Multi-machine collaborative flexible processing equipment and control method for oil seal inner ring

Abstract

The present invention discloses a multi-machine collaborative flexible processing device and control method for oil seal inner rings. The key technical features include three CNC lathes, a transfer device for multi-machine collaborative processing, a loading device, and a unloading device. The transfer device for multi-machine collaborative processing is equipped with a gripping mechanism comprising a rotating frame, a telescopic rod, a drive assembly, and a gripping claw. The loading device comprises a loading conveyor belt, a loading mechanism, and a holding mechanism. This invention enables the gripping mechanism at the other end of the rotating arm to drop the processed oil seal inner ring and grab the oil seal inner ring to be processed while simultaneously retrieving and re-loading materials from the CNC lathes, thereby reducing re-loading time. Simultaneously loading materials into the three CNC lathes improves production efficiency, reduces equipment requirements, increases equipment utilization, reduces equipment footprint, and reduces subsequent maintenance costs.

Description

Technical Field

[0008] ,

[0007] ,

[0001] The present invention relates to the field of processing of oil seal parts, 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, numerical control machine tools are still the basic equipment of enterprises. In the processing workshop, the numerical control machine tools and technicians basically adopt the method of one person operating one machine, and there is a lack of collaborative operation between the numerical control machine tools. Workers repeat the single loading and unloading actions for a long time in the production workshop, and 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 grab and load / unload the inner ring of the oil seal has emerged as the times require. Currently, the existing manipulator only serves one numerical control 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 benefits. Summary of the Invention

[0003] Aiming at the deficiencies existing in the prior art, 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. [[ID=1�]]

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

[0005] The transfer device for multi-machine collaborative processing includes: a base and a rotating seat provided on the base. The rotating seat can rotate horizontally, and the rotation angle is 360°. A swing arm is provided on the rotating seat, and a rotating arm is provided on the swing arm. A grasping mechanism is provided 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 provided on the outer side of the rotating arm. The rotating sleeve and the rotating arm can rotate axially. An activity groove is provided 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 provided 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; [[ID=2б]]

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

[0009] The 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 includes:

[0011] Loading conveyor belt, used to sequentially convey the oil seal inner rings 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 oil seal inner rings one by one;

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

[0014] The unloading component includes a 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 number of the driven rods corresponds to that of the telescopic rods, and the driven rods are connected one-to-one with the telescopic rods. The driven rods extend / retract simultaneously, and a high-pressure gas nozzle is provided in the movable groove, and the high-pressure gas nozzle is arranged toward the rotating frame. A jet switch is provided in the movable groove, and the jet switch is connected to the high-pressure gas nozzle. 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 includes:

[0018] The feeding bracket is fixedly mounted 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 loading bracket;

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

[0021] A loading frame, which is slidably arranged 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, with one end fixedly connected to the loading frame and the other end fixedly connected to the reference block.

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

[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 being slidably disposed on the holding bracket and being located between the second limiting block and the second reference block;

[0029] a second follower block fixedly disposed on the retaining frame;

[0030] The second spring is arranged between the holding frame and the second reference block, with one end fixedly connected to the holding frame and the other end 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 push rod is provided between the first driven block and the second driven block, and a push groove is provided on the lower side of the push block.

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

[0034] Step 1: First, install the oil seal inner ring on the gripper. Manually install the oil seal inner ring 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 swivel seat, rocker arm, and swivel 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 machined, the rotating arm rotates so that C1 extends into A1 and C2 extends into A2. The rotating frame rotates so that the unused gripping claws remove the machined inner rings of the oil seals. The frame then rotates to place the inner rings of the oil seals to be machined in the machining position of the CNC lathe.

[0037] Step 4: Rotate the rotating arm so that C1 and C2 leave the CNC lathe, then rotate the swivel seat, rocker arm, and rotating arm so that C1 / C2 are 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, allowing C2 / C1 to extend into B. The rotating frame rotates, allowing the idle grabbing claw to remove the processed inner ring of the oil seal. The gripping claw then rotates to place the inner ring to be processed on the processing position of the CNC lathe. At the same time, C1 / C2 places the processed inner ring of the oil seal on the loading position and then re-grabs the inner ring to be processed.

