

[0039] Step 6: Rotate the rotating arm to make C2 / C1 leave B, then rotate the rotating seat, rocker arm and rotating arm to make C1 close to A1 and C2 close to A2, and wait for the inner ring of the oil seal in A1 and A2 to be processed;

[0040] Step 7: After the inner rings of the oil seals in A1 and A2 are processed, the rotating arm rotates so that C1 extends into A1 and C2 extends into A2. The rotating frame rotates so that the idle grabbing claws take the processed inner rings of the oil seals, and then rotates to place the inner rings of the oil seals to be processed into the processing position of the CNC lathe.

[0041] Step 8: The rotating arm rotates to make C1 and C2 leave the CNC lathe, and then the rotating seat, rocker arm and rotating arm rotate to make C2 / C1 located directly above the loading position; at this time, C1 / C2 is close to B, waiting for the inner ring of the oil seal in B to be processed;

[0042] Step 9. The inner ring of the oil seal in B is processed. The rotating arm rotates to allow C1 / C2 to extend into B. The rotating frame rotates to allow the idle grabbing claw to take the processed inner ring of the oil seal, and then rotates to place the inner ring of the oil seal to be processed to the processing position of the CNC lathe. At the same time, C2 / C1 places the processed inner ring of the oil seal to the loading position, and then re-grasps the inner ring of the oil seal to be processed.

[0043] Step 10: The rotating arm rotates to make C1 / C2 leave B, and the rotating seat, rocker arm and rotating arm rotate to make C1 close to A1 and C2 close to A2, waiting for the inner ring of the oil seal in A1 and A2 to be processed;

[0044] Step 11. Go to step 3.

[0045] As a further improvement of the present invention, the rotating frame in step 3, step 5, step 7, and step 9 rotates so that the idle grabbing claws take down the processed oil seal inner ring, and then rotates to place the oil seal inner ring to be processed at the processing position of the CNC lathe as follows:

[0046] S1. The rotating frame rotates so that the unused gripping claws are aligned with the processed inner ring of the oil seal;

[0047] S2, the driving assembly runs, driving the grabbing claw to move toward the processed inner ring of the oil seal until it contacts the inner ring of the oil seal, and then the grabbing claw grabs the processed inner ring of the oil seal;

[0048] S3, the CNC lathe loosens the processed inner ring of the oil seal, and the drive assembly runs to drive the processed inner ring of the oil seal away from the grasping position;

[0049] S4, the rotating frame rotates so that the grasping claw grasping the inner ring of the oil seal to be processed is aligned with the grasping position;

[0050] S5, the driving assembly runs, driving the grabbing claw to move to the grabbing position until the inner ring of the oil seal to be processed is located in the grabbing position and is grabbed by the CNC lathe, and then the grabbing claw releases the inner ring of the oil seal to be processed;

[0051] S6. The drive assembly runs, driving the grabbing claw away from the grabbing position.

[0052] As a further improvement of the present invention, the steps of placing the processed oil seal inner ring to the loading position and then re-grasping the oil seal inner ring to be processed in step five and step nine are as follows:

[0053] S1, the driving assembly drives the grab claw to descend. During this process, the transmission switch first conflicts with the switch button, triggering an electrical signal, and the feeding conveyor belt stops running; then the grab claw continues to descend until the inner ring of the oil seal on the grab claw conflicts with the feeding conveyor belt;

[0054] S2, the grab claw releases the inner ring of the oil seal, pushing the block away from the grab claw, and then pushing the feeding mechanism and the holding mechanism away from the feeding conveyor belt;

[0055] S3, the driving assembly runs to drive the grabbing claw to rise. During this process, the switch button is first separated from the bottom of the switch frame, triggering an electrical signal, and the feeding conveyor belt runs. As the grabbing claw continues to rise, the push block is separated from the push rod, and the feeding frame and the holding frame are reset;

[0056] S4, the driving assembly runs and drives the grab claw to descend. During this process, the transmission switch first conflicts with the switch button, triggering an electrical signal, and the feeding conveyor belt stops running; then the grab claw continues to descend until the grab claw conflicts with the oil seal to be processed at the feeding position, and then the grab claw grabs the inner ring of the oil seal, and the push block drives the feeding mechanism and the holding mechanism to reset;

[0057] S5. The driving assembly runs to drive the grab claw to rise. During this process, the switch button is first separated from the bottom of the switch frame, triggering an electrical signal and the feeding conveyor belt runs.

[0058] The beneficial effect of the present invention is that while taking and changing materials in the CNC lathe, the grabbing mechanism at the other end of the rotating arm puts down the processed oil seal inner ring and grabs the oil seal inner ring to be processed, which reduces the time of changing materials. It can feed materials to three CNC lathes at the same time, improve production efficiency, reduce equipment, improve equipment utilization, reduce equipment footprint, and reduce later maintenance costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] Figure 1 It is a schematic diagram of the top view of the structure of the present invention;

[0060] Figure 2 It is a schematic diagram of the structure of a transfer device for multi-machine collaborative processing;

[0061] Figure 3 It is a structural diagram of the rocker arm, rotating arm, rotating sleeve and grabbing mechanism;

[0062] Figure 4 It is a structural diagram of the grasping mechanism;

[0063] Figure 5 It is a structural schematic diagram of the feeding mechanism and the feeding conveyor belt;

[0064] Figure 6 It is a schematic diagram of the structure of the holding mechanism and the feeding conveyor belt;

[0065] Figure 7 It is a schematic diagram of the structure of the feeding frame, the holding frame and the pushing rod;

[0066] Figure 8 It is a schematic diagram of the structure of the feeding switch and the transmission switch.

