Precise automatic punching system and control method thereof

Abstract

According to the precise automatic punching and cutting system and the control method thereof, gap floating non-contact positioning is combined with the mutual reference principle to guide punching and cutting machining, automatic feeding and discharging are conducted in the whole process, automatic positioning detection feedback correction is conducted, linear optimization is conducted on punching and cutting force, and comprehensive optimization is conducted on energy consumption and efficiency. The positioning precision is obtained, meanwhile, damage caused by secondary machining positioning is avoided, the device is suitable for parts of different sizes and shapes, the universality is good, the maintenance cost is low, the product quality is stable, the consistency is good, and low-power-consumption green intelligent manufacturing is achieved while high-precision lossless machining is achieved.

Description

Technical Field

[0001] The present invention relates to the field of punching technology for mechanical manufacturing, and particularly to an automatic positioning system and control method for precision punching, specifically an adjustable positioning system and an automatic control method applicable to precision automatic punching of internal limiting grooves in threaded cartridge valves Background Art

[0002] In hydraulic valves, they are divided into different grades according to the oil flow rate. The structural dimensions of the hydraulic valves also increase with the increase of the flow rate grade. The threaded cartridge balance valve has multiple flow rate grades from 60 to 480L. The structural shapes of the threaded connection sleeves with different flow rate grades are basically the same, and multiple internal limiting grooves that need to be finely processed are provided in the threaded connection sleeves with different external dimensions of the flow rate grades. There are position accuracy requirements between the internal limiting grooves that need to be finely processed and other finely processed mating cavities for related assemblies. Limited by the structure of the threaded connection sleeve, the internal limiting grooves can only be processed by punching. However, due to the large punching force, it is not suitable for direct processing on a lathe, and only punching processing on a hydraulic press can be carried out after secondary clamping. The fixture for secondary clamping needs to meet various technical requirements: First, in view of the product appearance and accuracy requirements, the secondary positioning and clamping punching processing should not cause damage to the machined surface of the threaded connection sleeve; Second, in view of the different dimensions of multiple grades of the threaded connection sleeve, the fixture for secondary positioning and clamping must be universal to meet the needs of the differences in the external dimensions of the threaded connection sleeves with different flow rate grades; Third, in view of the requirements of the product use characteristics for the structural manufacturing accuracy, the fixture for secondary positioning and clamping must ensure the position accuracy between the limiting groove after punching and the previously machined surface; Fourth, in view of the economic benefits of mass-produced products and the consistency requirements of mass production performance, the fixture for secondary positioning and clamping must ensure the efficiency of mass production and the consistency of mass production accuracy; Fifth, in view of the requirements of mass production efficiency and accuracy consistency, the fixture for secondary positioning and clamping must have functions such as automatic loading and unloading, real-time online positioning detection, follow-up adjustment of clamping and positioning accuracy, punching force feedback monitoring and protection, etc.; Sixth, the fixture for secondary positioning and clamping needs to complete the elimination of processing defects in the previous process while ensuring the accuracy of the current punching process; Seventh, it is the energy-saving problem of green intelligent manufacturing. The new punching system must meet the low-power control requirements for mass production. The existing tooling equipment cannot meet the above technical requirements at the same time, so it is urgent to design a precision automatic positioning punching system that can meet the above requirements at the same time. Summary of the Invention

[0003] The technical problem solved by the present invention is to provide a precision automatic punching system applicable to the internal limiting grooves in threaded connection sleeves and its control method to solve the above-mentioned disadvantages in the background art. The technical problem solved by the present invention is realized through the following technical solutions.

[0004] Precision automatic punching system, including a positioning and locking part, a detection and sensing part, a detection and control part, a guiding push rod, a main body bracket, a punching power cylinder, a power station, a controller, a stroke sensor, a position sensor, a positioning power cylinder, a lateral adjustment base, a lateral power device, a machine tool base, a longitudinal adjustment base, a longitudinal power device, a manipulator, a punching tool, a threaded connection sleeve, a weighing sensor. Among them, the lateral adjustment base is arranged on the machine tool base, the longitudinal adjustment base is arranged on the lateral adjustment base, the positioning and locking part is arranged on the longitudinal adjustment base, the positioning power cylinder is arranged on the positioning and locking part, the lateral power device is arranged on the lateral adjustment base, and the longitudinal power device is arranged on the longitudinal adjustment base; the lower part of the main body bracket is connected to the machine tool base, there is a space reserved between the upper part of the main body bracket and the machine tool base, the guiding push rod is arranged on the upper part of the main body bracket, the punching power cylinder is also arranged on the upper part of the main body bracket, the extending rod end of the punching power cylinder is connected to one end of the guiding push rod to transmit power, the other end of the guiding push rod is connected to the positioning and clamping end of the punching tool, and the detection and control part is arranged at the connecting end of the guiding push rod and the punching tool, and the detection and sensing part is arranged on the detection and control part; a stroke sensor and a position sensor are arranged on the main body bracket along the running direction from top to bottom of the guiding push rod, a weighing sensor is arranged on the longitudinal adjustment base and at the supporting and bearing position of the threaded connection sleeve, a manipulator is arranged on one side of the machine tool base, the two oil ports of the punching power cylinder are respectively connected to the two oil ports of the first oil circuit control valve on the power station, and the two oil ports of the positioning power cylinder are respectively connected to the two oil ports of the second oil circuit control valve on the power station; the controller is respectively connected to the power station, the detection and control part, the lateral power device, and the longitudinal power device for control, and the controller is respectively connected to the stroke sensor, the position sensor, and the weighing sensor to obtain data.

[0005] In the present invention, the controller controls the lateral power device to drive the lateral adjustment base to drive the longitudinal adjustment base together with the positioning and locking part to move in the lateral direction, and can control the lateral power device to lock the corresponding position; the controller controls the longitudinal power device to drive the longitudinal adjustment base to drive the positioning and locking part to move in the longitudinal direction, and can control the longitudinal power device to lock the corresponding position.

[0006] In the present invention, the controller controls the first oil circuit control valve of the power station to supply dual-channel power oil to the punching power cylinder. One channel is the process pressure oil for driving the punching tool to move downward through the punching power cylinder, and the other channel is the return pressure oil for driving the punching tool to move upward through the punching power cylinder; the controller controls the second oil circuit control valve of the power station to supply dual-channel power oil to the positioning power cylinder. One channel is the process pressure oil for driving the positioning and locking part to lock and position through the positioning power cylinder, and the other channel is the return pressure oil for driving the positioning and locking part to release and reset through the positioning power cylinder.

[0007] In the present invention, the controller controls the manipulator to complete the loading and unloading of the threaded connection sleeve; the controller collects the stroke position of the guiding push rod through the stroke sensor and the position sensor, and then senses the positions of the detection control part, the detection sensing part and the punching tool; the controller senses whether the positioning locking part holds the threaded connection sleeve through the weighing sensor, and collects the punching force of the punching tool on the threaded connection sleeve.

[0008] In the present invention, a plurality of pressure gauges are arranged on the upper part of the main body bracket. The pressure gauges are respectively connected to the oil ports of the punching power cylinder and the positioning power cylinder. The pressure gauges directly reflect the working oil pressure in each power cylinder, which is convenient for manual rapid monitoring of the working conditions and for manual identification and maintenance when the system fails.

[0009] In the present invention, the guiding push rod arranged on the main body bracket needs to adjust the vertical precision of the axis of rotation of the guiding push rod relative to the machine tool base. When setting the transverse adjustment seat and the longitudinal adjustment seat, the parallel precision of each relative to the machine tool base needs to be adjusted.

[0010] In the present invention, the punching tool is an integral rotary shaft body. From one end to the other end, there are successively a clamping part, a first tool guiding part, a second tool guiding part, and a punching and forming part. A transition cone part is arranged between the first tool guiding part and the second tool guiding part, and a transition cone part is arranged between the second tool guiding part and the punching and forming part.

[0011] In the present invention, the threaded connection sleeve is a rotary shaft body part. Inside, there are successively a first inner hole guiding part, a second inner hole guiding part, and an inner limiting groove part. A bearing step is arranged between the first inner hole guiding part and the second inner hole guiding part. A guiding cone part is arranged on the connecting side of the inner limiting groove part and the second inner hole guiding part. A relief groove for punching is arranged on the other side of the inner limiting groove part. The inner limiting groove part is formed by punching an axial groove after pre-machining a bottom hole in a previous process; Outside, there are successively a detection part, a clamping part, a feedback part, a positioning cone part, and a positioning locking part. The end where the positioning locking part is located is a bearing part. An external hexagon is arranged between the positioning locking part and the positioning cone part. A positioning boss is arranged between the detection part and the clamping part. An external thread is arranged on the detection part. The external thread is tightly connected to the internal thread of the valve block jack and is limited and assembled by the positioning boss; The bottom holes of the detection part, the clamping part, the feedback part, the positioning locking part, the first inner hole guiding part, the second inner hole guiding part, and the inner limiting groove part are machined in a one-time clamping to meet the position precision requirements between them, and then to achieve the assembly precision, working conditions and performance requirements of the product. Due to the machining process of one-time clamping, the relative position precision is guaranteed by the machining precision of the machine tool itself.

[0012] In the present invention, the stroke sensor records the detailed stroke data of the punching tool, and the position sensor plays a role of limiting and protecting.

[0013] In the present invention, the positioning and locking part includes a first guide rail, a first bracket, a second guide rail, a fixing frame, a fixing block, a first adjusting block, a first guiding block, a follower block, a follower frame, a sliding frame, a cover plate, a second bracket, a power head, a second guiding block, and a second adjusting block; The first bracket and the second bracket are respectively fixedly arranged on the longitudinal adjusting seat. One end of the first guide rail is fixedly connected to the first bracket, and the other end of the first guide rail is fixedly connected to the second bracket. One end of the second guide rail is fixedly connected to the first bracket, and the other end of the second guide rail is fixedly connected to the second bracket. The first guide rail and the second guide rail are arranged in parallel with each other; One end of the sliding frame is slidably arranged on the first guide rail, and the other end of the sliding frame is slidably arranged on the second guide rail. The follower frame is detachably and fixedly arranged on the sliding frame, and the fixing frame is detachably and fixedly arranged on the first bracket. The fixing frame and the follower frame are arranged between the first guide rail and the second guide rail; The fixing block is detachably and fixedly connected to the fixing frame, and the follower block is detachably and fixedly connected to the follower frame.