[0039] Step 6: Rotate the rotating arm so that C2 / C1 leaves B, then rotate the swivel seat, rocker arm, and rotating arm so that C1 approaches A1 and C2 approaches A2, and wait for the inner rings of the oil seals in A1 and A2 to be processed.

[0040] Step 7: After the inner rings of the oil seals in A1 and A2 are machined, the rotating arm rotates so that C1 extends into A1 and C2 extends into A2. The rotating frame rotates so that the unused gripping claws remove the machined inner rings of the oil seals. The frame then rotates to place the inner rings of the oil seals to be machined in the machining position of the CNC lathe.

[0041] Step 8: The rotating arm rotates so that C1 and C2 leave the CNC lathe, and then the rotating seat, rocker arm, and rotating arm rotate so that C2 / C1 is 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: After the inner ring of the oil seal in B is processed, the rotating arm rotates, allowing C1 / C2 to extend into B. The rotating frame rotates, allowing the idle grabbing claw to remove the processed inner ring of the oil seal. Then, it rotates to place the inner ring of the oil seal to be processed on 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-grabs the inner ring of the oil seal to be processed.

[0043] Step 10: Rotate the rotating arm so that C1 / C2 leave B. Rotate the rotating seat, rocker arm, and rotating arm so that C1 approaches A1 and C2 approaches A2. Wait for the inner rings of the oil seals in A1 and A2 to be processed.

[0044] Step 11. Go to step 3.

[0045] As a further improvement of the present invention, the steps of rotating the rotating frame in steps 3, 5, 7, and 9 so that the idle grabbing claws remove the processed oil seal inner ring and then rotate to place the oil seal inner ring to be processed into the processing position of the CNC lathe are 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 drive assembly operates, 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 drives the processed inner ring of the oil seal away from the gripping position;

[0049] S4, the rotating frame rotates so that the grabbing claws for grabbing the inner ring of the oil seal to be processed are aligned with the grabbing position;

[0050] S5. The drive assembly operates, driving the grabbing claw 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. 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-grabbing the oil seal inner ring to be processed in step five and step nine are as follows:

[0053] S1. The drive assembly drives the gripper to descend. During this process, the transmission switch first contacts the switch button, triggering an electrical signal and stopping the feeding conveyor belt. Then the gripper continues to descend until the inner ring of the oil seal on the gripper contacts 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, thereby 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 holding frame are reset;

[0056] S4, the driving assembly drives the grab claw to descend. During this process, the transmission switch first contacts the switch button, triggering an electrical signal, and the feeding conveyor belt stops running; then the grab claw continues to descend until it contacts the oil seal to be processed at the feeding position. 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 drives 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 starts to run.

[0058] The present invention has the beneficial effect of simultaneously loading and unloading materials from the CNC lathes while simultaneously reloading them. The gripping mechanism at the other end of the rotating arm lowers the finished oil seal inner ring and grabs the next one to be processed, reducing reloading time. Simultaneously loading materials into three CNC lathes improves production efficiency, reduces equipment requirements, increases equipment utilization, reduces equipment footprint, and reduces subsequent 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 structural diagram 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 diagram of the feeding mechanism and feeding conveyor belt;

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

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

[0066] Figure 8 This is a structural diagram of the loading switch and transmission switch.

[0067] Marking description: 1. Transfer device for multi-machine collaborative processing; 11. Base; 12. Rotary base; 13. Rocker arm; 14. Rotary arm; 15. Rotary 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 limiting block; 224. Loading frame; 225. First driven block; 226. First spring; 23. Holding mechanism; 231. Holding support; 232. Second reference block; 233. Second limiting block; 234. Holding frame; 235. Second driven block; 236. Second spring; 3. Unloading device; 31. Unloading conveyor belt; 4. Gripping mechanism; 41. Rotary frame; 42. Telescopic rod; 43. Driving component; 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 drawings.

[0069] Refer to Figures 1-8 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. There are a transfer device 1 for multi-machine collaborative processing, a loading device 2, and an unloading device 3 between several numerically controlled lathes.

