Internal caliper automated processing equipment and processing method thereof

Abstract

The present invention discloses an automated processing device for an internal caliper, comprising a first process machine tool (1) and two second process machine tools (2), a truss (3) is provided above the first process machine tool (1) and the second process machine tool (2), a loading platform is provided on one side of the first process machine tool (1), a first grasping manipulator (5) and a second grasping manipulator (8) are provided on the track of the truss (3), a cleaning machine is provided on the other side of the first process machine tool (1), a flip positioning device (7) is provided on one side of the second process machine tool (2), and a unloading platform (9) is provided on the other side of the second process machine tool (2). The present invention can balance the production rhythm, improve the workpiece circulation efficiency, and adopt different grasping units for different processing process links to ensure the high precision of the workpiece during the clamping and positioning process, thereby significantly improving the overall processing precision and product quality of the internal caliper.

Description

Technical Field

[0001] The invention relates to the field of machining production lines, and in particular to an automatic machining device for an inner caliper and a machining method thereof. Background Art

[0002] Automobile brake calipers are caliper devices with functions such as slowing down, stopping or keeping the moving wheels in a stopped state. In order to improve processing efficiency, the processing of automobile calipers adopts the form of an automated production line. For example, the Chinese invention patent with publication number CN117961569A discloses an automated production line for automobile brake calipers, including a loading and unloading platform set on the ground and a first robot and a second robot on its left and right sides, the first robot is provided with two first workpiece buffer placement platforms on the front and rear sides, a first vertical machining center is provided on the left side, and a first vertical machining center is provided on the rear side of the first workpiece buffer placement platform on the rear side, a workpiece conversion placement platform is provided on the ground on the rear side of the loading and unloading platform between the two robots, a workpiece flipping workbench is provided on the rear side of the second robot on the same straight line as the first workpiece buffer placement platform on the rear side, a second workpiece buffer placement platform is provided on the right rear side, a third workpiece buffer placement platform is provided on the right front side, and a fourth vertical machining center is provided on the front side, a second vertical machining center is provided on the rear side of the workpiece flipping workbench, and a third vertical machining center is provided on the right side of the third workpiece buffer placement platform. This type of automated production line mainly improves efficiency by setting up multiple machining centers and cooperating with robots for workpiece circulation, but this method is not ideal for balancing the production rhythm. Secondly, the robot execution end in this type of automated production line uses the same grasping unit, and the same action form is used for picking and placing the internal caliper. In the links where high machining accuracy is required, the use of a single grasping unit will affect the positioning accuracy of the workpiece, thereby affecting the machining accuracy of the workpiece size. Summary of the invention

[0003] The purpose of the present invention is to provide an automated processing device for an inner caliper and a processing method thereof. The present invention can balance the production rhythm, improve the workpiece circulation efficiency, and adopt different gripping units for different processing steps to ensure the high precision of the workpiece during the clamping and positioning process, thereby significantly improving the overall processing accuracy and product quality of the inner caliper.

[0004] The technical solution of the present invention is: the internal caliper automatic processing equipment comprises a first process machine tool and two second process machine tools, and a truss is arranged above the first process machine tool and the second process machine tool; the equipment also comprises: A loading platform is arranged on one side of the truss, and is used to place workpiece blanks; A first grabbing manipulator is arranged on the truss track, and the first grabbing manipulator is used to realize loading and unloading of multiple workpieces in the first process machine tool; A cleaning machine is arranged on the other side of the first process machine tool, and is used to clean the workpiece processed on the first process machine tool; A flip positioning device is arranged between adjacent second process machine tools, and is used to realize flip positioning of the workpiece based on the end face of the workpiece processed in the first process as a reference; There are two second grabbing manipulators, both of which are arranged on the truss track, and the second grabbing manipulators are used to grab a single workpiece in the flip positioning device, and then load and unload the workpiece in the two second process machine tools respectively; The unloading platform is arranged on the other side of the truss, and is used to receive the finished workpiece that has completed the second process and is clamped by the second grasping robot and transported.