[0014] In the present invention, concave arc grooves are provided on the opposite sides of the fixing frame and the follower frame; The fixing block is an arc ring body less than half, and the follower block is an arc ring body less than half. The fixing block is detachably and fixedly connected to the concave arc groove of the fixing frame through the outer arc, and the follower block is detachably and fixedly connected to the concave arc groove of the follower frame through the outer arc; The inner arcs of the fixing block and the follower block have the same diameter. The outer diameter of the positioning and locking part of the clamped threaded connecting sleeve is smaller than the inner arcs of the fixing block and the follower block. When the fixing block and the follower block position the threaded connecting sleeve, non-contact gaps are reserved between the inner arcs of the fixing block and the follower block and the positioning and locking part of the threaded connecting sleeve, and a gap is reserved between the fixing block and the follower block, and a gap is also reserved between the fixing frame and the follower frame.

[0015] In the present invention, gap adjustment grooves are provided on the fixing frame on both sides of the fixing block. A first adjusting block and a first guiding block are arranged in one side gap adjustment groove, and a second guiding block and a second adjusting block are arranged in the other side gap adjustment groove. Guiding recessed parts are provided on the follower frame on both sides of the follower block. Guiding protruding parts are provided at the contact ends of the first guiding block and the second guiding block with the follower frame. During the movement of the follower frame towards the fixing frame, the guiding recessed parts on the follower frame are in contact and positioned with the guiding protruding parts on the first guiding block and the second guiding block. By adjusting the thicknesses of the first adjusting block and the second adjusting block, the gap between the fixing block and the follower block relative to the positioning and locking part of the threaded connecting sleeve can be adjusted, and at the same time, the positioning imbalance caused by processing errors can be adjusted.

[0016] In the present invention, according to the outer diameter dimensions of the positioning and locking parts of the threaded connection sleeves with different flow rate levels, corresponding inner arc dimensions of the fixed blocks and follower blocks are set for replacement, which can meet the positioning requirements of threaded connection sleeves with different sizes without the need to replace the entire tooling fixture; The fixed blocks and follower blocks are made of materials with a hardness higher than that of the threaded connection sleeves, and the inner arcs of the fixed blocks and follower blocks are trimmed according to the actual dimensions of the outer diameters of the positioning and locking parts of the mass-produced threaded connection sleeves, so as to maximize the positioning and fitting arc surfaces, thereby greatly reducing the positioning deviation. Since non-hard contact type clearance floating positioning is adopted, while ensuring the required positioning accuracy, it avoids damage caused by secondary clamping due to marks left by contact positioning and clamping; A first limiting part is provided on the fixed block, and a second limiting part is provided on the follower block. The first limiting part and the second limiting part correspond to the positioning cone parts on the threaded connection sleeve, and when retracting the tool after finishing the punching, they play a role in limiting to overcome the retraction resistance.

[0017] In the present invention, the power head is detachably and movably arranged on the sliding frame. The power head and the sliding frame are connected by spherical surface connection and transmission. A cover plate for limiting the relative position between the power head and the sliding frame is provided on the sliding frame, and the cover plate is detachably and fixedly connected to the sliding frame.

[0018] In the present invention, the positioning power cylinder includes a power cylinder body and a power cylinder rod. The power cylinder rod is arranged inside the power cylinder body. Under the drive and control of external fluid pressure, the power cylinder rod can reciprocate. The power head is fixedly connected to the end of the power cylinder rod extending out of the power cylinder body, and the power cylinder rod drives the power head to transmit power.

[0019] The precise automatic punching control method includes the following steps: Step 1): Trim the inner arcs of the fixed blocks and follower blocks according to the actual dimensions of the outer diameters of the positioning and locking parts of the mass-produced threaded connection sleeves, install the fixed blocks and follower blocks, and adjust the thicknesses of the first adjusting block and the second adjusting block; Step 2): Adjust the stroke positions of detection and punching according to the size of the threaded connection sleeve; Step 3): Adjust the position of the positioning and locking part relative to the guiding push rod; Step 4): Adjust the feeding position of the manipulator according to the position where the positioning and locking part is located; Step 5): The controller controls the punching power cylinder and the positioning power cylinder to be in the return stroke state respectively; Step 6): The controller controls the manipulator to clamp the threaded connection sleeve to be processed for feeding; Step 7): The controller controls the positioning and locking part to position the threaded connection sleeve; Step 8): The controller controls the detection and sensing part to detect the positioning error, and compensates and corrects the positioning accuracy according to the feedback data; Step 9): The controller controls the punching tool to move downward for punching, and after the punching is completed, it returns to the return stroke state; Step 10): The controller controls the positioning and locking part to release the positioning; Step 11): The controller controls the manipulator to clamp the threaded connection sleeve for blanking; Step 12): The controller performs linear punching optimization according to the stroke and punching force data of the first punching, and punches and optimizes and corrects again according to the optimized parameters.

[0020] In the present invention, during the entire punching process, the punching force is not constant. The punching force changes with the punching process, and the change of the punching force is relatively complex. In the front stroke of punching, as the punching depth increases, the punching force will increase accordingly. When the punching stroke approaches the end, the punching force will show a sudden drop. In addition, the punching force is affected by the structure of the punching tool, the error of the pre-punched bottom hole, the positioning and clamping error of the secondary punching, and the material and hardness of the threaded connection sleeve, and will show different laws of chip-breaking force change; in order to achieve uniform and stable punching and thus ensure the punching accuracy, the controller needs to control the oil supply pressure and flow rate of the power station to the punching power cylinder according to the change law of the punching force. However, the traditional pressure regulating and speed regulating circuit cannot obtain the law of the punching force and accurately control it, nor can it accurately control the flow rate according to the change of the actual chip-breaking force to achieve uniform and precise punching feed, and even less can it perform deep learning optimization of the punching parameters according to the change law of the punching force to achieve the optimization of energy consumption; To achieve the above functions, an electrically controlled reversing valve, an electrically controlled pressure valve, an electrically controlled flow valve, and a variable pump driven by a frequency converter are provided on the power station. According to the design and selection parameters of the punching system, first, the pressure control range of the electrically controlled pressure valve, the flow regulation range of the electrically controlled flow valve, the speed regulation range of the frequency converter-driven motor, the displacement regulation range of the variable pump, and the control range of the punching process speed are given; The controller selects parameters within each parameter range according to the algorithm optimization rules and forms multiple parameter combinations, and then outputs the punching for each parameter combination; during the punching process, the controller collects the data fed back by the weighing sensor and fits to generate a punching force curve. At the same time, the corresponding punching oil pressure is calculated based on the punching force collected by the weighing sensor during the punching process, and then a punching oil pressure curve is generated. Due to the self-resistance of the punching power cylinder and the guiding push rod, the oil pressure controlled by the electronic control pressure valve for the punching power cylinder is greater than the punching oil pressure calculated based on the punching force collected by the weighing sensor, and a pressure difference is formed between the two; the controller collects the power consumption of the variable-frequency drive motor, the electronic control reversing valve, the electronic control pressure valve, and the electronic control flow valve, and obtains the overall power consumption of the entire punching process. The controller also records the completion time of the entire punching process. The controller obtains the actual punching time based on the data change of the weighing sensor, and obtains the actual punching speed based on the data obtained by the stroke sensor and combined with the actual punching time. The actual oil volume input to the punching power cylinder is calculated based on the actual punching speed. The controller obtains the theoretical output oil volume of the pump based on the rotational speed of the variable-frequency drive motor and the displacement of the variable pump. The difference between the actual oil volume and the theoretical output oil volume is the volumetric power loss caused by the volumetric efficiency. The difference between the electrical power consumption of the variable-frequency drive motor and the theoretical volumetric power generated by the pump is the mechanical loss power consumption; adjust the relevant parameters according to the change of the actual punching speed to make the actual punching speed a constant value, thereby realizing uniform punching. On the premise of meeting uniform punching, further adjust the relevant parameters to finally obtain the optimization of the punching speed and the overall power consumption; To simplify the calculation and analysis, according to the principle of energy conservation, the calculation of the energy consumption efficiency does not need to consider the intermediate links and can be directly obtained from the total input power consumption and the power consumption of the cutting link in the actual punching process. The power consumption of the cutting link in the actual punching process is calculated from the punching force collected by the weighing sensor and the displacement of the stroke sensor. The total input power consumption can be directly collected. The energy consumption efficiency obtained in this way is more accurate, avoiding various errors caused by too many intermediate calculation links; During the punching process, the controller detects the punching force throughout the process through the weighing sensor and compares it with the stored data. When the punching force fluctuation range is abnormal, the system will alarm and stop the processing. After manual confirmation, the processing can be resumed by manual intervention.

[0021] In the present invention, the controller drives the detection control part to rotate around the rotation axis of the guiding push rod. The detection control part drives the detection sensing part to rotate followingly. The threaded connection sleeve is placed into the positioning and locking part and is positioned and locked. The rotating detection sensing part detects the primary position deviation of the threaded connection sleeve relative to the rotation axis of the guiding push rod, and feeds back the value of the primary position deviation to the controller. The controller drives the lateral power device and the longitudinal power device according to the value of the position deviation to move the positioning and locking part together with the threaded connection sleeve to the primary adjustment coaxial position. Subsequently, the controller drives the detection control part again to further rotate the detection sensing part to detect the secondary position deviation of the threaded connection sleeve relative to the rotation axis of the guiding push rod. The difference between the value of the secondary position deviation and the value of the primary position deviation is the system error value of the primary adjustment coaxiality. This system error value is incorporated into the adjustment compensation to eliminate the adjustment error of the system.