[0067] Marking description: 1. Transfer device for multi-machine collaborative processing; 11. Base; 12. Rotating base; 13. Rocker arm; 14. Rotating arm; 15. Rotating sleeve; 151. Movable groove; 1511. High-pressure air nozzle; 1512. Jet switch; 1513. Driving block; 2. Loading device; 21. Loading conveyor belt; 22. Loading mechanism; 221. Loading support; 222. First reference block; 223. First limit block; 224. Loading frame; 225. First driven block; 226. First spring; 23. Holding mechanism; 231. Holding support; 232. Second reference block; 233. Second limit block; 234. Holding frame; 235. Second driven block; 236. Second spring; 3. Unloading device; 31. Unloading conveyor belt; 4. Gripping mechanism; 41. Rotating frame; 42. Telescopic rod; 43. Driving assembly; 431. Driving cylinder; 432. Driven rod; 44. Gripping claw; 441. Transmission switch; 442. Pushing block; 443. Pushing groove; 5. Loading switch; 51. Switch frame; 52. Switch spring; 53. Switch button; 6. Pushing rod. Detailed implementation mode

[0068] The following will further elaborate on the present invention in conjunction with the embodiments given in the accompanying drawings.

[0069] Refer to Figure 1-Figure 8 As shown, the multi-machine collaborative flexible processing equipment for the inner ring of the oil seal in this embodiment includes three numerically controlled lathes, which are distributed in a "U" shape. A transfer device 1 for multi-machine collaborative processing, a loading device 2, and an unloading device 3 are provided between several numerically controlled lathes.

[0070] The transfer device 1 for multi-machine collaborative processing includes: a base 11 and a rotating base 12 provided on the base 11. The rotating base 12 can rotate horizontally with a rotation angle of 360°. A rocker arm 13 is provided on the rotating base 12. A rotating arm 14 is provided on the rocker arm 13. A gripping mechanism 4 is provided on the rotating arm 14. The rocker arm 13 and the rotating base 12 can rotate vertically with a rotation angle of 360°. The rotating arm 14 and the rocker arm 13 can rotate vertically with a rotation angle of 360°. A rotating sleeve 15 is provided on the outer side of the rotating arm 14. The rotating sleeve 15 can rotate axially with the rotating arm 14. A movable groove 151 is provided on the rotating sleeve 15. The gripping mechanism 4 is arranged in the movable groove 151. The connection position between the rotating arm 14 and the rocker arm 13 is located at the middle position of the rotating arm 14. Rotating sleeves 15 are provided at both ends of the rotating arm 14. The gripping mechanism 4 includes:

[0071] A rotating frame 41, rotatably arranged in the movable groove 151;

[0072] A telescopic rod 42, slidably connected to the rotating frame 41. There are several telescopic rods 42, which are circumferentially distributed on the rotating frame 41;

[0073] A driving assembly 43 is disposed in the rotating frame 41 and connected to the telescopic rod 42 to drive the telescopic rod 42 to move;

[0074] A grab claw 44 is fixedly arranged at the end of the telescopic rod 42 and is used to grab / release the inner ring of the oil seal;

[0075] The feeding device 2 comprises:

[0076] A feeding conveyor belt 21 is used to sequentially convey the oil seal inner rings to be processed;

[0077] A feeding mechanism 22, which is arranged on the upper side of the feeding conveyor belt 21 and is used to output the inner rings of the oil seals one by one;

[0078] The holding mechanism 23 is arranged on the upper side of the feeding conveyor belt 21, and is used to block the inner ring of the oil seal to keep it in the position to be grasped; the holding mechanism 23 and the feeding mechanism 22 are arranged in sequence; the position between the holding mechanism 23 and the feeding mechanism 22 is the feeding position;

[0079] The unloading assembly includes an unloading conveyor belt 31 , and the unloading conveyor belt 31 is adjacent to the loading conveyor belt 21 .

[0080] According to the above technical solution, the relative CNC lathes are A1 and A2, and the CNC lathe between A1 and A2 is B; and the two ends of the rotating arm 14 are C1 and C2.

[0081] A rotating frame 41 is provided with four grabbing claws 44 .

[0082] The loading conveyor belt 21 is operated to transfer the inner ring of the oil seal to be processed to the loading position, and transfers the inner ring of the oil seal processed at the loading position to the unloading conveyor belt 31 .

[0083] The unloading conveyor belt 31 is in operation to convey the processed oil seal inner ring to the outside for collection.

[0084] The rotating seat 12 , the rocker arm 13 , the rotating wall and the rotating sleeve 15 are rotated to adjust the position of the grabbing mechanism 4 .

[0085] When the inner ring of the oil seal to be processed is located at the loading position, it is blocked by the holding mechanism 23 and the position is stable.

[0086] When the equipment is running for processing, the transfer device 1 for multi-machine collaborative processing is operated to move the grabbing mechanism 4 to the upper position, and then the driving component 43 is operated to make the grabbing claw 44 move downward, and the processed oil seal inner ring is placed on the loading conveyor belt 21, and then the driving component 43 is operated to drive the grabbing claw 44 to rise. At the same time, the loading conveyor belt 21 is operated to transfer the oil seal inner ring to be processed to the loading position, and transfer the processed oil seal inner ring to the lower feeding conveyor belt 31. Then the driving component 43 is operated to drive the grabbing claw 44 to descend, and the grabbing claw 44 grabs the oil seal inner ring to be processed.

