Precision automatic punching system and control method thereof

Abstract

The precision automatic punching system and its control method adopt gap floating non-contact positioning and combine the mutual reference principle to guide the punching process. It automatically loads and unloads materials throughout the process, and automatically detects and corrects positioning. It linearly optimizes the punching force and comprehensively optimizes energy consumption and efficiency. It achieves positioning accuracy while avoiding damage caused by secondary processing and positioning. It is suitable for parts of different sizes and shapes, has good versatility, low maintenance cost, and stable and consistent product quality. It realizes low-power green intelligent manufacturing while achieving high-precision non-destructive processing.

Description

Technical Field

[0001] The present invention relates to the field of punching technology used in mechanical manufacturing, and in particular to an automated positioning system and control method for precision punching, specifically an adjustable positioning system and automatic control method suitable for precise automatic punching of limit grooves in threaded cartridge valve connection sleeves. Background Art

[0002] Hydraulic valves are divided into different grades according to the oil flow rate, and the structural dimensions of the hydraulic valves also increase with the increase of the flow rate grade. The threaded plug-in balancing valve has multiple flow rates from 60 to 480L, and the threaded connection sleeve structures of different flow rates are basically the same, and the threaded connection sleeves of different flow rate grades are all provided with multiple internal limit grooves that need to be fine-machined. The internal limit grooves that need to be fine-machined and other fine-machined matching cavities of related assemblies have positional accuracy requirements. Limited by the structure of the threaded connection sleeve, the internal limit grooves can only be processed by punching. However, due to the large punching force, it is not suitable for direct processing on a turning machine tool, and can only be punched by a hydraulic press after secondary clamping. The fixture for secondary clamping needs to meet many technical requirements: First, in view of the appearance and precision requirements of the product, the secondary positioning clamping and punching process cannot cause damage to the processed surface of the threaded sleeve; Second, in view of the multi-grade and different sizes of the threaded sleeve, the fixture used for secondary positioning clamping must be universal to meet the needs of the differences in the external dimensions of the threaded sleeves of different flow grades; Third, in view of the requirements of the structural manufacturing precision required by the use characteristics of the product, the fixture used for secondary positioning clamping must ensure the positional accuracy of the limit groove after punching and the previously processed surface; Fourth, in view of the economic benefits and mass production performance of batch products Fifth, in view of the consistency requirements of mass production efficiency and precision, the fixture used for secondary positioning and clamping must have functions such as automatic clamping and loading and unloading, real-time online positioning detection, follow-up adjustment of clamping and positioning precision, and punching force feedback monitoring and protection. Sixth, the fixture used for secondary positioning and clamping must not only ensure the accuracy of the current punching process, but also complete the elimination of processing defects in the previous process. Seventh, it is the energy-saving issue of green and intelligent manufacturing. The new punching system must meet the low-power control requirements for mass production. 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 limiting groove in the threaded connection sleeve and its control method, so as to overcome the shortcomings of the above-mentioned background technology. The technical problem solved by the present invention is achieved through the following technical solutions.

[0004] The precision automatic punching system includes a positioning locking part, a detection sensing part, a detection control part, a guide push rod, a main bracket, a punching power cylinder, a power station, a controller, a stroke sensor, a position sensor, a positioning power cylinder, a transverse adjustment seat, a transverse power device, a machine tool base, a longitudinal adjustment seat, a longitudinal power device, a manipulator, a punching tool, a threaded connection sleeve, and a weighing sensor. Among them, the transverse adjustment seat is arranged on the machine tool base, the longitudinal adjustment seat is arranged on the transverse adjustment seat, the positioning locking part is arranged on the longitudinal adjustment seat, the positioning power cylinder is arranged on the positioning locking part, the transverse adjustment seat is provided with a transverse power device, and the longitudinal adjustment seat is provided with a longitudinal power device; the lower part of the main bracket is connected to the machine tool base, and a space is reserved between the upper part of the main bracket and the machine tool base. The upper part of the main bracket is provided with a guide push rod, and the upper part of the main bracket is also provided with a punching power cylinder. The extended rod end of the punching power cylinder is connected to one end of the guide push rod to transmit power, and the other end of the guide push rod is connected to the positioning clamping end of the punching tool. The connecting end of the guide push rod and the punching tool is provided with a detection control part, and the detection control part is provided with a detection sensing part; a stroke sensor and a position sensor are provided on the main bracket along the top-down running direction of the guide push rod, and a weighing sensor is provided on the longitudinal adjustment seat and at the support and bearing position of the threaded connection sleeve. A manipulator is provided on one side of the machine tool base, and 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 control part, the transverse 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 transverse power device to drive the transverse adjustment seat to drive the longitudinal adjustment seat together with the positioning locking part to move in the transverse direction, and can control the transverse power device to lock the corresponding position; the controller controls the longitudinal power device to drive the longitudinal adjustment seat to drive the positioning 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 provide two-way power oil to the punching power cylinder, one way is the process pressure oil for driving the punching tool downward through the punching power cylinder, and the other way is the return pressure oil for driving the punching tool upward through the punching power cylinder; the controller controls the second oil circuit control valve of the power station to provide two-way power oil to the positioning power cylinder, one way is the process pressure oil for driving the positioning locking part to lock the position through the positioning power cylinder, and the other way is the return pressure oil for driving the positioning locking part to release and reset through the positioning power cylinder.