[0022] In the present invention, before trimming the inner arc dimensions of the trimming fixed block and the follower block, first detect the actual machining dimension of the outer circle of the positioning and locking part of the threaded connection sleeve. Since the outer circle of the positioning and locking part is obtained by the previous precision turning, the dimension consistency is good. And during the previous precision turning process, a go-no-go gauge is used for detection to ensure that the dimension error of the outer circle of the positioning and locking part is within the controlled range. Trim the inner arcs of the trimming fixed block and the follower block according to the actual machining dimension of the outer circle of the positioning and locking part, and make the inner arc dimensions of the trimming fixed block and the follower block larger than the upper limit value of the actual machining dimension of the outer circle of the positioning and locking part. Fasten and install the trimmed trimming fixed block on the fixed frame, and fasten and install the trimmed follower block on the follower frame. Machine the thicknesses of the first adjustment block and the second adjustment block so that the guiding recessed parts on both sides of the follower block on the follower frame can be simultaneously in contact and positioned with the corresponding first guiding block and second guiding block, and after the contact positioning, the inner arcs of the trimming fixed block and the follower block remain concentric.

[0023] In the present invention, according to the height position of the threaded connection sleeve placed on the longitudinal adjustment seat, set the probe of the detection sensing part to the detection part of the threaded connection sleeve, and avoid the external thread provided on the detection part. Furthermore, set the downward punching stroke of the punching tool. After setting the downward position of the punching tool, adjust the position of the position sensor. The position sensor is a backup protection measure. The controller preferentially controls the downward movement of the punching tool according to the feedback data of the stroke sensor. When the stroke sensor is abnormal or fails, the controller cuts off the downward movement of the punching tool according to the feedback signal of the position sensor to avoid damage to the components.

[0024] In the present invention, when the positioning and locking part is installed on the longitudinal adjustment base, first manually and preliminarily adjust the coaxiality of the inner arcs of the fixed block and the follower block and the guiding push rod. Set the dial indicator base on the detection and control part, place the dial indicator head on the inner arcs of the fixed block and the follower block, rotate the detection and control part and observe the change in the reading of the dial indicator. Adjust the position of the positioning and locking part according to the change in the reading of the dial indicator so that the change in the reading of the dial indicator is within the required error control range. After the adjustment is completed, fasten the positioning and locking part to the longitudinal adjustment base; Place the coaxiality detection rod in the inner cavity formed by the fixed block and the follower block and position and lock it. The controller drives the detection and control part to rotate, thereby driving the detection and sensing part to rotate, scan the outer contour of the coaxiality detection rod, and feed the scanned data back to the controller. The controller further analyzes the coaxiality of the coaxiality detection rod relative to the guiding push rod according to the scanned data, and drives the transverse power device and the longitudinal power device according to the analysis result to correct the coaxiality of the coaxiality detection rod relative to the guiding push rod.

[0025] In the present invention, set the loading position of the manipulator according to the position where the positioning and locking part is located and the return stroke amount of the follower block driven by the positioning power cylinder; The punching tool is coaxially and firmly arranged on the guiding push rod.

[0026] In the present invention, the controller controls the first oil circuit control valve of the power station to supply return pressure oil to the punching power cylinder, so that the punching power cylinder drives the guiding push rod together with the punching tool to be in the return stroke state; The controller controls the second oil circuit control valve of the power station to supply return pressure oil to the positioning power cylinder, so that the positioning power cylinder drives the sliding frame together with the follower frame and the follower block to be in the return stroke state.

[0027] In the present invention, the manipulator grips and loads the clamping part of the threaded connection sleeve. The threaded connection sleeve is located on the longitudinal adjustment base through the bearing part. The weighing sensor feeds back the weight of the threaded connection sleeve to the controller to indicate that the workpiece to be processed has been loaded. The controller controls the second oil circuit control valve of the power station to supply process pressure oil to the positioning power cylinder, so that the positioning power cylinder drives the sliding frame together with the follower frame and the follower block to be in the process positioning state.

[0028] In the present invention, the controller drives the detection control part to rotate, thereby driving the detection sensing part to rotate, scans the outer contour of the detection part of the threaded connection sleeve, the controller confirms the positioning accuracy according to the scanning data, and detects the machining accuracy of the previous finish turning while confirming the positioning accuracy. If it exceeds the given range of the positioning error but does not exceed the comprehensive value of the geometric tolerance and the positioning error of the threaded connection sleeve, the controller drives the transverse power device and the longitudinal power device according to the feedback data to correct the positioning. If it exceeds the comprehensive value of the geometric tolerance and the positioning error of the threaded connection sleeve, it is determined that the geometric tolerance of the previous finish turning of the threaded connection sleeve is unqualified, and the controller controls the manipulator to remove the unqualified part.

[0029] In the present invention, the controller controls the first oil circuit control valve of the power station to supply the process pressure oil to the punching power cylinder to complete punching. During punching, the first guiding part of the tool cooperates with the first inner hole guiding part of the threaded connection sleeve for guiding, and the second guiding part of the tool cooperates with the second inner hole guiding part of the threaded connection sleeve for guiding. Under the guidance, the punching forming part enters the preformed bottom hole of the inner limiting groove part to complete the processing of the axial groove. The stroke sensor records the displacement data of the punching tool, and the weighing sensor records the punching force corresponding to the displacement. After punching is completed, the controller drives the detection control part to rotate, thereby driving the detection sensing part to rotate, scans the outer contour of the feedback part of the threaded connection sleeve, the controller confirms the machining accuracy after punching according to the scanning data, and the controller compares the scanning data after punching with the allowable error value to confirm whether the accuracy is qualified. After the detection sensing part completes the accuracy scanning, the controller controls the first oil circuit control valve of the power station to supply the return pressure oil to the punching power cylinder to complete the tool retraction stroke. Due to the elastic deformation of the workpiece, there is a tool retraction resistance, and this resistance will drive the threaded connection sleeve to retract with the punching tool. At this time, the positioning cone parts of the threaded connection sleeve contact and limit the first limiting part of the fixed block and the second limiting part of the follower block respectively, so that the threaded connection sleeve is separated from the punching tool.

[0030] In the present invention, after the punching tool completes the return stroke, the controller controls the second oil circuit control valve of the power station to supply the return pressure oil to the positioning power cylinder, so that the positioning power cylinder drives the sliding frame together with the follower frame and the follower block to be in the return reset state to release the positioning. After the positioning is released, the controller controls the manipulator to clamp the clamping part of the threaded connection sleeve for blanking.

[0031] In the present invention, the controller performs linear optimization of the punching force and the punching speed according to the punching stroke displacement and the corresponding punching force data, punches again according to the optimized parameters and optimizes and corrects again. After several corrections, a stable linear punching is formed, and the optimal matching of power consumption and efficiency is completed.

[0032] Beneficial effects: First, in the present invention, the inner arcs of the fixed block and the follower block and the outer circle of the positioning and locking part of the threaded connection sleeve adopt clearance floating positioning, non-contact clamping positioning, which will not cause damage while achieving the positioning function; Second, in the present invention, in response to the outer shape dimensions of threaded connection sleeves of different grades, only the fixed block and the follower block need to be replaced, rather than the entire clamping device, which has good versatility, and the replacement and maintenance costs of the fixed block and the follower block due to wear are relatively low; Third, in the present invention, the outer circle of the positioning and locking part of the threaded connection sleeve and other parts with position accuracy requirements are obtained by one-time machining in the previous process, and the position accuracy between them is guaranteed by the machine tool itself. The secondary positioning uses this outer circle to maximize the positioning accuracy. The detection part scans and corrects the positioning again to further eliminate the random error of the clearance floating positioning. Moreover, the bearing part of the threaded connection sleeve for carrying the punching force and the other profile with position accuracy requirements are also obtained by one-time machining in the previous process, and the position accuracy between the two is also guaranteed by the machine tool itself. Thus, the two high-precision positionings that use each other as a reference will not cause punching accuracy errors due to positioning and re-cutting forces during punching. After the clearance floating positioning, the first guiding part of the punching tool cooperates with the first inner hole guiding part for guiding, and at the same time, the second guiding part of the punching tool cooperates with the second inner hole guiding part for guiding, and then the punching is completed. This belongs to double mutual reference, which maximizes the machining accuracy; Fourth, in the present invention, the whole process is automatically loaded and unloaded, automatically positioned, detected, feedback and corrected, and the punching processing principle of mutual reference is adopted, and the punching force is detected throughout the process. Once the punching force is abnormal, the system will automatically alarm to avoid random problems caused by positioning abnormalities or tool wear, so as to ensure the consistency of batch production accuracy and the production efficiency of obtaining qualified products; Fifth, in the present invention, while completing the positioning monitoring, the detection part can eliminate defective products with out-of-tolerance form and position tolerances caused by the previous precision turning processing, and the whole process is detected without omission. While obtaining qualified products, it also greatly reduces the cost problem caused by manual sorting; Sixth, in the present invention, while linearly optimizing the punching force, the comprehensive optimization of energy consumption and efficiency is carried out to realize low-power green intelligent manufacturing and achieve the purpose of energy conservation and consumption reduction. Brief Description of the Drawings

[0033] Figure 1 It is a schematic diagram of the overall structure of the precision automatic punching system of the preferred embodiment of the present invention.

[0034] Figure 2 It is a schematic diagram of the structure of the threaded connection sleeve of the preferred embodiment of the present invention.

[0035] Figure 3 It is a schematic diagram of the automatic punching floating limit cooperation of the preferred embodiment of the present invention.

[0036] Figure 4 It is a schematic diagram of the automatic punching positioning and locking part of the preferred embodiment of the present invention.

[0037] Figure 5 Schematic diagram of the state before automatic punching and positioning in a preferred embodiment of the present invention.

[0038] Figure 6 Schematic diagram of the state after automatic punching and positioning in a preferred embodiment of the present invention.