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

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

[0072] A telescopic rod 42, slidably connected to the rotary frame 41. There are several telescopic rods 42, which are circumferentially distributed on the rotary 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 grabbing claw 44 is fixedly provided 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 includes:

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

[0077] A feeding mechanism 22 is provided on the upper side of the feeding conveyor belt 21 and is used to output the oil seal inner rings 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 and 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 opposite 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 oil seal inner ring to be processed to the loading position, and transfers the oil seal inner ring processed at the loading position to the unloading conveyor belt 31 .

[0083] The unloading conveyor belt 31 is in operation to transport 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 rotate 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 its 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, and 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 oil seal inner ring is that A1 and A2 are completed at the same time, and the oil seal inner rings in A1 and A2 are removed and placed at the same time. The process is as follows: the rotating seat 12, rocker arm 13, rotating arm 14, and 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 idle grabbing claw 44 corresponds to the processing position of the CNC lathe, and then the driving component 43 operates, the grabbing claw 44 moves to the processing position, grabs the oil seal inner ring that has been processed at the processing position, and then the driving component 43 operates to retract the grabbing claw 44, and then the rotating frame 41 rotates, and the grabbing claw 44 that grabs the oil seal inner ring to be processed is rotated to correspond to the processing position, and then the driving component 43 operates, the grabbing claw 44 moves to the processing position, and places the oil seal inner ring at the processing position, and then the driving component 43 moves to drive the grabbing claw 44 to retract, and finally the rotating seat 12, rocker arm 13, rotating arm 14, and 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 oil seal inner ring, replace the oil seal inner ring in B. The process is as follows: the rotating seat 12, rocker arm 13, rotating arm 14, and 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 oil seal inner ring and grabs the oil seal inner ring to be processed. The process is as follows: the rotating frame 41 rotates so that the grabbing claw 44 that grabs the processed oil seal inner ring is located just above the loading position, and the driving component 43 runs, driving the grabbing claw 44 to descend, and the oil seal inner ring is located on the loading conveyor belt 21 The inner ring of the oil seal to be processed is moved to the loading position, and then the driving component 43 is operated to drive the grabbing claw 44 to descend, and the grabbing claw 44 contacts the inner ring of the oil seal to be processed and grabs the inner ring of the oil seal, and then the driving component 43 is raised to drive the grabbing claw 44 to rise. At night, the inner ring of the oil seal on one grabbing claw 44 is replaced, and the rotating frame 41 is rotated and switched to switch the inner ring of the oil seal on the next grabbing claw 44.

[0089] The process of rotating 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 loading and unloading materials from the CNC lathe, the gripping mechanism 4 at the other end of the rotating arm 14 lowers the processed oil seal inner ring and grabs the oil seal inner ring to be processed, reducing the time required for reloading. Simultaneously loading materials into three CNC lathes improves production efficiency, reduces equipment usage, increases equipment utilization, reduces equipment footprint, and reduces subsequent maintenance costs.

[0097] As a specific embodiment of the improvement, the driving assembly 43 includes a driving cylinder 431, and a plurality of follower rods 432 are provided on the driving cylinder 431. The follower rods 432 correspond to the number of the telescopic rods 42 and are connected one-to-one with the telescopic rods 42. The follower rods 432 extend / retract simultaneously, and a high-pressure gas nozzle 1511 is provided in the movable groove 151. 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 central portion and several outer portions. These outer portions are connected, and each outer portion is connected to a driven rod 432. Simply controlling the air inlet and outlet of two pipes can control the extension and retraction of all driven rods 432, thereby controlling the movement of the grabbing claw 44. The movement of the grabbing claw 44 can be controlled when any grabbing claw 44 moves to the grabbing position or the discharge position, which is convenient to control and highly stable 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 distributed in a circle, so there is no dead angle during cleaning.

[0101] When the oil seal inner ring is picked up or lowered, the gripping claw 44 moves, thereby driving the driving block 1513 to move. At this time, the driving block 1513 on the gripping claw 44 located in the movable groove 151 triggers the air jet switch 1512, and the high-pressure air nozzle 1511 operates to clean the oil seal inner ring located in the movable groove 151. The oil seal inner ring is cleaned before and after processing.