[0087] The time for the CNC lathe to complete the processing of the inner ring of the oil seal is that A1 and A2 are completed at the same time, and the inner rings of the oil seals in A1 and A2 are removed and placed at the same time. The process is as follows: the rotating seat 12, the rocker arm 13, the rotating arm 14, and the rotating sleeve 15 rotate so that the two ends of the rotating arm 14 are located in A1 and A2, the rotating frame 41 rotates so that the vacant grabbing claw 44 corresponds to the processing position of the CNC lathe, then the driving component 43 operates, the grabbing claw 44 moves to the processing position, grabs the inner ring of the oil seal that has been processed at the processing position, then the driving component 43 operates to retract the grabbing claw 44, then the rotating frame 41 rotates, and the grabbing claw 44 that grabs the inner ring of the oil seal to be processed is rotated to correspond to the processing position, then the driving component 43 operates, the grabbing claw 44 moves to the processing position, and places the inner ring of the oil seal at the processing position, then the driving component 43 moves to drive the grabbing claw 44 to retract, and finally the rotating seat 12, the rocker arm 13, the rotating arm 14, and the rotating sleeve 15 rotate so that the two ends of the rotating arm 14 leave A1 and A2.

[0088] After A1 and A2 replace the inner ring of the oil seal, replace the inner ring of the oil seal in B. The process is: the rotating seat 12, the rocker arm 13, the rotating arm 14, and the rotating sleeve 15 rotate to make C1 / C2 enter B, and C2 / C1 is located on the upper side of the loading position. The replacement process at one end entering B is the same as the replacement process entering A1 and A2; the grabbing mechanism 4 located on the upper side of the loading position puts down the processed inner ring of the oil seal and grabs the inner ring of the oil seal to be processed. The process is as follows: the rotating frame 41 rotates so that the grabbing claw 44 grabbing the processed inner ring of the oil seal is located just above the loading position, and the driving component 43 runs to drive the grabbing claw 44 to descend, and the inner ring of the oil seal is located on the loading conveyor belt 21 The grabbing claw 44 releases the oil seal inner ring, and the driving component 43 runs to drive the grabbing claw 44 to rise. Then the feeding conveyor belt 21 runs to take the processed oil seal inner ring away from the feeding position, and the oil seal inner ring to be processed is moved to the feeding position. Then the driving component 43 runs to drive the grabbing claw 44 to descend, and the grabbing claw 44 contacts the oil seal inner ring to be processed and grabs the oil seal inner ring. Then the driving component 43 rises to drive the grabbing claw 44 to rise. At night, the oil seal inner ring on one grabbing claw 44 is replaced, and the rotating frame 41 rotates and switches, and the oil seal inner ring on the next grabbing claw 44 can be switched.

[0089] The process of rotating the arm 14 is:

[0090] C1 is inside A1, C2 is inside A2->

[0091] C1 is located inside B, C2 is located at the loading position->

[0092] C1 is inside A1, C2 is inside A2->

[0093] C1 is at the loading position, C2 is inside B->

[0094] C1 is inside A1, C2 is inside A2, and so on.

[0095] The grabbing mechanisms 4 on C1 and C2 change materials at the loading position at intervals.

[0096] While the material is being picked up and replaced in the CNC lathe, the grabbing mechanism 4 at the other end of the rotating arm 14 puts down the processed oil seal inner ring and grabs the oil seal inner ring to be processed, which reduces the time for changing materials. The three CNC lathes can be loaded with materials at the same time, which improves production efficiency, reduces equipment, improves equipment utilization, reduces equipment footprint, and reduces later maintenance costs.

[0097] As an improved specific embodiment, the driving assembly 43 includes a driving cylinder 431, and a plurality of driven rods 432 are provided on the driving cylinder 431. The driven rods 432 correspond to the number of telescopic rods 42 and are connected to the telescopic rods 42 one by one. The driven rods 432 extend / retract simultaneously, and a high-pressure gas nozzle 1511 is provided in the movable groove 151, and the high-pressure gas nozzle 1511 is set toward the rotating frame 41. A jet switch 1512 is provided in the movable groove 151, and the jet switch 1512 is connected to the high-pressure gas nozzle 1511. A driving block 1513 is provided on the grabbing claw 44, and the position of the driving block 1513 corresponds to the position of the jet switch 1512.

[0098] Through the above technical solution, the driving cylinder 431 is divided into a middle part and several outer parts, the several outer parts are connected, and each outer part is connected to a driven rod 432. It is only necessary to control the air inlet and outlet of two pipes to control the extension and retraction of all driven rods 432, thereby controlling the movement of the grabbing claw 44. When any grabbing claw 44 moves to the grabbing position / discharging position, the movement of the grabbing claw 44 is controlled, which is convenient to control and has high stability during use.

[0099] The high-pressure air nozzle 1511 faces the rotating frame 41 and sprays air to the inner ring of the oil seal rotated to this position to clean its surface, thereby reducing subsequent cleaning steps and improving production efficiency.

[0100] Specifically, there are a plurality of high-pressure gas nozzles 1511, which are distributed in a circle, so there is no dead angle during cleaning.

[0101] When grabbing / putting down the inner ring of the oil seal, the grab claw 44 moves, thereby driving the driving block 1513 to move. At this time, the driving block 1513 on the grab claw 44 in the movable groove 151 triggers the air jet switch 1512, and the high-pressure air nozzle 1511 operates to clean the inner ring of the oil seal in the movable groove 151. The inner ring of the oil seal is cleaned before and after processing.