[0039] Reference numerals in the attached drawings: 1. Positioning and locking part; 2. Detection and sensing part; 3. Detection and control part; 4. Guide push rod; 5. Main body bracket; 6. Punching power cylinder; 7. Power station; 8. Controller; 9. Stroke sensor; 10. Position sensor; 11. Positioning power cylinder; 12. Lateral adjustment seat; 121. Lateral power device; 13. Machine tool base; 14. Longitudinal adjustment seat; 141. Longitudinal power device; 15. Manipulator; 16. Punching tool; 17. Threaded connection sleeve; 18. Weighing sensor; 161. First tool guiding part; 162. Second tool guiding part; 163. Punching and forming part; 171. Inner limit groove part; 172. Bearing part; 173. Positioning and locking part; 174. Positioning cone part; 175. Detection part; 176. First inner hole guiding part; 177. Clamping part; 178. Feedback part; 179. Second inner hole guiding part; 101. First guide rail; 102. First bracket; 103. Second guide rail; 104. Fixed frame; 105. Fixed block; 106. First adjustment block; 107. First guide block; 108. Follow-up block; 109. Follow-up frame; 110. Sliding frame; 111. Cover plate; 112. Second bracket; 113. Power head; 114. Second guide block; 115. Second adjustment block; 1051. First limiting part; 1081. Second limiting part. Detailed implementation manners

[0040] In order to make the technical means, creative features, achieved purposes and functions of the present invention easy to understand, the present invention will be further described below with reference to specific drawings.

[0041] See Figures 1 to 6Precision automatic punching system, including a positioning and locking part 1, a detection and sensing part 2, a detection and control part 3, a guiding push rod 4, a main body bracket 5, a punching power cylinder 6, a power station 7, a controller 8, a stroke sensor 9, a position sensor 10, a positioning power cylinder 11, a lateral adjustment seat 12, a lateral power device 121, a machine tool base 13, a longitudinal adjustment seat 14, a longitudinal power device 141, a manipulator 15, a punching tool 16, a threaded connection sleeve 17, a weighing sensor 18. Among them, the lateral adjustment seat 12 is arranged on the machine tool base 13, the longitudinal adjustment seat 14 is arranged on the lateral adjustment seat 12, the positioning and locking part 1 is arranged on the longitudinal adjustment seat 14, the positioning power cylinder 11 is arranged on the positioning and locking part 1, and the lateral power device 121 is arranged on the lateral adjustment seat 12, and the longitudinal power device 141 is arranged on the longitudinal adjustment seat 14; the lower part of the main body bracket 5 is connected to the machine tool base 13, and there is a space between the upper part of the main body bracket 5 and the machine tool base 13. The upper part of the main body bracket 5 is provided with the guiding push rod 4, and the upper part of the main body bracket 5 is also provided with the punching power cylinder 6. The extending rod end of the punching power cylinder 6 is connected to one end of the guiding push rod 4 to transmit power, and the other end of the guiding push rod 4 is connected to the positioning and clamping end of the punching tool 16. The connection end of the guiding push rod 4 and the punching tool 16 is provided with the detection and control part 3, and the detection and sensing part 2 is arranged on the detection and control part 3; along the running direction of the guiding push rod 4 from top to bottom on the main body bracket 5, there are arranged the stroke sensor 9 and the position sensor 10. On the longitudinal adjustment seat 14 and at the support and bearing position of the threaded connection sleeve 17, there is arranged the weighing sensor 18. A manipulator 15 is arranged on one side of the machine tool base 13. The two oil ports of the punching power cylinder 6 are respectively connected to the two oil ports of the first oil circuit control valve on the power station 7, and the two oil ports of the positioning power cylinder 11 are respectively connected to the two oil ports of the second oil circuit control valve on the power station 7; the controller 8 is respectively connected to the power station 7, the detection and control part 3, the lateral power device 121, and the longitudinal power device 141 for control, and the controller 8 is respectively connected to the stroke sensor 9, the position sensor 10, and the weighing sensor 18 to obtain data.

[0042] In this embodiment, the controller 8 controls the lateral power device 121 to drive the lateral adjustment seat 12 to drive the longitudinal adjustment seat 14 together with the positioning and locking part 1 to move in the lateral direction, and can control the lateral power device 121 to lock the corresponding position; the controller 8 controls the longitudinal power device 141 to drive the longitudinal adjustment seat 14 to drive the positioning and locking part 1 to move in the longitudinal direction, and can control the longitudinal power device 141 to lock the corresponding position.

[0043] In this embodiment, the controller 8 controls the first oil circuit control valve of the power station 7 to supply dual-channel power oil to the punching power cylinder 6. One channel is the process pressure oil that drives the punching tool 16 to move downward through the punching power cylinder 6, and the other channel is the return pressure oil that drives the punching tool 16 to move upward through the punching power cylinder 6. The controller 8 controls the second oil circuit control valve of the power station 7 to supply dual-channel power oil to the positioning power cylinder 11. One channel is the process pressure oil that drives the positioning locking part 1 to lock and position through the positioning power cylinder 11, and the other channel is the return pressure oil that drives the positioning locking part 1 to release and reset through the positioning power cylinder 11.

[0044] In this embodiment, the controller 8 controls the manipulator 15 to complete the loading and unloading of the threaded connection sleeve 17. The controller 8 collects the stroke position of the guiding push rod 4 through the stroke sensor 9 and the position sensor 10, and then senses the positions of the detection control part 3, the detection sensing part 2, and the punching tool 16. The controller 8 senses whether the threaded connection sleeve 17 is clamped by the positioning locking part 1 through the weighing sensor 18, and collects the punching force of the punching tool 16 on the threaded connection sleeve 17.

[0045] In this embodiment, a plurality of pressure gauges are arranged on the upper part of the main body bracket 5. The pressure gauges are respectively connected to the oil ports of the punching power cylinder 6 and the positioning power cylinder 11. The pressure gauges directly reflect the working oil pressure in each power cylinder, which is convenient for manual rapid monitoring of the working conditions and for manual identification and maintenance when the system fails.

[0046] In this embodiment, the guiding push rod 4 arranged on the main body bracket 5 needs to adjust the vertical accuracy of the rotation axis of the guiding push rod 4 relative to the machine tool base 13. When setting the transverse adjustment seat 12 and the longitudinal adjustment seat 14, the parallel accuracy of each relative to the machine tool base 13 needs to be adjusted.

[0047] In this embodiment, the punching tool 16 is an overall rotary shaft body. From one end to the other end, it is successively a clamping part 177, a first tool guiding part 161, a second tool guiding part 162, and a punching forming part 163. A transition cone part is arranged between the first tool guiding part 161 and the second tool guiding part 162, and a transition cone part is also arranged between the second tool guiding part 162 and the punching forming part 163.

[0048] In this embodiment, the threaded connection sleeve 17 is a rotary shaft body part. Inside, there are successively an inner hole first guiding part 176, an inner hole second guiding part 179, and an inner limiting groove part 171. A bearing step is arranged between the inner hole first guiding part 176 and the inner hole second guiding part 179. A guiding cone part is arranged at the connecting side of the inner limiting groove part 171 and the inner hole second guiding part 179. A relief groove for punching is arranged on the other side of the inner limiting groove part 171. The inner limiting groove part 171 is formed by punching an axial groove after pre-machining a bottom hole in the previous process. On the outside, there are successively arranged a detection part 175, a clamping part 177, a feedback part 178, a positioning cone part 174, and a positioning locking part 173. The end where the positioning locking part 173 is located is the bearing part 172. An external hexagon is arranged between the positioning locking part 173 and the positioning cone part 174. A positioning boss is arranged between the detection part 175 and the clamping part 177. An external thread is arranged on the detection part 175, and the external thread is tightly connected with the internal thread of the valve block jack and is limited and assembled by the positioning boss. The prefabricated bottom hole of the inner limit groove part 171, the detection part 175, the clamping part 177, the feedback part 178, the positioning locking part 173, the first inner hole guiding part 176, and the second inner hole guiding part 179 are processed by one-time clamping to meet the position accuracy requirements among them, so as to achieve the assembly accuracy, working conditions, and performance requirements of the product. Due to the processing technology of one-time clamping, the relative position accuracy is guaranteed by the processing accuracy of the machine tool itself.

[0049] In this embodiment, the stroke sensor 9 records the detailed stroke data of the punching tool 16, and the position sensor 10 plays a role of limit protection.

[0050] In this embodiment, the positioning and locking part 1 includes a first guide rail 101, a first bracket 102, a second guide rail 103, a fixing frame 104, a fixing block 105, a first adjustment block 106, a first guide block 107, a follower block 108, a follower frame 109, a sliding frame 110, a cover plate 111, a second bracket 112, a power head 113, a second guide block 114, and a second adjustment block 115; The first bracket 102 and the second bracket 112 are respectively fixedly arranged on the longitudinal adjustment seat 14. One end of the first guide rail 101 is fixedly connected to the first bracket 102, and the other end of the first guide rail 101 is fixedly connected to the second bracket 112. One end of the second guide rail 103 is fixedly connected to the first bracket 102, and the other end of the second guide rail 103 is fixedly connected to the second bracket 112. The first guide rail 101 and the second guide rail 103 are arranged in parallel with each other; One end of the sliding frame 110 is slidably arranged on the first guide rail 101, and the other end of the sliding frame 110 is slidably arranged on the second guide rail 103. The follower frame 109 is detachably and fixedly arranged on the sliding frame 110, and the fixing frame 104 is detachably and fixedly arranged on the first bracket 102. The fixing frame 104 and the follower frame 109 are arranged between the first guide rail 101 and the second guide rail 103; The fixing block 105 is detachably and fixedly connected to the fixing frame 104, and the follower block 108 is detachably and fixedly connected to the follower frame 109.