[0005] In the above-mentioned internal caliper automated processing equipment, the loading platform includes a main frame, a chain transmission component is provided on the main frame, a transverse bracket is provided on the conveying end of the chain transmission component, and a plurality of pairs of internal caliper support brackets are provided on the transverse bracket.

[0006] In the aforementioned internal caliper automated processing equipment, the first grasping robot comprises a three-axis moving assembly connected to a truss rail, the execution end of the three-axis moving assembly is provided with a flip shaft via a bearing, the end of the flip shaft is provided with two grasping main boards arranged at 90 degrees, and a plurality of first grippers are provided on the outer side of the grasping main boards; a flip cylinder is provided on the side of the execution end of the three-axis moving assembly, and the protruding end of the flip cylinder is hinged to one of the grasping main boards.

[0007] In the aforementioned internal caliper automated processing equipment, the first gripper includes a transition plate connected to the gripping main board, a gripper body is provided at the lower part of the transition plate, and a clamping finger is connected to the movable end of the gripper body; an elastic preload member is provided on the side of the transition plate which contacts one side of the workpiece.

[0008] In the aforementioned internal caliper automated processing equipment, the flip positioning device includes a workbench, a sliding support frame is provided on the workbench, a transverse moving part is provided on the sliding support frame, and a longitudinal moving part is provided at the end of the sliding support frame; a platform plate is provided on the moving end of the transverse moving part, and an angle adjustment table and a sampling table are provided on the platform plate; a fixed frame is provided on the moving end of the longitudinal moving part, a flip motor is provided on one side of the fixed frame, and the rotating end of the flip motor is connected to the flip frame; a flip limit frame is provided on the inner side of the fixed frame, and a plurality of internal caliper support tables used in conjunction with the angle adjustment table and the sampling table are provided on the flip frame.

[0009] In the aforementioned internal caliper automated processing equipment, the angle adjustment platform includes a platform body arranged on a platform plate, an adjusting cylinder is provided at the bottom of the platform body, the protruding end of the adjusting cylinder is fixed to the bottom of the platform body, a linkage rod group is hinged at the lower end of the main body of the adjusting cylinder, the rotating ends on both sides of the linkage rod group are arranged through the platform body, and the rotating ends of the linkage rod group are provided with internal caliper positioning blocks.

[0010] In the aforementioned internal caliper automated processing equipment, the second grasping robot includes a connected moving part arranged on a truss track, a servo motor is provided at the execution end of the moving part, a four-way flange is provided at the rotating end of the servo motor, and a second gripper is provided around the four-way flange, which is inclined and corresponds to the internal caliper positioning block.

[0011] In the aforementioned internal caliper automated processing equipment, the second clamp includes a receiving plate arranged on the side of the four-way flange, a pneumatic clamp is provided on one side of the receiving plate, and the execution end of the pneumatic clamp is connected to a first clamping shaft that matches the hole position on the upper side of the workpiece; an elastic positioning piece is provided on the side of the receiving plate, and the end of the elastic positioning piece is provided with a second clamping shaft that matches the hole position on the plane end of the workpiece.

[0012] In the aforementioned processing method of the inner caliper automated processing equipment, the specific steps are as follows: Step 1, the workpiece blank is placed on the loading table, the first grasping manipulator grasps a plurality of workpiece blanks to the first process machine tool for processing, and the workpiece processed in the first process is taken down and transferred to the cleaning machine, the cleaning machine realizes the cleaning of the workpiece, and the cleaned workpiece is then sent to the flip positioning device by the first grasping manipulator; Step 2: The workpiece realizes the flipping of the processing surface in the flipping and positioning device, with the processing surface completed in the first process as the reference, and the other side of the workpiece as the surface to be processed. The second grasping robot sends the single workpiece that has completed the flipping and positioning to the second process machine tool for processing. The processed workpiece is then transferred to the unloading table by the second grasping robot for unloading.

[0013] In the aforementioned processing method of the internal caliper automated processing equipment, the workpiece is placed in pairs on a flipping frame in a flipping positioning device, the flipping frame rotates 180 degrees, the end face processed in the first step is the bottom face, the longitudinal moving part and the transverse moving part cooperate, the workpiece is placed on an angle adjustment table, and the angle adjustment table adjusts the placement angle between a group of workpieces.