[0102] As a specific embodiment of the improvement, 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 loading conveyor belt 21 is running, and the pushing block 442 is used to push the loading mechanism 22 and the holding mechanism 23 to move, so that the oil seal inner ring that has been processed and the oil seal inner ring to be processed on the loading conveyor belt 21 can be stably transmitted.

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

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

[0106] The first reference block 222 is fixedly mounted on the end of the loading bracket 221;

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

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

[0109] The first driven block 225 is fixedly mounted 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 solution, when there is no external force, the first spring 226 applies pressure to the loading frame 224, causing it to conflict 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 embodiment, the holding mechanism 23 includes:

[0113] The holding bracket 231 is fixedly mounted 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 is slidably disposed on the holding bracket 231 and is located between the second limiting block 233 and the second reference block 232;

[0117] The second driven block 235 is fixedly mounted 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 solution, when there is no external force, the second spring 236 applies pressure to the retaining frame 234, causing it to conflict with the second limit block 233, and the retaining frame 234 conflicts with the oil seal inner ring to be processed, thereby adjusting the position of the oil seal inner ring; 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 feeding conveyor belt 21, and no longer blocks the oil seal inner ring, 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, pushing the retaining frame 234 to slide and reset on the retaining bracket 231 until it conflicts with the second limit block 233, thereby blocking the subsequent oil seal inner ring, with a simple structure and high stability.

[0120] As an improved specific embodiment, 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. 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 on the lower side of the pushing block 442 .

[0122] Through the above technical solution, the grabbing claw 44 grabs the processed oil seal inner ring and places it in the loading position, and then re-grasps the oil seal inner ring to be processed. The specific process 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 pushing block 442 moves away from the grabbing claw 44, thereby pushing the feeding mechanism 22 and the holding mechanism 23 to move. 3 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 grabbing claw 44 rises, during which the switch button 53 first separates 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 grabbing claw 44 continues to rise, the pushing block 442 separates from the pushing 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 obstruction of the holding mechanism 23, the position of each oil seal inner ring that enters the loading position is stable, and the grabbing claw 44 has high precision after grabbing); then the grabbing 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 grabbing claw 44 continues to descend, and the push rod 6 enters the push groove 443, and the grabbing claw 44 continues to descend until the grabbing claw 44 conflicts with the oil seal to be processed at the loading position, and then the grabbing claw 44 grabs the oil seal. The inner ring of the oil seal is sealed, and the pushing block 442 drives the loading mechanism 22 and the holding mechanism 23 to reset, preventing the next oil seal inner ring to be processed from entering the loading position, and preparing for placing the next completed oil seal inner ring; 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, transferring the completed oil seal inner ring to the unloading conveyor belt 31, and transferring the oil seal inner ring to be processed to contact the loading frame 224, preparing 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 can be loaded in sequence. It has high stability and is easy to use.

[0125] Specifically, the pushing groove 443 has a guiding edge, which enables the pushing rod 6 to smoothly enter the pushing groove 443 during the process of the grabbing 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 multi-machine collaborative flexible processing equipment for the inner ring of the oil seal includes 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: Rotate the rotating seat 12, rocker arm 13, and rotating arm 14 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;

[0130] Step 3: After the inner rings of the oil seals in A1 and A2 are machined, 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 remove the machined inner rings of the oil seals. The rotating frame 41 then rotates to place the inner rings of the oil seals to be machined into the machining position of the CNC lathe.

[0131] Step 4: Rotate the rotating arm 14 so that C1 and C2 leave the CNC lathe. Then rotate the rotating seat 12, rocker arm 13, and rotating arm 14 so that C1 / C2 are 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.

[0132] Step 5: After the inner ring of the oil seal in B is machined, the rotating arm 14 rotates, allowing C2 / C1 to extend into B. The rotating frame 41 rotates, allowing the idle grabbing claw 44 to remove the machined inner ring of the oil seal. The rotating frame 41 then rotates to place the inner ring to be machined on the machining position of the CNC lathe. At the same time, C1 / C2 places the machined inner ring of the oil seal on the loading position and then re-grabs the inner ring to be machined.