[0051] In this embodiment, a concave arc groove is arranged on the opposite side of the fixing frame 104 and the follower frame 109, and a concave arc groove is arranged on the opposite side of the follower frame 109 and the fixing frame 104; The fixed block 105 is an arc ring body less than half, and the follower block 108 is an arc ring body less than half. The fixed block 105 is detachably and fixedly connected to the concave arc groove of the fixed frame 104 through the outer arc, and the follower block 108 is detachably and fixedly connected to the concave arc groove of the follower frame 109 through the outer arc; The inner arcs of the fixed block 105 and the follower block 108 have the same diameter. The outer diameter of the positioning and locking portion 173 of the clamped threaded connection sleeve 17 is smaller than the inner arc diameters of the fixed block 105 and the follower block 108. When the fixed block 105 and the follower block 108 position the threaded connection sleeve 17, non-contact gaps are reserved between the inner arcs of the fixed block 105 and the follower block 108 and the positioning and locking portion 173 of the threaded connection sleeve 17, and a gap is reserved between the fixed block 105 and the follower block 108, and a gap is also reserved between the fixed frame 104 and the follower frame 109.

[0052] In this embodiment, gap adjustment grooves are provided on the fixed frame 104 on both sides of the fixed block 105. A first adjustment block 106 and a first guide block 107 are provided in one gap adjustment groove, and a second guide block 114 and a second adjustment block 115 are provided in the other gap adjustment groove. Guide recesses are provided on the follower frames 109 on both sides of the follower block 108. Guide protrusions are provided at the contact ends of the first guide block 107 and the second guide block 114 with the follower frame 109. During the movement of the follower frame 109 towards the fixed frame 104, the guide recesses on the follower frame 109 come into contact and are positioned with the guide protrusions on the first guide block 107 and the second guide block 114. By adjusting the thicknesses of the first adjustment block 106 and the second adjustment block 115, the gap between the fixed block 105 and the follower block 108 relative to the positioning and locking portion 173 of the threaded connection sleeve 17 can be adjusted, and at the same time, the positioning imbalance caused by processing errors can be adjusted.

[0053] In this embodiment, according to the outer diameter dimensions of the positioning and locking portions 173 of the threaded connection sleeves 17 of different flow rate grades, the corresponding inner arc dimensions of the fixed block 105 and the follower block 108 are set for replacement, so as to meet the positioning requirements of threaded connection sleeves 17 of different sizes, without the need to replace the entire tooling fixture; The fixed block 105 and the follower block 108 are made of materials with a hardness higher than that of the threaded connection sleeve 17, and the inner arcs of the fixed block 105 and the follower block 108 are trimmed according to the actual dimensions of the outer diameter of the positioning and locking portion 173 of the mass-produced threaded connection sleeve 17, so that the positioning fitting arc surface is maximized, thereby greatly reducing the positioning deviation. Because of the non-hard contact type gap floating positioning, while ensuring the required positioning accuracy, it avoids damage caused by secondary clamping due to marks left by contact positioning clamping; A first limiting portion 1051 is provided on the fixed block 105, and a second limiting portion 1081 is provided on the follower block 108. The first limiting portion 1051 and the second limiting portion 1081 correspond to the positioning cone portion 174 on the threaded connection sleeve 17, and play a role in limiting and overcoming the retraction resistance when retracting the tool after finishing the punching.

[0054] In this embodiment, the power head 113 is detachably and movably arranged on the sliding frame 110. The power head 113 and the sliding frame 110 are driven and transmitted through a spherical connection. A cover plate 111 for defining the relative position between the power head 113 and the sliding frame 110 is provided on the sliding frame 110, and the cover plate 111 is detachably and fixedly connected to the sliding frame 110.

[0055] In this embodiment, the positioning power cylinder includes a power cylinder body and a power cylinder rod. The power cylinder rod is arranged in the power cylinder body. Under the drive and control of an external fluid pressure, the power cylinder rod can reciprocate. The power head 113 is fixedly connected to the end of the power cylinder rod extending out of the power cylinder body, and the power cylinder rod drives the power head 113 to transmit power.

[0056] A precise automatic punching control method includes the following steps: Step 1): Trim the inner arcs of the fixed block 105 and the follower block 108 according to the actual outer diameter of the positioning and locking portion 173 of the mass-produced threaded connection sleeve 17, install the fixed block 105 and the follower block 108, and adjust the thicknesses of the first adjustment block 106 and the second adjustment block 115; Step 2): Adjust the stroke positions of detection and punching according to the size of the threaded connection sleeve 17; Step 3): Adjust the position of the positioning and locking portion 1 relative to the guiding push rod 4; Step 4): Adjust the loading position of the manipulator 15 according to the position where the positioning and locking portion 1 is located; Step 5): The controller 8 controls the punching power cylinder 6 and the positioning power cylinder 11 to be in the return stroke state respectively; Step 6): The controller 8 controls the manipulator 15 to clamp the threaded connection sleeve 17 to be processed and load it; Step 7): The controller 8 controls the positioning and locking portion 1 to position the threaded connection sleeve 17; Step 8): The controller 8 controls the detection and sensing portion 2 to detect the positioning error, and compensates and corrects the positioning accuracy according to the feedback data; Step 9): The controller 8 controls the punching tool 16 to move downward for punching, and returns to the return stroke state after finishing the punching; Step 10): The controller 8 controls the positioning and locking portion 1 to release the positioning; Step 11): The controller 8 controls the manipulator 15 to clamp the threaded connection sleeve 17 and unload it; Step 12): The controller 8 performs linear broaching optimization based on the stroke and broaching force data of the first broaching, and broaches and optimizes the correction again according to the optimization parameters.

[0057] In this embodiment, during the entire broaching process, the broaching force does not remain constant. The broaching force changes with the broaching process, and the change of the broaching force is relatively complex. In the front stroke of the broaching, as the broaching depth increases, the broaching force will increase accordingly. When the broaching stroke approaches the tail, the broaching force will show a sudden drop. In addition, the broaching force is affected by the structure of the broaching tool 16, the error of the pre-broached bottom hole, the positioning and clamping error of the secondary broaching, and the material and hardness of the threaded connection sleeve 17, and will show different chip-breaking force change laws. In order to achieve uniform and stable broaching and thus ensure the broaching accuracy, the controller 8 needs to control the oil supply pressure and flow rate of the power station 7 to the broaching power cylinder 6 according to the change law of the broaching force. However, the traditional pressure regulating and speed regulating circuit cannot obtain the change law of the broaching force and accurately control it, nor can it accurately control the flow rate according to the change of the actual chip-breaking force to achieve uniform and accurate broaching feed, and even less can it perform deep learning optimization of the broaching parameters according to the change law of the broaching force to achieve energy consumption optimization. To achieve the above functions, an electronically controlled reversing valve, an electronically controlled pressure valve, an electronically controlled flow valve, and a variable pump driven by frequency conversion are provided on the power station 7. According to the design and selection parameters of the broaching system, the pressure control range of the electronically controlled pressure valve, the flow regulation range of the electronically controlled flow valve, the speed regulation range of the frequency conversion drive motor, the displacement regulation range of the variable pump, and the control range of the broaching process speed are given first. The controller 8 selects parameters within each parameter range according to the algorithm optimization rules and forms multiple parameter combinations, and then outputs and punches each parameter combination; during the punching process, the controller 8 collects the data fed back by the weighing sensor 18 and fits to generate a punching force curve. At the same time, the corresponding punching oil pressure is calculated based on the punching force collected by the weighing sensor 18 during the punching process, and then a punching oil pressure curve is generated. Due to the self-resistance of the punching power cylinder 6 and the guiding push rod 4 and the liquid resistance of the pipeline, the oil pressure controlled by the electronic control pressure valve for the punching power cylinder 6 is greater than the punching oil pressure calculated based on the punching force collected by the weighing sensor 18, and the two form an oil pressure difference; the controller 8 collects the power consumption of the variable-frequency drive motor, the electronic control reversing valve, the electronic control pressure valve, and the electronic control flow valve, and obtains the overall power consumption of the entire punching process. The controller 8 also records the completion time of the entire punching process. The controller 8 obtains the actual punching time based on the data change of the weighing sensor 18. The controller 8 obtains the actual punching speed based on the data obtained by the stroke sensor 9 and in combination with the actual punching time. The actual oil volume input into the punching power cylinder 6 is calculated based on the actual punching speed. The controller 8 obtains the theoretical output oil volume of the pump based on the rotational speed of the variable-frequency drive motor and the displacement of the variable pump. The difference between the actual oil volume and the theoretical output oil volume is the volumetric power loss caused by the volumetric efficiency. The difference between the electrical power consumption of the variable-frequency drive motor and the theoretical volumetric power generated by the pump is the mechanical loss power consumption; the relevant parameters are adjusted according to the change of the actual punching speed to make the actual punching speed a constant value, thereby realizing uniform punching. On the premise of meeting uniform punching, the relevant parameters are further adjusted to finally obtain the optimization of the punching speed and the overall power consumption; To simplify the calculation and analysis, according to the principle of energy conservation, for the calculation of energy consumption efficiency, the intermediate links do not need to be considered, and it can be directly calculated from the total input power consumption and the cutting link power consumption in the actual punching process. The cutting link power consumption in the actual punching process is calculated from the punching force collected by the weighing sensor 18 and the displacement of the stroke sensor 9. The total input power consumption can be directly collected. The energy consumption efficiency obtained in this way is more accurate, avoiding various errors caused by too many intermediate calculation links; During the punching process, the controller 8 detects the punching force throughout the process through the weighing sensor 18 and compares it with the stored data. When the punching force fluctuation range is abnormal, the system will alarm and stop processing. After manual confirmation is correct, manual intervention is required to resume processing.

[0058] In this embodiment, the controller 8 drives the detection control part 3 to rotate around the rotation axis of the guiding push rod 4. The detection control part 3 drives the detection sensing part 2 to rotate followingly. The threaded connection sleeve 17 is placed into the positioning and locking part 1 and is positioned and locked. The rotating detection sensing part 2 detects the primary position deviation of the threaded connection sleeve 17 relative to the rotation axis of the guiding push rod 4, and feeds back the value of the primary position deviation to the controller 8. The controller 8 drives the lateral power device 121 and the longitudinal power device 141 according to the value of the position deviation to move the positioning and locking part 1 together with the threaded connection sleeve 17 to the primary adjustment coaxial position. Subsequently, the controller 8 drives the detection control part 3 again to further rotate the detection sensing part 2 to detect the secondary position deviation of the threaded connection sleeve 17 relative to the rotation axis of the guiding push rod 4. The difference between the value of the secondary position deviation and the value of the primary position deviation is the system error value of the primary adjustment coaxiality. This system error value is included in the adjustment compensation to eliminate the adjustment error of the system.