[0014] Compared with the prior art, the present invention has the following advantages: 1. In the present invention, the workpiece blank is placed on the loading table, the first grasping manipulator grasps a plurality of workpiece blanks to the first process machine tool for processing, and the workpiece that has completed the first process processing is taken down and transferred to the cleaning machine, the cleaning machine realizes the cleaning of the workpiece, and the cleaned workpiece is then sent to the flip positioning device by the first grasping manipulator; the workpiece realizes the flipping of the processing surface in the flip positioning device, with the processing surface that has completed the first process processing as the reference, and the other side of the workpiece is the surface to be processed, and the second grasping manipulator respectively sends the single workpiece that has completed the flipping and positioning to the second process machine The workpieces are processed in the bed, and the processed workpieces are transferred to the unloading table by the second grasping robot for unloading. By setting corresponding grasping robots for the machine tools used in two different process links, the work rhythm is balanced and the work efficiency is improved. The first grasping robot adopts a mechanism for grasping and placing multiple groups of workpieces at the same time, and the second grasping robot adopts a mechanism for grasping and placing workpieces one by one. Different grasping units are used for different processing steps of the two groups of grasping robots to ensure the high precision of the workpieces in the clamping and positioning process, thereby significantly improving the overall processing accuracy and product quality of the internal caliper.

[0015] 2. In the flip positioning device, the workpieces are placed in pairs on the flip frame, which rotates 180 degrees. The end face processed in the first process is the bottom face. The longitudinal moving parts and the transverse moving parts cooperate with each other. The workpieces are placed on the angle adjustment table, and the angle adjustment table adjusts the placement angle between a group of workpieces. The processing surface is converted through the flip positioning device, and the processing reference is determined to ensure the uniformity of the workpiece size processing.

[0016] 3. In the second grasping robot, the servo motor controls the rotation of the four-way flange, thereby controlling the second gripper to place the workpieces one by one to ensure the positioning accuracy of the workpiece clamping. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a structural schematic diagram of the present invention; Figure 2 It is a structural schematic diagram of the loading platform; Figure 3 is a schematic diagram of a first grasping manipulator; Figure 4 is a schematic diagram of the first gripper; Figure 5 is a schematic diagram of a flip positioning device; Figure 6 is a schematic diagram of an angle adjustment platform; Figure 7 is a schematic diagram of a second grasping manipulator; Figure 8 Schematic diagram of the second gripper.

[0018] Explanation of the marks in the attached drawings: 1-first process machine tool, 2-second process machine tool, 3-truss, 4-loading platform, 5-first grabbing manipulator, 6-cleaning machine, 7-turning positioning device, 8-second grabbing manipulator, 9-unloading platform, 10-main frame, 11-chain transmission assembly, 12-lateral bracket, 13-inner caliper support bracket, 14-three-axis moving assembly, 15-turning axis, 16-grabbing main board, 17-first clamp, 18-turning cylinder, 19-transition plate, 20-clamp body, 21-clamping finger, 22-elastic preload, 23-workbench, 24-sliding support frame, 25-lateral moving part, 26-longitudinal moving part, 27-platform plate, 28-angle adjustment table, 29-sampling table, 30-fixed frame, 31-flip motor, 32-flip frame, 33-flip limit frame, 34-inner caliper support table, 35-table body, 36-adjusting cylinder, 37-linkage rod group, 38-inner caliper positioning block, 39-moving part, 40-servo motor, 41-four-way flange, 42-second clamp, 43-receiving plate, 44-pneumatic clamp, 45-first clamping shaft, 46-elastic positioning part, 47-second clamping shaft. DETAILED DESCRIPTION

[0019] The present invention will be further described below in conjunction with the accompanying drawings and embodiments, but they are not intended to limit the present invention.