[0102] As an improved specific implementation method, the grabbing claw 44 is provided with a transmission switch 441 and a pushing block 442. The pushing block 442 is movably arranged on the grabbing claw 44. When the grabbing claw 44 grabs the inner ring of the oil seal, the pushing block 442 is located close to the grabbing claw 44. When the grabbing claw 44 does not grab the inner ring of the oil seal, the pushing block 442 is located away from the grabbing claw 44. The pushing block 442 pushes the feeding mechanism 22 and the holding mechanism 23 to move.

[0103] Through the above technical solution, the transmission switch 441 is used to control whether the feeding conveyor belt 21 is running, and the pushing block 442 is used to push the feeding mechanism 22 and the holding mechanism 23 to move, so that the processed oil seal inner ring and the oil seal inner ring to be processed on the feeding conveyor belt 21 can be stably transmitted.

[0104] As an improved specific implementation, the feeding mechanism 22 includes:

[0105] The feeding bracket 221 is fixedly arranged on the frame of the feeding conveyor belt 21 and is located on both sides of the feeding conveyor belt 21;

[0106] A first reference block 222 is fixedly disposed at the end of the loading bracket 221;

[0107] A first limit block 223 is fixedly arranged on the upper side of the loading bracket 221;

[0108] A loading frame 224, which is slidably disposed on the loading bracket 221 and is located between the first limit block 223 and the first reference block 222;

[0109] The first driven block 225 is fixedly disposed on the loading frame 224;

[0110] The first spring 226 is disposed between the loading frame 224 and the first reference block 222 , with one end fixedly connected to the loading frame 224 and the other end fixedly connected to the reference block.

[0111] Through the above technical scheme, when there is no external force, the first spring 226 applies pressure to the loading frame 224, so that it conflicts with the first limit block 223, and the loading frame 224 conflicts with the inner ring of the oil seal to be processed, preventing it from entering the loading position; when the pushing block 442 controls the loading mechanism 22, it pushes the first driven block 225 to move, thereby driving the loading frame 224 to move away from the loading conveyor belt 21, and no longer blocks the inner ring of the oil seal to be processed, so that it can be smoothly transmitted to the processing position; and after the pushing block 442 is separated from the first driven block 225, the first spring 226 is reset, pushing the loading frame 224 to slide and reset on the loading bracket 221 until it conflicts with the first limit block 223, blocking the subsequent inner ring of the oil seal to be processed, with a simple structure and high stability.

[0112] As an improved specific implementation, the holding mechanism 23 includes:

[0113] The retaining bracket 231 is fixedly arranged on the frame of the feeding conveyor belt 21 and is located on both sides of the feeding conveyor belt 21;

[0114] A second reference block 232 is fixedly disposed at the end of the holding bracket 231;

[0115] A second limiting block 233 is fixedly disposed on the upper side of the holding bracket 231;

[0116] A holding frame 234, wherein the holding frame 234 is slidably disposed on the holding bracket 231 and is located between the second limiting block 233 and the second reference block 232;

[0117] A second follower block 235 is fixedly disposed on the retaining frame 234;

[0118] The second spring 236 is disposed between the retaining frame 234 and the second reference block 232 , with one end fixedly connected to the retaining frame 234 and the other end fixedly connected to the reference block.

[0119] Through the above technical scheme, when there is no external force, the second spring 236 applies pressure to the retaining frame 234, so that it contacts the second limit block 233, and the retaining frame 234 contacts the inner ring of the oil seal to be processed, so as to adjust the position of the inner ring of the oil seal; when the pushing block 442 controls the retaining mechanism 23, it pushes the second driven block 235 to move, thereby driving the retaining frame 234 to move away from the loading conveyor belt 21, and then no longer blocks the inner ring of the oil seal, so that it can be smoothly transmitted to the unloading conveyor belt 31; and after the pushing block 442 is separated from the second driven block 235, the second spring 236 is reset, and the retaining frame 234 is pushed to slide and reset on the retaining bracket 231 until it contacts the second limit block 233, thereby blocking the subsequent inner ring of the oil seal, with a simple structure and high stability.

[0120] As an improved specific implementation, a loading switch 5 is provided on the frame of the loading conveyor belt 21, and the loading switch 5 includes a switch frame 51, a switch spring 52, and a switch button 53. The switch spring 52 is arranged in the switch frame 51, and the switch button 53 is slidably connected in the switch frame 51. When the switch button 53 is separated from the bottom of the switch frame 51, an electrical signal is triggered, and when the loading switch 5 contacts the transmission switch 441, an electrical signal is triggered.

[0121] As an improved specific implementation, a push rod 6 is provided between the first driven block 225 and the second driven block 235 , and a push groove 443 is provided at the lower side of the push block 442 .

[0122] Through the above technical solution, the specific process of the grabbing claw 44 grabbing the processed oil seal inner ring and placing it in the loading position, and then re-grasping the oil seal inner ring to be processed is as follows:

[0123] The grabbing claw 44 grabs the inner ring of the oil seal and descends. The transmission switch 441 first contacts the switch button 53, triggering an electrical signal, and the feeding conveyor belt 21 stops running. Then the grabbing claw 44 continues to descend until the inner ring of the oil seal on the grabbing claw 44 contacts the feeding conveyor belt 21 (in this process, the feeding mechanism 22 and the holding mechanism 23 restrict the movement of the inner ring of the oil seal, and there is no inner ring of the oil seal at the feeding position). Then the grabbing claw 44 releases the inner ring of the oil seal, and the push block 442 moves away from the grabbing claw 44, thereby pushing the feeding mechanism 22 and the holding mechanism 23 to move. 3 is away from the feeding conveyor belt 21 (the feeding mechanism 22 and the holding mechanism 23 no longer restrict the movement of the oil seal inner ring); then the grab claw 44 rises, during which the switch button 53 is first separated from the bottom of the switch frame 51, triggering an electrical signal, and the feeding conveyor belt 21 runs (driving the oil seal inner ring to move). As the grab claw 44 continues to rise, the push block 442 is separated from the push rod 6, and the feeding frame 224 and the holding frame 234 are reset (the oil seal inner ring is transferred to a position, and the oil seal inner ring to be processed enters the feeding position, and as the feeding The operation of the material conveyor belt 21 and the blocking of the holding mechanism 23, the inner ring of each oil seal that enters the feeding position is stable, and the grab claw 44 has high precision after grabbing); then the grab claw 44 descends, and during this process, the transmission switch 441 first conflicts with the switch button 53, triggering an electrical signal, and the feeding conveyor belt 21 stops running; then the grab claw 44 continues to descend, and the push rod 6 enters the push groove 443, and the grab claw 44 continues to descend until the grab claw 44 conflicts with the oil seal to be processed at the feeding position, and then the grab claw 44 grabs the oil seal. The inner ring of the oil seal is processed, and the pushing block 442 drives the loading mechanism 22 and the holding mechanism 23 to reset, so as to prevent the next inner ring of the oil seal to be processed from entering the loading position, so as to prepare for placing the next processed inner ring of the oil seal; then the grabbing claw 44 rises, and during this process, the switch button 53 is first separated from the bottom of the switch frame 51, triggering an electrical signal, and the loading conveyor belt 21 runs, and the processed inner ring of the oil seal is transferred to the unloading conveyor belt 31, and the inner ring of the oil seal to be processed is transferred to the contact with the loading frame 224, so as to prepare for loading.

[0124] Through the above structure, there is no need to set up an additional control switch. As the grab claw 44 rises and falls, the movement of the loading conveyor belt 21, the loading frame 224, and the holding frame 234 can be controlled by grabbing and releasing, and the materials are loaded in sequence. It has high stability and is easy to use.

[0125] Specifically, the push groove 443 has a guide edge, which enables the push rod 6 to smoothly enter the push groove 443 during the process of the grab claw 44 descending in the open state.

[0126] The switch spring 52 allows the switch button 53 to be separated from the bottom of the switch frame 51 without being subjected to force.

[0127] The control method of the oil seal inner ring multi-machine collaborative flexible processing equipment comprises the following steps:

[0128] Step 1: First, install the oil seal inner ring on the grab claw 44, manually install the oil seal inner ring to be processed on three CNC lathes, and start the CNC lathes. Let the opposite CNC lathes be A1 and A2, and the CNC lathe between A1 and A2 be B; let the two ends of the rotating arm 14 be C1 and C2 respectively;

[0129] Step 2: The rotating seat 12, the rocker arm 13 and the rotating arm 14 rotate so that C1 is close to A1 and C2 is close to A2, and the inner rings of the oil seals in A1 and A2 are processed until they are finished.

[0130] Step 3: After the inner rings of the oil seals in A1 and A2 are processed, the rotating arm 14 rotates so that C1 extends into A1 and C2 extends into A2. The rotating frame 41 rotates so that the idle grabbing claws 44 take off the processed inner rings of the oil seals, and then rotates to place the inner rings of the oil seals to be processed into the processing position of the CNC lathe.

[0131] Step 4: The rotating arm 14 rotates so that C1 and C2 leave the CNC lathe, and then the rotating seat 12, the rocker arm 13, and the rotating arm 14 rotate so that C1 / C2 is located directly above the loading position; at this time, C2 / C1 approaches B, waiting for the inner ring of the oil seal in B to be processed;

[0132] Step 5: After the inner ring of the oil seal in B is processed, the rotating arm 14 rotates to allow C2 / C1 to extend into B, and the rotating frame 41 rotates to allow the idle grabbing claw 44 to take off the processed inner ring of the oil seal, and then rotates to place the inner ring of the oil seal to be processed to the processing position of the CNC lathe; at the same time, C1 / C2 places the processed inner ring of the oil seal to the loading position, and then re-grabs the inner ring of the oil seal to be processed;

[0133] Step 6: The rotating arm 14 rotates to make C2 / C1 leave B, and then the rotating seat 12, the rocker arm 13, and the rotating arm 14 rotate to make C1 close to A1 and C2 close to A2, waiting for the inner rings of the oil seals in A1 and A2 to be processed;

[0134] Step 7: After the inner rings of the oil seals in A1 and A2 are processed, the rotating arm 14 rotates so that C1 extends into A1 and C2 extends into A2. The rotating frame 41 rotates so that the idle grabbing claws 44 take off the processed inner rings of the oil seals, and then rotates to place the inner rings of the oil seals to be processed into the processing position of the CNC lathe.

[0135] Step 8: The rotating arm 14 rotates to make C1 and C2 leave the CNC lathe, and then the rotating seat 12, the rocker arm 13, and the rotating arm 14 rotate to make C2 / C1 located just above the loading position; at this time, C1 / C2 approaches B, waiting for the inner ring of the oil seal in B to be processed;

[0136] Step 9: After the inner ring of the oil seal in B is processed, the rotating arm 14 rotates to allow C1 / C2 to extend into B, and the rotating frame 41 rotates to allow the idle grabbing claw 44 to take off the processed inner ring of the oil seal, and then rotates to place the inner ring of the oil seal to be processed to the processing position of the CNC lathe; at the same time, C2 / C1 places the processed inner ring of the oil seal to the loading position, and then re-grasps the inner ring of the oil seal to be processed;

[0137] Step 10: The rotating arm 14 rotates to make C1 / C2 leave B, and the rotating seat 12, the rocker arm 13, and the rotating arm 14 rotate to make C1 close to A1 and C2 close to A2, waiting for the inner rings of the oil seals in A1 and A2 to be processed;

[0138] Step 11. Go to step 3.