[0059] In this embodiment, before trimming the inner arc dimensions of the trimming fixed block 105 and the follower block 108, first detect the actual machining dimension of the outer circle of the positioning and locking part 173 of the threaded connection sleeve 17. Since the outer circle of the positioning and locking part 173 is obtained by the previous precision turning, the dimension consistency is good. And during the previous precision turning process, a go-no-go gauge is used for detection to ensure that the dimension error of the outer circle of the positioning and locking part 173 is within the controlled range. Trim the inner arcs of the trimming fixed block 105 and the follower block 108 according to the actual machining dimension of the outer circle of the positioning and locking part 173, and make the inner arc dimensions of the trimming fixed block 105 and the follower block 108 larger than the upper limit value of the actual machining dimension of the outer circle of the positioning and locking part 173. Fasten and install the trimmed trimming fixed block 105 on the fixing frame 104, and fasten and install the trimmed follower block 108 on the follower frame 109. Machine the thicknesses of the first adjustment block 106 and the second adjustment block 115 so that the guiding recesses on both sides of the follower block 108 on the follower frame 109 can be simultaneously in contact with and positioned by the corresponding first guiding block 107 and the second guiding block 114. And after the contact positioning, the inner arcs of the trimming fixed block 105 and the follower block 108 remain concentric.

[0060] In this embodiment, according to the height position of the threaded connection sleeve 17 placed on the longitudinal adjustment base 14, set the probe of the detection sensing part 2 to the detection part 175 of the threaded connection sleeve 17, and avoid the external thread provided on the detection part 175. Then set the downward punching stroke of the punching tool 16. After setting the downward position of the punching tool 16, adjust the position of the position sensor 10. The position sensor 10 is a backup protection measure. The controller 8 preferentially controls the downward movement of the punching tool 16 according to the feedback data of the stroke sensor 9. When the stroke sensor 9 is abnormal or fails, the controller 8 cuts off the downward movement of the punching tool 16 according to the feedback signal of the position sensor 10 to avoid damage to the components.

[0061] In this embodiment, when the positioning and locking part 1 is installed on the longitudinal adjustment base 14, first manually and preliminarily adjust the coaxiality of the inner arcs of the fixing block 105 and the follower block 108 with the guiding push rod 4. Set the dial indicator base on the detection and control part 3, place the dial indicator head on the inner arcs of the fixing block 105 and the follower block 108, rotate the detection and control part 3 and observe the change in the reading of the dial indicator. Adjust the position of the positioning and locking part 1 according to the change in the reading of the dial indicator so that the change in the reading of the dial indicator is within the required error control range. When adjusting the coaxiality, the positioning and locking part 1 is in the positioning and locking state. While adjusting the coaxiality, the coaxiality of the inner arc of the fixing block 105 and the inner arc of the follower block 108 can be detected and adjusted. After the adjustment is completed, fasten the positioning and locking part 1 to the longitudinal adjustment base 14; Place the coaxiality detection rod in the inner cavity formed by the fixing block 105 and the follower block 108 and position and lock it. The controller 8 drives the detection and control part 3 to rotate, thereby driving the detection and sensing part 2 to rotate, scan the outer contour of the coaxiality detection rod, and feed the scanned data back to the controller 8. The controller 8 further analyzes the coaxiality of the coaxiality detection rod relative to the guiding push rod 4 according to the scanned data. The controller 8 drives the transverse power device 121 and the longitudinal power device 141 according to the analysis result to correct the coaxiality of the coaxiality detection rod relative to the guiding push rod 4, so as to eliminate the error of the preliminary coaxiality adjustment.

[0062] In this embodiment, set the loading position of the manipulator 15 according to the position of the positioning and locking part 1 and the return stroke of the positioning power cylinder 11 driving the follower block 108; The punching tool 16 is coaxially and fixedly arranged on the guiding push rod 4.

[0063] In this embodiment, the controller 8 controls the first oil circuit control valve of the power station 7 to supply return pressure oil to the punching power cylinder 6, so that the punching power cylinder 6 drives the guiding push rod 4 together with the punching tool 16 to be in the return stroke state; The controller 8 controls the second oil circuit control valve of the power station 7 to supply return pressure oil to the positioning power cylinder 11, so that the positioning power cylinder 11 drives the sliding frame 110 together with the follower frame 109 and the follower block 108 to be in the return stroke state.

[0064] In this embodiment, the manipulator 15 grips the clamping part 177 of the threaded connection sleeve 17 to load the material. The threaded connection sleeve 17 is located on the longitudinal adjustment base 14 through the bearing part 172. The weight sensor 18 feeds back the weight of the threaded connection sleeve 17 to the controller 8 that the workpiece has completed loading. The controller 8 controls the second oil circuit control valve of the power station 7 to supply process pressure oil to the positioning power cylinder 11, so that the positioning power cylinder 11 drives the sliding frame 110 together with the follower frame 109 and the follower block 108 to be in the process positioning state.

[0065] In this embodiment, the controller 8 drives the detection control part 3 to rotate, thereby driving the detection sensing part 2 to rotate, scanning the outer contour of the detection part 175 of the threaded connection sleeve 17. The controller 8 confirms the positioning accuracy according to the scanning data, and detects the machining accuracy of the previous finish turning while confirming the positioning accuracy. If it exceeds the given range of the positioning error but does not exceed the comprehensive value of the form error and the positioning error of the threaded connection sleeve 17, the controller 8 drives the transverse power device 121 and the longitudinal power device 141 according to the feedback data to correct the positioning. If it exceeds the comprehensive value of the form error and the positioning error of the threaded connection sleeve 17, it is determined that the form error of the previous finish turning of the threaded connection sleeve 17 is unqualified, and the controller 8 controls the manipulator 15 to remove the unqualified part by blanking.

[0066] In this embodiment, the controller 8 controls the first oil circuit control valve of the power station 7 to supply the process pressure oil to the punching power cylinder 6 to complete the punching. During the punching process, the first guiding part 161 of the tool cooperates with the first inner hole guiding part 176 of the threaded connection sleeve 17 for guiding, and the second guiding part 162 of the tool cooperates with the second inner hole guiding part 179 of the threaded connection sleeve 17 for guiding. Under the guiding, the punching forming part 163 enters the prefabricated bottom hole of the inner limiting groove part 171 to complete the axial groove processing. The stroke sensor 9 records the displacement data of the punching tool 16, and the weighing sensor 18 records the punching force corresponding to the displacement. After the punching is completed, the controller 8 drives the detection control part 3 to rotate, thereby driving the detection sensing part 2 to rotate, scanning the outer contour of the feedback part 178 of the threaded connection sleeve 17. The controller 8 confirms the machining accuracy after punching according to the scanning data, and the controller 8 compares the scanning data after punching with the allowable error value to confirm whether the accuracy is qualified. After the detection sensing part 2 completes the accuracy scanning, the controller 8 controls the first oil circuit control valve of the power station 7 to supply the return pressure oil to the punching power cylinder 6 to complete the tool retraction and return stroke. Due to the elastic deformation of the workpiece, there is a tool retraction resistance, and this resistance will drive the threaded connection sleeve 17 to return with the punching tool 16. At this time, the positioning cone part 174 of the threaded connection sleeve 17 contacts and limits with the first limiting part 1051 of the fixed block 105 and the second limiting part 1081 of the follower block 108 respectively, so that the threaded connection sleeve 17 is separated from the punching tool 16.

[0067] In this embodiment, after the punching tool 16 completes the return stroke, the controller 8 controls the second oil circuit control valve of the power station 7 to supply the return pressure oil to the positioning power cylinder 11, so that the positioning power cylinder 11 drives the sliding frame 110 together with the follower frame 109 and the follower block 108 to be in the return reset state to release the positioning. After the positioning is released, the controller 8 controls the manipulator 15 to clamp the clamping part 177 of the threaded connection sleeve 17 for blanking.

[0068] In this embodiment, the controller 8 performs linear optimization of the punching force and punching speed according to the stroke displacement of punching and the corresponding punching force data, punches again according to the optimization parameters and optimizes and corrects again. After several corrections, stable linear punching is formed, and the optimal matching of power consumption and efficiency is completed.

[0069] The foregoing has shown and described the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. The above embodiments and the descriptions in the specification are only used to illustrate the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed. The scope of the present invention claimed is defined by the appended claims and their equivalents.

Claims

1. Precision automatic punching system, comprising a positioning and locking part, a detection and sensing part, a detection and control part, a guiding push rod, a main body bracket, a punching power cylinder, a power station, a controller, a stroke sensor, a position sensor, a positioning power cylinder, a lateral adjustment base, a lateral power device, a machine tool base, a longitudinal adjustment base, a longitudinal power device, a manipulator, a punching tool, a threaded connection sleeve, a weighing sensor, characterized in that, The horizontal adjustment base is arranged on the machine tool base, the vertical adjustment base is arranged on the horizontal adjustment base, the positioning locking part is arranged on the vertical adjustment base, the positioning power cylinder is arranged on the positioning locking part, a horizontal power device is arranged on the horizontal adjustment base, and a vertical power device is arranged on the vertical adjustment base; the lower part of the main body support is connected to the machine tool base, there is a space reserved between the upper part of the main body support and the machine tool base, a guiding push rod is arranged on the upper part of the main body support, a punching power cylinder is also arranged on the upper part of the main body support, the extending rod end of the punching power cylinder is connected to one end of the guiding push rod to transmit power, the other end of the guiding push rod is connected to the positioning and clamping end of the punching tool, and a detection and control part is arranged at the connecting end of the guiding push rod and the punching tool, and a detection and sensing part is arranged on the detection and control part; a travel sensor and a position sensor are arranged on the main body support along the running direction from top to bottom of the guiding push rod, a weighing sensor is arranged on the vertical adjustment base and at the position where the threaded connection sleeve supports and bears, a manipulator is arranged on one side of the machine tool base, the two oil ports of the punching power cylinder are respectively connected to the two oil ports of the first oil circuit control valve on the power station, and the two oil ports of the positioning power cylinder are respectively connected to the two oil ports of the second oil circuit control valve on the power station; the controller is respectively connected to the power station, the detection and control part, the horizontal power device, and the vertical power device for control, and the controller is respectively connected to the travel sensor, the position sensor, and the weighing sensor to obtain data.