[0020] Embodiment 1: An automated processing device for inner calipers, comprising a first process machine tool 1 and a second process machine tool 2, as shown in the attached Figure 1 As shown, the first process machine tool mainly processes the inner circular groove and end face size of the inner caliper, and the second process machine tool mainly processes the hole size and oil hole on the outer side of the inner caliper. There is one first process machine tool and two second process machine tools. A truss 3 is arranged above the first process machine tool 1 and the second process machine tool 2. The equipment also includes: The loading platform 4 is arranged on one side of the truss 3. Figure 2 As shown, the loading platform 4 is used to place the workpiece blank; the loading platform 4 includes a main frame 10 arranged on one side of the first process machine tool 1, and a chain transmission component 11 is installed on the main frame 10. A transverse bracket 12 is installed on the conveying end of the chain transmission component 11, and a plurality of groups of inner caliper support brackets 13 placed in pairs are provided on the transverse bracket 12. The inner caliper is divided into two left and right main bodies, so it needs to be placed in pairs when loading and placing.

[0021] The first grabbing manipulator 5 is arranged on the track of the truss 3, as shown in the attached Figure 3As shown, the first grasping robot 5 is used to realize the loading and unloading of multiple workpieces in the first process machine tool 1; the first grasping robot 5 includes a three-axis moving component 14 connected to the truss 3 track, and the execution end of the three-axis moving component 14 is installed with a flip shaft 15 through a bearing, and the end of the flip shaft 15 is installed with two grasping main boards 16 set at 90 degrees, and multiple first clamps 17 are installed on the outside of the grasping main board 16; a flip cylinder 18 is installed on the side of the execution end of the three-axis moving component 14, and the protruding end of the flip cylinder 18 is hinged to one of the grasping main boards 16, and the flip cylinder mainly controls the flipping of the grasping main board. When the first grasping robot grasps on the loading table, it grasps two groups of workpieces at the same time, a total of four, and the workpieces are placed in the fixture of the first process machine tool at the same time. During the first process processing, its processing accuracy is low and the positioning accuracy requirement is low; the first clamp 17 includes a transition plate 19 connected to the grasping main board 16, as shown in the attached Figure 4 As shown, a gripper body 20 is installed at the lower part of the transition plate 19, and a clamping finger 21 is connected to the movable end of the gripper body 20; an elastic preload 22 in contact with one side of the workpiece is installed on the side of the transition plate 19, and when the first gripper is clamping, the elastic preload will contact the surface of the workpiece, and the clamping finger will clamp the workpiece, so that the workpiece can be clamped stably, and when placing, the elastic preload will push the workpiece outward, so that the workpiece can be firmly placed in the fixture of the first process machine tool.