[0139] As an improved specific implementation method, the rotating frame 41 in step 3, step 5, step 7, and step 9 rotates so that the idle grab claw 44 removes the processed oil seal inner ring, and then rotates to place the oil seal inner ring to be processed at the processing position of the CNC lathe as follows:

[0140] S1, the rotating frame 41 rotates so that the idle grabbing claws 44 are aligned with the processed inner ring of the oil seal;

[0141] S2, the driving assembly 43 operates to drive the grabbing claw 44 to move toward the processed inner ring of the oil seal until it contacts the inner ring of the oil seal, and then the grabbing claw 44 grabs the processed inner ring of the oil seal;

[0142] S3, the CNC lathe loosens the processed oil seal inner ring, and the drive assembly 43 operates to drive the processed oil seal inner ring away from the grasping position;

[0143] S4, the rotating frame 41 rotates so that the grabbing claw 44 for grabbing the inner ring of the oil seal to be processed is aligned with the grabbing position;

[0144] S5, the driving assembly 43 operates to drive the grabbing claw 44 to move to the grabbing position until the inner ring of the oil seal to be processed is located in the grabbing position and is grabbed by the CNC lathe, and then the grabbing claw 44 releases the inner ring of the oil seal to be processed;

[0145] S6, the driving assembly 43 operates to drive the grabbing claw 44 away from the grabbing position.

[0146] As an improved specific implementation method, the steps of placing the processed oil seal inner ring to the loading position and then re-grasping the oil seal inner ring to be processed in step five and step nine are as follows:

[0147] S1, the driving assembly 43 drives the grabbing claw 44 to descend. During this process, the transmission switch 441 first contacts the switch button 53, triggering an electrical signal, and the feeding conveyor belt 21 stops running; then the grabbing claw 44 continues to descend until the inner ring of the oil seal on the grabbing claw 44 contacts the feeding conveyor belt 21;

[0148] S2, the grab claw 44 releases the inner ring of the oil seal, and the push block 442 moves away from the grab claw 44, thereby pushing the feeding mechanism 22 and the holding mechanism 23 away from the feeding conveyor belt 21;

[0149] S3, the driving assembly 43 operates to drive the grab claw 44 to rise. During this process, the switch button 53 is first separated from the bottom of the switch frame 51, triggering an electrical signal, and the feeding conveyor belt 21 operates. As the grab claw 44 continues to rise, the push block 442 is separated from the push rod 6, and the feeding frame 224 and the holding frame 234 are reset;

[0150] S4, the driving assembly 43 operates to drive the grabbing claw 44 to descend. During this process, the transmission switch 441 first contacts the switch button 53, triggering an electrical signal, and the feeding conveyor belt 21 stops running; then the grabbing claw 44 continues to descend until the grabbing claw 44 contacts the oil seal to be processed at the feeding position, and then the grabbing claw 44 grabs the inner ring of the oil seal, and the pushing block 442 drives the feeding mechanism 22 and the holding mechanism 23 to reset;

[0151] S5, the driving assembly 43 operates to drive the grab claw 44 to rise. During this process, the switch button 53 is first separated from the bottom of the switch frame 51, triggering an electrical signal, and the feeding conveyor belt 21 operates.

[0152] The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.

Claims

1. Multi-machine collaborative flexible processing equipment for the inner ring of oil seals, including three numerically controlled lathes, the numerically controlled lathes are distributed in a "U" shape, and it is characterized in that: A transfer device (1), a loading device (2), and a unloading device (3) for multi-machine collaborative processing are arranged between the plurality of CNC lathes; The transfer device (1) for multi-machine collaborative processing comprises: a base (11) and a rotating base (12) arranged on the base (11); the rotating base (12) can rotate horizontally with a rotation angle of 360 degrees; a rocker arm (13) is arranged on the rotating base (12); a rotating arm (14) is arranged on the rocker arm (13); a gripping mechanism (4) is arranged on the rotating arm (14); the rocker arm (13) and the rotating base (12) can rotate vertically with a rotation angle of 360 degrees; the rotating arm (14) and the rocker arm (13) can rotate vertically with a rotation angle of 360 degrees. 3) can be vertically rotated, and the rotation angle is 360°. A rotating sleeve (15) is provided on the outer side of the rotating arm (14). The rotating sleeve (15) and the rotating arm (14) can rotate axially. The rotating sleeve (15) is provided with a movable groove (151). The grabbing mechanism (4) is arranged in the movable groove (151). The connection between the rotating arm (14) and the rocker arm (13) is located in the middle position of the rotating arm (14). The rotating sleeves (15) are provided at both ends of the rotating arm (14). The grabbing mechanism (4) includes: A rotating frame (41) rotatably disposed in the movable groove (151); A telescopic rod (42) is slidably connected to the rotating frame (41), wherein the telescopic rod (42) comprises a plurality of telescopic rods distributed circumferentially on the rotating frame (41); A driving assembly (43) is disposed in the rotating frame (41), connected to the telescopic rod (42), and drives the telescopic rod (42) to move; A grabbing claw (44) is fixedly arranged at the end of the telescopic rod (42) and is used to grab / release the inner ring of the oil seal; The feeding device (2) comprises: A feeding conveyor belt (21) is used to sequentially convey the oil seal inner rings to be processed; A feeding mechanism (22), the feeding mechanism (22) being arranged on the upper side of the feeding conveyor belt (21) and being used for outputting the oil seal inner rings one by one; A holding mechanism (23), the holding mechanism (23) being arranged on the upper side of the feeding conveyor belt (21) and being used to block the inner ring of the oil seal so as to keep it in a position to be grasped; the holding mechanism (23) and the feeding mechanism (22) are arranged in sequence; the position between the holding mechanism (23) and the feeding mechanism (22) is the feeding position; The unloading assembly comprises an unloading conveyor belt (31), and the unloading conveyor belt (31) is adjacent to the loading conveyor belt (21).