2. The precision automatic punching system according to claim 1, wherein The controller controls the horizontal power device to drive the horizontal adjustment base to drive the vertical adjustment base together with the positioning locking part to move in the horizontal direction, and can control the horizontal power device to lock the corresponding position; the controller controls the vertical power device to drive the vertical adjustment base to drive the positioning locking part to move in the vertical direction, and can control the vertical power device to lock the corresponding position; the horizontal adjustment base and the vertical adjustment base need to adjust their respective parallel accuracies relative to the machine tool base.

3. The precision automatic punching system according to claim 1, wherein The controller controls the first oil circuit control valve of the power station to supply dual-channel power oil to the punching power cylinder, one channel is the process pressure oil for driving the punching tool to move downward through the punching power cylinder, and the other channel is the return pressure oil for driving the punching tool to move upward through the punching power cylinder; the controller controls the second oil circuit control valve of the power station to supply dual-channel power oil to the positioning power cylinder, one channel is the process pressure oil for driving the positioning locking part to lock and position through the positioning power cylinder, and the other channel is the return pressure oil for driving the positioning locking part to release and reset through the positioning power cylinder; the positioning power cylinder includes a power cylinder body and a power cylinder rod, the power cylinder rod is arranged in the power cylinder body, and under the drive and control of external fluid pressure, the power cylinder rod can reciprocate; a plurality of pressure gauges are arranged on the upper part of the main body support, the pressure gauges are respectively connected to the oil ports of the punching power cylinder and the positioning power cylinder, and the pressure gauges monitor the working oil pressure in each power cylinder; an electric control reversing valve, an electric control pressure valve, an electric control flow valve, and a variable pump driven by frequency conversion are arranged on the power station.

4. The precision automatic punching system according to claim 1, wherein, The described controller controls the manipulator to complete the loading and unloading of the threaded connection sleeve. The controller collects the stroke position of the guiding push rod through the stroke sensor and the position sensor, and then senses the positions of the detection control part, the detection sensing part and the punching tool. The controller senses whether the positioning and locking part holds the threaded connection sleeve through the weighing sensor and collects the punching force of the punching tool on the threaded connection sleeve. The guiding push rod needs to adjust the vertical accuracy of its rotation axis relative to the machine tool base. The punching tool is an overall rotary shaft body, which is successively a clamping part, a first tool guiding part, a second tool guiding part, and a punching and forming part from one end to the other end. A transition cone part is arranged between the first tool guiding part and the second tool guiding part, and a transition cone part is arranged between the second tool guiding part and the punching and forming part. The punching tool is coaxially and firmly arranged on the guiding push rod. The stroke sensor records the detailed stroke data of the punching tool, and the position sensor plays a role of limit protection.

5. The precision automatic punching system according to claim 1, characterized in that, The described threaded connection sleeve is a rotary shaft body part, which is successively provided with a first inner hole guiding part, a second inner hole guiding part, and an inner limiting groove part inside. A bearing step is arranged between the first inner hole guiding part and the second inner hole guiding part. A guiding cone part is arranged at the connection side of the inner limiting groove part and the second inner hole guiding part. A relief groove for punching is arranged on the other side of the inner limiting groove part. The inner limiting groove part is formed by punching an axial groove after prefabricating a bottom hole by previous machining. Externally, it is successively provided with a detection part, a clamping part, a feedback part, a positioning cone part, and a positioning and locking part. The end where the positioning and locking part is located is a bearing part. An external hexagon is arranged between the positioning and locking part and the positioning cone part. A positioning boss is arranged between the detection part and the clamping part. An external thread is arranged on the detection part, and the external thread is connected and fastened with the internal thread of the valve block jack and is limited and assembled by the positioning boss. The bottom holes of the detection part, the clamping part, the feedback part, the positioning and locking part, the first inner hole guiding part, the second inner hole guiding part, and the inner limiting groove part are machined in one-time clamping.

6. Precision automatic punching system, the positioning and locking part includes a first guide rail, a first bracket, a second guide rail, a fixing frame, a fixing block, a first adjusting block, a first guiding block, a follower block, a follower frame, a sliding frame, a cover plate, a second bracket, a power head, a second guiding block, a second adjusting block, wherein, The first bracket and the second bracket are respectively fixedly arranged on the longitudinal adjustment base. One end of the first guide rail is fixedly connected to the first bracket, the other end of the first guide rail is fixedly connected to the second bracket, one end of the second guide rail is fixedly connected to the first bracket, and the other end of the second guide rail is fixedly connected to the second bracket. The first guide rail and the second guide rail are arranged parallel to each other. One end of the sliding frame is slidably arranged on the first guide rail, and the other end of the sliding frame is slidably arranged on the second guide rail. The follower frame is detachably and fixedly arranged on the sliding frame, and the fixed frame is detachably and fixedly arranged on the first bracket. The fixed frame and the follower frame are arranged between the first guide rail and the second guide rail. The fixed block is detachably and fixedly connected to the fixed frame, and the follower block is detachably and fixedly connected to the follower frame. It is characterized in that concave arc grooves are arranged on the opposite sides of the fixed frame and the follower frame, concave arc grooves are arranged on the opposite sides of the follower frame and the fixed frame, the fixed block is an arc ring body less than half, the follower block is an arc ring body less than half, the fixed block is detachably and fixedly connected to the concave arc groove of the fixed frame through the outer arc, the follower block is detachably and fixedly connected to the concave arc groove of the follower frame through the outer arc, the inner arcs of the fixed block and the follower block have the same diameter, and the outer diameter of the positioning and locking part of the clamped threaded connection sleeve is smaller than the inner arc diameters of the fixed block and the follower block. When the fixed block and the follower block position the threaded connection sleeve, non-contact gaps are reserved between the inner arcs of the fixed block and the follower block and the positioning and locking part of the threaded connection sleeve, and a gap is reserved between the fixed block and the follower block, and a gap is also reserved between the fixed frame and the follower frame; Gap adjustment grooves are arranged on the fixed frame on both sides of the fixed block. A first adjustment block and a first guide block are arranged in one gap adjustment groove, and a second guide block and a second adjustment block are arranged in the other gap adjustment groove. Guide recesses are arranged on the follower frame on both sides of the follower block. Guide protrusions are arranged at the contact ends of the first guide block and the second guide block with the follower frame. During the movement of the follower frame towards the fixed frame, the guide recesses on the follower frame are in contact and positioned with the guide protrusions on the first guide block and the second guide block. By adjusting the thicknesses of the first adjustment block and the second adjustment block, the gaps between the fixed block and the follower block relative to the positioning and locking part of the threaded connection sleeve are adjusted, and at the same time, the positioning imbalance caused by processing errors is adjusted; A first limiting part is arranged on the fixed block, and a second limiting part is arranged on the follower block. The first limiting part and the second limiting part correspond to the positioning cone part on the threaded connection sleeve, and play a role in limiting and overcoming the retraction resistance when retracting the tool after finishing the punching.

7. The precision automatic punching system according to claim 6, wherein, According to the outer diameter sizes of the positioning and locking parts of threaded connection sleeves with different flow rate grades, corresponding inner arc sizes of the fixed block and the follower block are set for replacement. The fixed block and the follower block are made of materials with a hardness higher than that of the threaded connection sleeve, and the inner arcs of the fixed block and the follower block are trimmed according to the actual outer diameter sizes of the positioning and locking parts of the mass-produced threaded connection sleeves, so that the positioning fitting arc surfaces are maximized, thereby reducing the positioning deviation.

8. The precision automatic punching system according to claim 6, characterized in that, The described power head is detachably and movably arranged on the sliding frame. The power head and the sliding frame are connected and driven through a spherical surface. A cover plate for defining the relative position between the power head and the sliding frame is arranged on the sliding frame. The cover plate is detachably and fixedly connected to the sliding frame. The power head is fixedly connected to the end of the power cylinder rod extending out of the power cylinder body, and the power cylinder rod drives the power head to transmit power.

9. A precise automatic punching control method, characterized in that, The controller controls the oil supply pressure and flow rate of the power station to the punching power cylinder accurately according to the change law of the punching force, so as to realize uniform and precise punching feed. According to the design and selection parameters of the punching system, first, the pressure control range of the electro-hydraulic pressure valve, the flow regulation range of the electro-hydraulic flow valve, the speed regulation range of the variable-frequency drive motor, the displacement regulation range of the variable pump, and the control range of the punching process speed are given; according to the algorithm optimization rules, the controller selects parameters within each parameter range and forms multiple parameter combinations, and then outputs each parameter combination for punching. During the punching process, the controller collects the data fed back by the weighing sensor and fits it to generate a punching force curve. At the same time, according to the punching force collected by the weighing sensor during the punching process, the corresponding punching oil pressure is calculated and a punching oil pressure curve is generated. The electro-hydraulic pressure valve controls the oil pressure of the punching power cylinder to be greater than the punching oil pressure calculated according to the punching force collected by the weighing sensor, and the two form an oil pressure difference; the controller collects the power consumption of the variable-frequency drive motor, the electro-hydraulic reversing valve, the electro-hydraulic pressure valve, and the electro-hydraulic flow valve, and obtains the overall power consumption of the entire punching process. The controller also records the completion time of the entire punching process. The controller obtains the actual punching time according to the data change of the weighing sensor. The controller obtains the actual punching speed according to the data obtained by the stroke sensor and combined with the actual punching time. According to the actual punching speed, the actual oil volume input into the punching power cylinder is calculated. The controller obtains the theoretical output oil volume of the pump according to the speed of the variable-frequency drive motor and the displacement of the variable pump. The difference between the actual oil volume and the theoretical output oil volume is the volumetric power loss caused by the volumetric efficiency. The difference between the electrical power consumption of the variable-frequency drive motor and the theoretical volumetric power generated by the pump is the mechanical loss power consumption; according to the principle of energy conservation, the energy consumption efficiency can be directly obtained by calculating the total input power consumption and the cutting process power consumption in the actual punching process. The cutting process power consumption in the actual punching process is calculated from the punching force collected by the weighing sensor and the displacement of the stroke sensor. The total input power consumption can be directly collected; according to the change of the actual punching speed, relevant parameters are adjusted to make the actual punching speed a constant value, so as to realize uniform punching. On the premise of meeting uniform punching, relevant parameters are further adjusted to finally obtain the optimization of the punching speed and the overall power consumption.