[0133] Step 6: Rotate the rotating arm 14 so that C2 / C1 leave B, then rotate the rotating seat 12, rocker arm 13, and rotating arm 14 so that C1 approaches A1 and C2 approaches A2, and wait 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 machined, 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 remove the machined inner rings of the oil seals. The rotating frame 41 then rotates to place the inner rings of the oil seals to be machined into the machining position of the CNC lathe.

[0135] Step 8: Rotate the rotating arm 14 so that C1 and C2 leave the CNC lathe. Then rotate the rotating seat 12, rocker arm 13, and rotating arm 14 so that C2 / C1 is 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.

[0136] Step 9: The inner ring of the oil seal in B is processed. The rotating arm 14 rotates, allowing C1 / C2 to extend into B. The rotating frame 41 rotates, allowing the idle grabbing claw 44 to remove the processed inner ring of the oil seal. The rotating frame 41 then rotates to place the inner ring to be processed on the processing position of the CNC lathe. At the same time, C2 / C1 places the processed inner ring of the oil seal on the loading position and then re-grabs the inner ring to be processed.

[0137] Step 10: Rotate the rotating arm 14 so that C1 / C2 leave B. Rotate the rotating seat 12, rocker arm 13, and rotating arm 14 so that C1 approaches A1 and C2 approaches A2. Wait until the inner rings of the oil seals in A1 and A2 are processed.

[0138] Step 11. Go to step 3.

[0139] As an improved specific embodiment, the steps of rotating the rotating frame 41 in steps 3, 5, 7, and 9 to rotate so that the idle grabbing claws 44 remove the processed oil seal inner ring, and then rotating to place the oil seal inner ring to be processed into the processing position of the CNC lathe are 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, driving the grabbing claw 44 to move toward the processed oil seal inner ring until it contacts the oil seal inner ring, and then the grabbing claw 44 grabs the processed oil seal inner ring;

[0142] S3, the CNC lathe releases 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, driving 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. 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-grabbing the oil seal inner ring to be processed in step five and step nine are as follows:

[0147] S1: The drive assembly 43 operates to drive the gripping claw 44 downward. During this process, the transmission switch 441 first contacts the switch button 53, triggering an electrical signal and stopping the feeding conveyor 21. The gripping claw 44 then continues to descend until the inner ring of the oil seal on the gripping claw 44 contacts the feeding conveyor 21.

[0148] S2, the grab claw 44 releases the inner ring of the oil seal, pushing the block 442 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 grabbing claw 44 to rise. During this process, the switch button 53 first separates from the bottom of the switch frame 51, triggering an electrical signal, and the feeding conveyor belt 21 operates. As the grabbing claw 44 continues to rise, the pushing block 442 separates from the pushing 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 downward. 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 it contacts the oil seal to be processed at the feeding position. 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 description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiment. All technical solutions based on the concept of the present invention are within the scope of protection of the present invention. It should be noted that for those skilled in the art, various improvements and modifications that do not depart from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. Flexible machining equipment for the inner ring of oil seals, including three numerically controlled lathes, which are distributed in a "U" shape. It is characterized in that: A transfer device (1), a loading device (2), and an unloading device (3) for multi-machine collaborative processing are provided 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 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 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, with a rotation angle of 360 degrees, 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 be axially rotated, a movable groove (151) is provided on the rotating sleeve (15), 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), and the rotating sleeve (15) is provided at both ends of the rotating arm (14), and the grabbing mechanism (4) includes: A rotating frame (41) is 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) is provided on the upper side of the feeding conveyor belt (21) and is used to block the inner ring of the oil seal so that it is kept in a position to be grasped; the holding mechanism (23) and the feeding mechanism (22) are provided in sequence; the position between the holding mechanism (23) and the feeding mechanism (22) is the feeding position; The unloading device (3) includes an unloading conveyor belt (31), and the unloading conveyor belt (31) is adjacent to the loading conveyor belt (21); The driving assembly (43) includes a driving cylinder (431), and a plurality of driven rods (432) are provided on the driving cylinder (431). The number of the driven rods (432) corresponds to the number of the 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 provided 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 provided 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 provided on the grabbing claw (44), and the position of the driving block (1513) corresponds to the position of the air jet switch (1512). 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. 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 limiting block (223) is fixedly arranged on the upper side of the loading bracket (221); A loading frame (224), wherein the loading frame (224) is slidably disposed on the loading bracket (221) and is located between the first limiting block (223) and the first reference block (222); A first driven block (225) is fixedly mounted 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 the first spring (226) is fixedly connected to the loading frame (224), and the other end is fixedly connected to the first reference block (222).