[0022] The cleaning machine 6 is arranged on the other side of the first process machine tool 1. The cleaning machine 6 is used to clean the workpiece processed on the first process machine tool 1. The main purpose of using the cleaning machine in the internal caliper processing process is to ensure the cleanliness of the caliper, thereby improving product quality and reliability. During the machining process, metal chips and burrs will be generated on the surface and inner cavity of the internal caliper. If these residues are not removed, they may cause problems such as wear, jamming or poor sealing of the internal parts of the caliper during subsequent assembly and use. The coolant and lubricating oil used in the processing process may remain on the surface and inner cavity of the caliper. The cleaning machine can effectively remove these residues to prevent them from having adverse effects on subsequent heat treatment, surface treatment or assembly processes. The flip positioning device 7 is arranged between adjacent second process machine tools 2, as shown in the attached Figure 5As shown, the flip positioning device 7 is used to realize the flip positioning of the workpiece with the end face of the workpiece processed in the first process as a reference; the flip positioning device 7 includes a workbench 23 arranged on one side of the second process machine tool 2, a sliding support frame 24 is installed on the workbench 23, a transverse moving member 25 is installed on the sliding support frame 24, and a longitudinal moving member 26 is installed at the end of the sliding support frame 24; a platform plate 27 is installed on the moving end of the transverse moving member 25, and an angle adjustment table 28 and a sampling table 29 are installed on the platform plate 27. During the processing, in order to control the quality of the workpiece product, the sampling table can remove individual products in the processing process; a fixed frame 30 is installed on the moving end of the longitudinal moving member 26, and a flip motor 31 is provided on one side of the fixed frame 30, and the rotating end of the flip motor 31 is connected to Flip frame 32; a flip limit frame 33 is installed on the inner side of the fixed frame 30, and a plurality of internal caliper support platforms 34 used in conjunction with the angle adjustment platform 28 and the sampling platform 29 are installed on the flip frame 32. The internal caliper support platform includes a positioning shaft and a clamp for locating the hole position on the workpiece. After the first grasping manipulator puts the workpiece into the internal caliper support platform, the clamp clamps the workpiece, and the flip motor is started, so that the flip frame rotates 180 degrees. The upper and lower ends of the flip limit frame are provided with a limit shaft body, and one end of the flip frame is provided with a baffle, which will conflict with the limit shaft body. The function of the flip limit frame is to control the rotation range of the flip frame to be within 180 degrees; the lateral moving part moves the angle adjustment platform to the bottom of the flip frame, and the longitudinal moving part drives the flip frame to move downward, and the flipped workpiece is placed on the angle adjustment platform. The angle adjustment platform 28 includes a table body 35 arranged on the platform plate 27, as shown in the attached figure. Figure 6 As shown, an adjusting cylinder 36 is installed at the bottom of the table 35, and the protruding end of the adjusting cylinder 36 is fixed to the bottom of the table 35. A linkage rod group 37 is hinged at the lower end of the main body of the adjusting cylinder 36. The rotating end of the linkage rod group 37 is set through the table 35, and an inner caliper positioning block 38 is installed at the rotating end of the linkage rod group 37. The workpiece is placed on the inner caliper positioning block. The adjusting cylinder is operated and the main body of the adjusting cylinder moves to make the linkage rod group swing. The linkage rod group includes a rotating piece hinged to the adjusting cylinder body. A rotating shaft is provided at the upper end of the rotating piece. The upper end of the rotating shaft is connected to the inner caliper positioning block. The rotating shaft rotates, so that the inner caliper positioning block rotates at an angle. Two workpieces in the same group are set at a certain angle.

[0023] The second grabbing manipulator 8 has two and both are arranged on the truss 3 track, as shown in the attached Figure 7As shown, the second grasping robot 8 is used to grasp a single workpiece in the flipping and positioning device 7, and then realize loading and unloading in the two second process machine tools 2 respectively. The second grasping robot 8 is a rotating single structure; the second grasping robot 8 includes two groups of connected moving parts 39 arranged on the track of the truss 3, and the execution end of the moving part 39 is installed with a servo motor 40, and the rotating end of the servo motor 40 is installed with a four-way flange 41. The four-way flange 41 is surrounded by a second clamp 42 that is inclined and corresponds to the inner caliper positioning block 38; the second grasping robot moves the workpiece on the flipping and positioning device to the second process machine tool, and the servo motor controls the rotation of the four-way flange to grasp the two groups of workpieces on the angle adjustment table one by one. When clamping and placing the workpieces in the second process machine tool, the same one-by-one placement is adopted. The group of workpieces placed on the angle adjustment table are placed at a certain angle, so the second clamp is inclined at a certain angle relative to the four-way flange, corresponding to the workpiece placed on the angle adjustment table, thereby realizing fast grasping. The second gripper 42 includes a receiving plate 43 disposed on the side of the four-way flange 41. Figure 8 As shown, a pneumatic gripper 44 is installed on one side of the receiving plate 43, and the execution end of the pneumatic gripper 44 is connected to a first clamping shaft 45 that matches the hole position on the upper side of the workpiece; an elastic positioning member 46 is installed on the side of the receiving plate 43, and the end of the elastic positioning member 46 is installed with a second clamping shaft 47 that matches the hole position on the plane end of the workpiece; through the positioning and clamping of the clamping shaft, the stability of the clamping can be ensured, and the positioning accuracy of the clamping can be ensured. The second grasping manipulator 8 is divided into two groups, and the two groups of manipulators are connected together, which can reduce the collision and interference between the grasping manipulators during operation, and can maintain the working rhythm.

[0024] The unloading platform 9 is arranged on the other side of the truss 3, and is used to receive the finished workpiece that has completed the second process by the second grasping robot 8 and transfer it.