10. Precision automatic punching control method, characterized in that, The controller drive detection control part rotates around the rotation axis of the guiding push rod. The detection control part drives the detection sensing part to rotate followingly. The threaded connection sleeve is placed into the positioning and locking part and is positioned and locked. The rotating detection sensing part detects the primary position deviation of the threaded connection sleeve relative to the rotation axis of the guiding push rod, and feeds back the value of the primary position deviation to the controller. The controller drives the lateral power device and the longitudinal power device according to the position deviation value to move the positioning and locking part together with the threaded connection sleeve to the primary adjustment coaxial position. Subsequently, the controller drives the detection control part again to further rotate the detection sensing part to detect the secondary position deviation of the threaded connection sleeve relative to the rotation axis of the guiding push rod. The difference between the value of the secondary position deviation and the value of the primary position deviation is the system error value of the primary adjustment coaxiality. This system error value is incorporated into the adjustment compensation to eliminate the adjustment error of the system.

11. Precision automatic punching control method, characterized in that, It includes the following steps: Step 1): Trim the inner arcs of the fixed block and the follower block according to the actual outer diameter size of the positioning and locking part of the mass-produced threaded connection sleeve, install the fixed block and the follower block, and adjust the thicknesses of the first adjustment block and the second adjustment block; Step 2): Adjust the stroke position of detection and punching according to the size of the threaded connection sleeve; Step 3): Adjust the position of the positioning and locking part relative to the guiding push rod; Step 4): Adjust the loading position of the manipulator according to the position where the positioning and locking part is located; Step 5): The controller controls the punching power cylinder and the positioning power cylinder to be in the return stroke state respectively; Step 6): The controller controls the manipulator to grip the threaded connection sleeve to be processed for loading; Step 7): The controller controls the positioning and locking part to position the threaded connection sleeve; Step 8): The controller controls the detection sensing part to detect the positioning error, and performs positioning accuracy compensation and correction according to the feedback data; Step 9): The controller controls the punching tool to move downward for punching, and returns to the return stroke state after punching is completed; Step 10): The controller controls the positioning and locking part to release the positioning; Step 11): The controller controls the manipulator to grip the threaded connection sleeve for unloading; Step 12): The controller performs linear punching optimization according to the stroke and punching force data of the first punching, and performs punching and optimization correction again according to the optimization parameters.

12. The precision automatic punching control method according to claim 11, wherein, In the said Step 1), before trimming the inner arc sizes of the fixed block and the follower block, first detect the actual machining size of the outer diameter of the positioning and locking part of the threaded connection sleeve. Trim the inner arcs of the fixed block and the follower block according to the actual machining size of the outer diameter of the positioning and locking part, and make the inner arc sizes of the fixed block and the follower block larger than the upper limit value of the actual machining size of the outer diameter of the positioning and locking part. Fasten and install the trimmed fixed block on the fixed frame, and fasten and install the trimmed follower block on the follower frame; Match and repair the thicknesses of the first adjustment block and the second adjustment block, so that the guiding recessed parts on both sides of the follower block on the follower frame can be simultaneously in contact and positioned with the corresponding first guiding block and second guiding block, and after the contact positioning, the inner arcs of the fixed block and the follower block remain concentric.

13. The precision automatic punching control method according to claim 11, wherein In step 2), according to the height position of the threaded connection sleeve placed on the longitudinal adjustment base, set the probe of the detection and sensing part to the detection part of the threaded connection sleeve, and avoid the external thread provided on the detection part. Furthermore, set the downward punching stroke of the punching tool. After setting the downward position of the punching tool, adjust the position of the position sensor. The controller preferentially controls the downward movement of the punching tool according to the feedback data of the stroke sensor. When the stroke sensor is abnormal or fails, the controller cuts off the downward movement of the punching tool according to the feedback signal of the position sensor.

14. The precision automatic punching control method according to claim 11, wherein In step 3), when the positioning and locking part is installed on the longitudinal adjustment base, first manually and preliminarily adjust the coaxiality of the inner arcs of the fixed block and the follower block with the guiding push rod. Set the dial indicator base on the detection and control part, place the dial indicator head on the inner arcs of the fixed block and the follower block, rotate the detection and control part and observe the change in the reading of the dial indicator. Adjust the position of the positioning and locking part according to the change in the reading of the dial indicator so that the change in the reading of the dial indicator is within the required error control range. After the adjustment is completed, fasten the positioning and locking part to the longitudinal adjustment base; Place the coaxiality detection rod in the inner cavity formed by the fixed block and the follower block and position and lock it. The controller drives the detection and control part to rotate, thereby driving the detection and sensing part to rotate, scan the outer contour of the coaxiality detection rod, and feed the scanned data back to the controller. The controller further analyzes the coaxiality of the coaxiality detection rod relative to the guiding push rod according to the scanned data. The controller drives the transverse power device and the longitudinal power device according to the analysis result to correct the coaxiality of the coaxiality detection rod relative to the guiding push rod.

15. The precision automatic punching control method according to claim 11, wherein In step 4), set the loading position of the manipulator according to the position of the positioning and locking part and the return stroke of the follower block driven by the positioning power cylinder. In step 5), the controller controls the first oil circuit control valve of the power station to supply return pressure oil to the punching power cylinder, so that the punching power cylinder drives the guiding push rod and the punching tool to be in the return state. The controller controls the second oil circuit control valve of the power station to supply return pressure oil to the positioning power cylinder, so that the positioning power cylinder drives the sliding frame, the follower frame and the follower block to be in the return state. In step 6), the manipulator clamps the clamping part of the threaded connection sleeve to load. The threaded connection sleeve is located on the longitudinal adjustment base through the bearing part. The weighing sensor feeds back the weight of the threaded connection sleeve to the controller to indicate that the workpiece has been loaded. In step 7), the controller controls the second oil circuit control valve of the power station to supply process pressure oil to the positioning power cylinder, so that the positioning power cylinder drives the sliding frame, the follower frame and the follower block to be in the process positioning state.

16. The precision automatic punching control method according to claim 11, characterized in that In step 8), the controller drives the detection control part to rotate, thereby driving the detection sensing part to rotate, scanning the outer contour of the detection part of the threaded connection sleeve. The controller confirms the positioning accuracy according to the scanning data. While confirming the positioning accuracy, it detects the machining accuracy of the previous finish turning. If it exceeds the given range of the positioning error but does not exceed the comprehensive value of the geometric tolerance and the positioning error of the threaded connection sleeve, the controller drives the transverse power device and the longitudinal power device according to the feedback data to correct the positioning. If it exceeds the comprehensive value of the geometric tolerance and the positioning error of the threaded connection sleeve, it is determined that the geometric tolerance of the previous finish turning of the threaded connection sleeve is unqualified, and the controller controls the robot to unload and reject the unqualified part.

17. The precision automatic punching control method according to claim 11, characterized in that In step 9), the controller controls the first oil circuit control valve of the power station to provide the process pressure oil to the punching power cylinder to complete the punching. During the punching process, the first guiding part of the tool cooperates with the first inner hole guiding part of the threaded connection sleeve for guiding, and the second guiding part of the tool cooperates with the second inner hole guiding part of the threaded connection sleeve for guiding. Under the guidance, the punching forming part enters the prefabricated bottom hole of the inner limiting groove part to complete the processing of the axial groove. The stroke sensor records the displacement data of the punching tool, and the weighing sensor records the punching force corresponding to the displacement. After the punching is completed, the controller drives the detection control part to rotate, thereby driving the detection sensing part to rotate, scanning the outer contour of the feedback part of the threaded connection sleeve. The controller confirms the machining accuracy after punching according to the scanning data. The controller compares the scanning data after punching with the allowable error value to confirm whether the accuracy is qualified. After the detection sensing part completes the accuracy scanning, the controller controls the first oil circuit control valve of the power station to provide the return pressure oil to the punching power cylinder to complete the tool retraction. Due to the elastic deformation of the workpiece, there is a tool retraction resistance, which will drive the threaded connection sleeve to retract with the punching tool. At this time, the positioning cone parts of the threaded connection sleeve contact and limit the first limiting part of the fixed block and the second limiting part of the follower block respectively, so that the threaded connection sleeve is separated from the punching tool.

18. The precision automatic punching control method according to claim 11, characterized in that In step 10), after the punching tool completes the retraction, the controller controls the second oil circuit control valve of the power station to provide the return pressure oil to the positioning power cylinder, so that the positioning power cylinder drives the sliding frame together with the follower frame and the follower block to return to the reset state to release the positioning. In step 11), after the positioning is released, the controller controls the robot to clamp the clamping part of the threaded connection sleeve for unloading. In step 12), the controller optimizes the punching force and the punching speed linearly according to the punching stroke displacement and the corresponding punching force data, punches again according to the optimized parameters and optimizes and corrects again. After several corrections, a stable linear punching is formed, and the optimization matching of power consumption and efficiency is completed. During the punching process, the controller detects the punching force throughout the process through the weighing sensor and compares it with the stored data. When the punching force fluctuation range is abnormal, the system will alarm and stop the machining. After manual confirmation is correct, the machining is resumed by manual intervention.

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