2. The oil seal inner ring multi-machine collaborative flexible processing equipment according to claim 1 is characterized by: The driving assembly (43) comprises a driving cylinder (431), and a plurality of driven rods (432) are arranged on the driving cylinder (431). The number of driven rods (432) corresponds to the number of telescopic rods (42), and the driven rods (432) are connected to the telescopic rods (42) in a one-to-one correspondence. The driven rods (432) extend / retract simultaneously. A high-pressure gas nozzle (1511) is arranged in the movable groove (151), and the high-pressure gas nozzle (1511) is arranged toward the rotating frame (41). An air jet switch (1512) is arranged in the movable groove (151), and the air jet switch (1512) is connected to the high-pressure gas nozzle (1511). A driving block (1513) is arranged on the grab claw (44), and the position of the driving block (1513) corresponds to the position of the air jet switch (1512).

3. The oil seal inner ring multi-machine collaborative flexible processing equipment according to claim 1 is characterized in that: The grab claw (44) is provided with a transmission switch (441) and a pushing block (442). The pushing block (442) is movably arranged on the grab claw (44). When the grab claw (44) grabs the inner ring of the oil seal, the pushing block (442) is located close to the grab claw (44). When the grab claw (44) does not grab the inner ring of the oil seal, the pushing block (442) is located away from the grab claw (44). The pushing block (442) pushes the feeding mechanism (22) and the holding mechanism (23) to move.

4. The oil seal inner ring multi-machine collaborative flexible processing equipment according to claim 3 is characterized in that: The feeding mechanism (22) comprises: A feeding bracket (221) is fixedly arranged on a frame of the feeding conveyor belt (21) and is located on both sides of the feeding conveyor belt (21); A first reference block (222) is fixedly arranged at the end of the loading bracket (221); A first limit block (223) is fixedly arranged on the upper side of the loading bracket (221); A loading frame (224), the loading frame (224) is slidably disposed on the loading bracket (221) and is located between the first limit block (223) and the first reference block (222); A first driven block (225) is fixedly arranged on the loading frame (224); The first spring (226) is arranged between the loading frame (224) and the first reference block (222), one end of which is fixedly connected to the loading frame (224) and the other end of which is fixedly connected to the reference block.

5. The oil seal inner ring multi-machine collaborative flexible processing equipment according to claim 4 is characterized in that: The holding mechanism (23) comprises: A retaining bracket (231) is fixedly arranged on a frame of the feeding conveyor belt (21) and is located on both sides of the feeding conveyor belt (21); A second reference block (232) is fixedly arranged at an end of the holding bracket (231); A second limiting block (233) is fixedly arranged on the upper side of the retaining bracket (231); A retaining frame (234), wherein the retaining frame (234) is slidably disposed on the retaining bracket (231) and is located between the second limiting block (233) and the second reference block (232); A second driven block (235) is fixedly arranged on the retaining frame (234); The second spring (236) is arranged between the retaining frame (234) and the second reference block (232), one end of which is fixedly connected to the retaining frame (234) and the other end of which is fixedly connected to the reference block.

6. The oil seal inner ring multi-machine collaborative flexible processing equipment according to claim 5 is characterized in that: A feeding switch (5) is provided on the frame of the feeding conveyor belt (21), and the feeding switch (5) comprises a switch frame (51), a switch spring (52), and a switch button (53). The switch spring (52) is arranged in the switch frame (51), and the switch button (53) is slidably connected in the switch frame (51). When the switch button (53) is separated from the bottom of the switch frame (51), an electric signal is triggered. When the feeding switch (5) contacts the transmission switch (441), an electric signal is triggered.

7. The oil seal inner ring multi-machine collaborative flexible processing equipment according to claim 5 is characterized by: A pushing rod (6) is provided between the first driven block (225) and the second driven block (235), and a pushing groove (443) is provided on the lower side of the pushing block (442).