[0025] Embodiment 2: Based on the inner caliper automated processing equipment in Embodiment 1, this embodiment provides a processing method of the inner caliper automated processing equipment, and the specific steps are as follows: Step 1, the workpiece blank is placed on the loading platform 4, the first grasping manipulator 5 grasps a plurality of workpiece blanks to the first process machine tool 1 for processing, and the workpieces that have completed the first process are taken down and transferred to the cleaning machine 6, the cleaning machine 6 realizes the cleaning of the workpiece, and the cleaned workpiece is then sent to the flip positioning device 7 by the first grasping manipulator 5; Step 2, the workpiece realizes the flipping of the processing surface in the flipping and positioning device 7, with the processing surface completed in the first process as the reference, and the other side of the workpiece is the surface to be processed. In the flipping and positioning device 7, the workpieces are placed in pairs on the flipping frame 32, the flipping frame 32 rotates 180 degrees, and the end surface completed in the first process is the bottom surface. The longitudinal moving part 26 and the transverse moving part 25 cooperate, and the workpiece is placed on the angle adjustment table 28. The angle adjustment table 28 adjusts the placement angle between a group of workpieces; the second grasping robot 8 sends the single workpiece that has completed the flipping and positioning to the second process machine tool 2 for processing, and the processed workpiece is then transferred to the unloading table 9 by the second grasping robot 8 for unloading.

[0026] To summarize, the present invention balances the work rhythm and improves work efficiency by setting corresponding grasping robots for machine tools used in two different process links. The first grasping robot adopts a mechanism for grasping and placing multiple groups of workpieces at the same time, and the second grasping robot adopts a mechanism for grasping and placing workpieces one by one. Different grasping units are used for the two groups of grasping robots in different processing steps to ensure high precision of the workpieces during the clamping and positioning process, thereby significantly improving the overall processing accuracy and product quality of the internal caliper.

Claims

1. An automated processing device for an internal caliper, comprising a first process machine tool (1) and two second process machine tools (2), wherein a truss (3) is provided above the first process machine tool (1) and the second process machine tool (2); the device is characterized in that: The device also includes: A loading platform (4) is arranged on one side of the truss (3), and the loading platform (4) is used to place workpiece blanks; A first grasping manipulator (5) is arranged on a truss (3) track, the first grasping manipulator (5) being used to load and unload a plurality of workpieces in a first process machine tool (1); A cleaning machine (6) is arranged on the other side of the first process machine tool (1), and the cleaning machine (6) is used to clean the workpiece processed on the first process machine tool (1); A flip positioning device (7) is arranged between adjacent second process machine tools (2), and the flip positioning device (7) is used to realize flip positioning of the workpiece based on the end face of the workpiece processed in the first process as a reference; Two second grasping manipulators (8) are provided and both are arranged on the track of the truss (3), and the second grasping manipulators (8) are used to grasp a single workpiece in the flipping and positioning device (7), and then load and unload the workpiece in the two second process machine tools (2) respectively; The unloading platform (9) is arranged on the other side of the truss (3), and is used to receive the finished workpiece that has completed the second process and is clamped by the second grasping manipulator (8) and transported.

2. The automatic processing equipment for inner calipers according to claim 1, characterized in that: The loading platform (4) comprises a main frame (10), a chain transmission component (11) is provided on the main frame (10), a transverse bracket (12) is provided on the conveying end of the chain transmission component (11), and a plurality of pairs of inner caliper support brackets (13) are provided on the transverse bracket (12).

3. The automatic processing equipment for inner calipers according to claim 1, characterized in that: The first gripping manipulator (5) comprises a three-axis moving assembly (14) connected to the rail of the truss (3); the execution end of the three-axis moving assembly (14) is provided with a flip shaft (15) via a bearing; the end of the flip shaft (15) is provided with two gripping main boards (16) arranged at 90 degrees; the outer side of the gripping main board (16) is provided with a plurality of first grippers (17); the side of the execution end of the three-axis moving assembly (14) is provided with a flip cylinder (18); the protruding end of the flip cylinder (18) is hinged to one of the gripping main boards (16).