2. The multi-machine collaborative flexible processing equipment for oil seal inner ring according to claim 1 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 the end of the holding bracket (231); A second limiting block (233) is fixedly arranged on the upper side of the retaining bracket (231); 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); A second driven block (235) is fixedly mounted on the retaining frame (234); The second spring (236) is arranged between the holding frame (234) and the second reference block (232). One end of the second spring (236) is fixedly connected to the holding frame (234), and the other end is fixedly connected to the second reference block (232).

3. The multi-machine collaborative flexible processing equipment for oil seal inner ring according to claim 2 is characterized in that: A feeding switch (5) is provided on the frame of the feeding conveyor belt (21), and the feeding 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 electric signal is triggered. When the feeding switch (5) contacts the transmission switch (441), an electric signal is triggered.

4. The multi-machine collaborative flexible processing equipment for oil seal inner ring according to claim 3 is characterized in that: 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 on the lower side of the push block (442).

5. The control method of the oil seal inner ring multi-machine collaborative flexible processing equipment according to claim 4 is characterized in that: The following steps are involved: Step 1: First, install the oil seal inner ring on the grabbing claw (44), manually install the oil seal inner ring 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 (14) as C1 and C2 respectively; Step 2: The rotating seat (12), rocker arm (13), and 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 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) remove 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 4: The rotating arm (14) rotates so that C1 and C2 leave the CNC lathe, and then the rotating seat (12), rocker arm (13), and rotating arm (14) rotate so that C1 / C2 are 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; 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) removes 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 re-grabs the inner ring of the oil seal to be processed; Step 6: Rotate the rotating arm (14) so ​​that C2 / C1 leaves B, then rotate the rotating seat (12), rocker arm (13), and rotating arm (14) so ​​that C1 approaches A1 and C2 approaches A2, and wait 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) remove the processed inner rings of the oil seals, and then rotates to place the inner rings of the oil seals to be processed in 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), rocker arm (13), and rotating arm (14) rotate so that C2 / C1 is 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; 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) removes 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 re-grabs the inner ring of the oil seal to be processed; Step 10: The rotating arm (14) rotates so that C1 / C2 leaves B, and the rotating seat (12), rocker arm (13), and rotating arm (14) rotate so that C1 approaches A1 and C2 approaches A2, and wait for the inner rings of the oil seals in A1 and A2 to be processed; Step 11. Go to step 3.

6. The control method of the oil seal inner ring multi-machine collaborative flexible processing equipment according to claim 5 is characterized in that: The rotating frame (41) in the steps 3, 5, 7 and 9 is rotated so that the idle grabbing claw (44) takes off the processed oil seal inner ring, and then rotates to place the oil seal inner ring to be processed on the processing position of the CNC lathe 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, driving the grabbing claw (44) to move toward the processed oil seal inner ring until it contacts the oil seal inner ring, and then the grabbing claw (44) grabs the processed oil seal inner ring; 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; 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; S5, the driving assembly (43) operates, driving 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, driving the grabbing claw (44) away from the grabbing position.

7. The control method of the oil seal inner ring multi-machine collaborative flexible processing equipment according to claim 6 is characterized in that: The steps of placing the processed oil seal inner ring to the loading position and then re-grabbing the oil seal inner ring to be processed in step 5 and step 9 are as follows: S1, the driving assembly (43) drives 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 inner ring of the oil seal on the grabbing claw (44) contacts the feeding conveyor belt (21); S2, the grabbing claw (44) loosens the inner ring of the oil seal, pushing the block (442) away from the grabbing 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 grabbing 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 grabbing claw (44) continues to rise, the pushing block (442) is separated from the pushing rod (6), and the feeding frame (224) and the holding frame (234) are reset; S4, the driving assembly (43) drives 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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