8. The control method of the oil seal inner ring multi-machine collaborative flexible processing equipment according to any one of claims 1 to 7, characterized in that: The following steps are involved: Step 1: first install the oil seal inner ring on the grab claw (44), manually install the oil seal inner ring to be processed on three CNC lathes, and start the CNC lathes. Let the opposite CNC lathes be A1 and A2, and the CNC lathe between A1 and A2 be B; let the two ends of the rotating arm (14) be C1 and C2 respectively; Step 2: The rotating seat (12), the rocker arm (13) and the rotating arm (14) rotate so that C1 is close to A1 and C2 is close to A2, and the inner rings of the oil seals in A1 and A2 are processed. Step 3: After the inner rings of the oil seals in A1 and A2 are processed, the rotating arm (14) rotates so that C1 extends into A1 and C2 extends into A2. The rotating frame (41) rotates so that the idle grabbing claw (44) takes off the processed inner ring of the oil seal, and then rotates to place the inner ring of the oil seal to be processed into the processing position of the CNC lathe. Step 4: The rotating arm (14) rotates so that C1 and C2 leave the CNC lathe, and then the rotating seat (12), the rocker arm (13), and the rotating arm (14) rotate so that C1 / C2 is located directly above the loading position; at this time, C2 / C1 approaches B, waiting for the inner ring of the oil seal in B to be processed; Step 5: After the inner ring of the oil seal in B is processed, the rotating arm (14) rotates so that C2 / C1 extends into B, and the rotating frame (41) rotates so that the idle grabbing claw (44) takes off the processed inner ring of the oil seal, and then rotates to place the inner ring of the oil seal to be processed into the processing position of the CNC lathe; at the same time, C1 / C2 places the processed inner ring of the oil seal into the loading position, and then grabs the inner ring of the oil seal to be processed again; Step 6: The rotating arm (14) rotates to make C2 / C1 leave B, and then the rotating seat (12), the rocker arm (13), and the rotating arm (14) rotate to make C1 close to A1 and C2 close to A2, waiting for the inner rings of the oil seals in A1 and A2 to be processed; Step 7: After the inner rings of the oil seals in A1 and A2 are processed, the rotating arm (14) rotates so that C1 extends into A1 and C2 extends into A2. The rotating frame (41) rotates so that the idle grabbing claws (44) take off the processed inner rings of the oil seals, and then rotates to place the inner rings of the oil seals to be processed into the processing position of the CNC lathe. Step 8: The rotating arm (14) rotates so that C1 and C2 leave the CNC lathe, and then the rotating seat (12), the rocker arm (13), and the rotating arm (14) rotate so that C2 / C1 is located directly above the loading position; at this time, C1 / C2 approaches B, waiting for the inner ring of the oil seal in B to be processed; Step 9: After the inner ring of the oil seal in B is processed, the rotating arm (14) rotates so that C1 / C2 extends into B, and the rotating frame (41) rotates so that the idle grabbing claw (44) takes off the processed inner ring of the oil seal, and then rotates to place the inner ring of the oil seal to be processed into the processing position of the CNC lathe; at the same time, C2 / C1 places the processed inner ring of the oil seal into the loading position, and then grabs the inner ring of the oil seal to be processed again; Step 10: The rotating arm (14) rotates so that C1 / C2 leaves B, and the rotating seat (12), the rocker arm (13), and the rotating arm (14) rotate so that C1 approaches A1 and C2 approaches A2, and the inner rings of the oil seals in A1 and A2 are processed. Step 11: Go to step 3.

9. The control method of the oil seal inner ring multi-machine collaborative flexible processing equipment according to claim 8 is characterized in that: The steps of rotating the rotating frame (41) in step 3, step 5, step 7 and step 9 so that the idle grabbing claw (44) takes off the processed oil seal inner ring, and then rotating to place the oil seal inner ring to be processed at the processing position of the CNC lathe are as follows: S1, the rotating frame (41) rotates so that the idle grabbing claws (44) are aligned with the processed inner ring of the oil seal; S2, the driving assembly (43) operates to drive the grabbing claw (44) to move toward the processed inner ring of the oil seal until it contacts the inner ring of the oil seal, and then the grabbing claw (44) grabs the processed inner ring of the oil seal; S3, the CNC lathe loosens the processed inner ring of the oil seal, and the driving assembly (43) operates to drive the processed inner ring of the oil seal away from the grasping position; S4, the rotating frame (41) rotates so that the grasping claw (44) grasping the inner ring of the oil seal to be processed is aligned with the grasping position; S5, the driving assembly (43) operates to drive the grabbing claw (44) to move toward the grabbing position until the inner ring of the oil seal to be processed is located in the grabbing position and is grabbed by the CNC lathe, and then the grabbing claw (44) releases the inner ring of the oil seal to be processed; S6, the driving assembly (43) operates to drive the grabbing claw (44) away from the grabbing position.

10. The control method of the oil seal inner ring multi-machine collaborative flexible processing equipment according to claim 8, characterized in that: The steps of placing the processed oil seal inner ring to the loading position and then re-grasping the oil seal inner ring to be processed in step 5 and step 9 are as follows: S1, the driving assembly (43) operates to drive the grab claw (44) to descend, during which the transmission switch (441) first contacts the switch button (53), triggering an electrical signal, and the feeding conveyor belt (21) stops running; then the grab claw (44) continues to descend until the inner ring of the oil seal on the grab claw (44) contacts the feeding conveyor belt (21); S2, the grab claw (44) loosens the inner ring of the oil seal, and the push block (442) moves away from the grab claw (44), thereby pushing the feeding mechanism (22) and the holding mechanism (23) away from the feeding conveyor belt (21); S3, the driving assembly (43) operates to drive the grab claw (44) to rise. During this process, the switch button (53) is first separated from the bottom of the switch frame (51), triggering an electrical signal, and the feeding conveyor belt (21) operates. As the grab claw (44) continues to rise, the push block (442) is separated from the push rod (6), and the feeding frame (224) and the holding frame (234) are reset; S4, the driving assembly (43) operates to drive the grabbing claw (44) to descend, during which the transmission switch (441) first contacts the switch button (53), triggering an electrical signal, and the feeding conveyor belt (21) stops running; then the grabbing claw (44) continues to descend until the grabbing claw (44) contacts the oil seal to be processed at the feeding position, and then the grabbing claw (44) grabs the inner ring of the oil seal, and the pushing block (442) drives the feeding mechanism (22) and the holding mechanism (23) to reset; S5, the driving assembly (43) operates to drive the grab claw (44) to rise. During this process, the switch button (53) is first separated from the bottom of the switch frame (51), triggering an electrical signal, and the feeding conveyor belt (21) operates.

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