4. The automatic processing equipment for inner calipers according to claim 3 is characterized in that: The first gripper (17) comprises a transition plate (19) connected to the gripping main plate (16); a gripper body (20) is provided at the lower portion of the transition plate (19); a gripper finger (21) is connected to the movable end of the gripper body (20); and an elastic pre-tightening member (22) is provided at the side of the transition plate (19) for contacting one side of the workpiece.

5. The automatic processing equipment for inner calipers according to claim 1, characterized in that: The flip positioning device (7) comprises a workbench (23), a sliding support frame (24) is provided on the workbench (23), a lateral moving member (25) is provided on the sliding support frame (24), and a longitudinal moving member (26) is provided at the end of the sliding support frame (24); a platform plate (27) is provided on the moving end of the lateral moving member (25), and an angle adjustment table (28) and a sampling table (29) are provided on the platform plate (27); a fixed frame (30) is provided on the moving end of the longitudinal moving member (26), a flip motor (31) is provided on one side of the fixed frame (30), and a flip frame (32) is connected to the rotating end of the flip motor (31); a flip limit frame (33) is provided on the inner side of the fixed frame (30), and a plurality of inner caliper support tables (34) used in conjunction with the angle adjustment table (28) and the sampling table (29) are provided on the flip frame (32).

6. The automatic processing equipment for inner calipers according to claim 5, characterized in that: The angle adjustment platform (28) comprises a platform body (35) arranged on a platform plate (27); an adjustment cylinder (36) is arranged at the bottom of the platform body (35); an extended end of the adjustment cylinder (36) is fixed to the bottom of the platform body (35); a linkage rod group (37) is hingedly connected to the lower end of the main body of the adjustment cylinder (36); rotating ends on both sides of the linkage rod group (37) are arranged through the platform body (35); and an inner caliper positioning block (38) is arranged at the rotating end of the linkage rod group (37).

7. The automatic processing equipment for inner calipers according to claim 6, characterized in that: The second gripping manipulator (8) comprises a moving part (39) arranged on a track of the truss (3), a servo motor (40) being provided at an execution end of the moving part (39), a four-way flange (41) being provided at a rotation end of the servo motor (40), and a second gripper (42) being arranged obliquely around the four-way flange (41) and corresponding to the inner caliper positioning block (38).

8. The automatic processing equipment for inner calipers according to claim 7, characterized in that: The second gripper (42) comprises a receiving plate (43) arranged on the side of the four-way flange (41); a pneumatic gripper (44) is provided on one side of the receiving plate (43); an actuating end of the pneumatic gripper (44) is connected to a first clamping shaft (45) which matches with a hole on the upper side of the workpiece; an elastic positioning member (46) is provided on the side of the receiving plate (43); a second clamping shaft (47) which matches with a hole on the plane end of the workpiece is provided at the end of the elastic positioning member (46).

9. The processing method of the inner caliper automated processing equipment according to any one of claims 1 to 8, characterized in that: The specific steps are as follows: Step 1, the workpiece blank is placed on the loading table, the first grasping manipulator grasps a plurality of workpiece blanks to the first process machine tool for processing, and the workpieces that have completed the first process are taken down and transferred to the cleaning machine, the cleaning machine realizes the cleaning of the workpiece, and the cleaned workpiece is then sent to the flip positioning device by the first grasping manipulator; Step 2: The workpiece realizes the flipping of the processing surface in the flipping and positioning device, with the processing surface completed in the first process as the reference, and the other side of the workpiece as the surface to be processed. The second grasping robot sends the single workpiece that has completed the flipping and positioning to the second process machine tool for processing. The processed workpiece is then transferred to the unloading table by the second grasping robot for unloading.

10. The processing method of the inner caliper automated processing equipment according to claim 9, characterized in that: In the flipping and positioning device, the workpieces are placed in pairs on a flipping frame, which rotates 180 degrees. The end surface processed in the first step is the bottom surface. The longitudinal moving parts and the transverse moving parts cooperate, and the workpieces are placed on an angle adjustment table. The angle adjustment table adjusts the placement angle between a group of workpieces.

Images