[0007] In the present invention, the controller controls the robot to complete the loading and unloading of the threaded connection sleeve; the controller collects the stroke position of the guide push rod through the stroke sensor and the position sensor, and then senses the position of the detection control part, the detection sensing part and the punching tool; the controller senses whether the positioning locking part is clamped with 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, multiple pressure gauges are provided on the upper part of the main support, and the pressure gauges are respectively connected to the oil ports of the punching power cylinder and the positioning power cylinder. The pressure gauges intuitively reflect the working oil pressure in each power cylinder, which is convenient for manual and rapid monitoring of the working conditions, and convenient for manual identification and maintenance when the system fails.

[0009] In the present invention, the guide push rod arranged on the main bracket needs to adjust the vertical accuracy of the guide push rod rotation axis relative to the machine tool base, and when setting the horizontal adjustment seat and the longitudinal adjustment seat, the parallel accuracy of each relative to the machine tool base needs to be adjusted.

[0010] In the present invention, the punching tool as a whole is a rotating shaft body, and from one end to the other end are the clamping part, the first guide part of the tool, the second guide part of the tool, and the punching and forming part. A transition cone part is provided between the first guide part of the tool and the second guide part of the tool, and a transition cone part is provided between the second guide part of the tool and the punching and forming part.

[0011] In the present invention, the threaded connection sleeve is a rotary shaft part, and is sequentially provided with an inner hole first guide portion, an inner hole second guide portion, and an inner limit groove portion therein. A load-bearing step is provided between the inner hole first guide portion and the inner hole second guide portion. A guide cone portion is provided on the connecting side of the inner limit groove portion and the inner hole second guide portion. A tool withdrawal groove for punching is provided on the other side of the inner limit groove portion. The inner limit groove portion is formed by punching an axial groove after prefabricating a bottom hole through a previous machining process.

[0012] The exterior is provided with a detection portion, a clamping portion, a feedback portion, a positioning cone portion, and a positioning locking portion in sequence. The end portion where the positioning locking portion is located is the bearing portion. An external hexagon is provided between the positioning locking portion and the positioning cone portion. A positioning boss is provided between the detection portion and the clamping portion. The detection portion is provided with an external thread, which is fastened to the internal thread of the valve block jack and is limited and assembled by the positioning boss.

[0013] The detection part, clamping part, feedback part, positioning locking part, first inner hole guide part, second inner hole guide part and bottom hole of inner limit groove part are processed by one-time clamping so as to meet the position accuracy requirements between each other and thus achieve the assembly accuracy, working condition and performance requirements of the product. Due to the processing technology completed by one-time clamping, the relative position accuracy is guaranteed by the processing accuracy of the machine tool itself.

[0014] In the present invention, the stroke sensor records the detailed stroke data of the punching tool, and the position sensor plays a role of position limiting protection.

[0015] In the present invention, the positioning and locking part includes a first guide rail, a first bracket, a second guide rail, a fixed bracket, a fixed block, a first adjustment block, a first guide block, a follower block, a follower bracket, a sliding bracket, a cover plate, a second bracket, a power head, a second guide block, and a second adjustment block;

[0016] The first bracket and the second bracket are respectively fixedly arranged on the longitudinal adjustment seat, 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, the other end of the second guide rail is fixedly connected to the second bracket, and the first guide rail and the second guide rail are arranged parallel to each other;

[0017] 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 fixedly arranged on the sliding frame, and the fixed frame is detachably 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.

[0018] The fixed block is detachably fixedly connected to the fixed frame, and the follower block is detachably fixedly connected to the follower frame.

[0019] In the present invention, a concave arc groove is provided on the opposite side of the fixed frame and the follower frame, and a concave arc groove is provided on the opposite side of the follower frame and the fixed frame;

[0020] The fixed block is smaller than half of the circular arc ring body, and the following block is smaller than half of the circular arc ring body. The fixed block is detachably fixedly connected with the concave circular arc groove of the fixing frame through the outer circular arc, and the following block is detachably fixedly connected with the concave circular arc groove of the following frame through the outer circular arc.

[0021] The inner arc of the fixed block and the inner arc of the following block have the same diameter, and the outer circle of the positioning locking part of the clamped threaded connection sleeve is smaller than the inner arc of the fixed block and the inner arc of the following block. When the fixed block and the following block position the threaded connection sleeve, the inner arc of the fixed block and the inner arc of the following block retain a non-contact gap with the positioning locking part of the threaded connection sleeve, and a gap is retained between the fixed block and the following block, and a gap is also retained between the fixed frame and the following frame.

[0022] In the present invention, gap adjustment grooves are provided on the fixing frames on both sides of the fixed block, a first adjustment block and a first guide block are provided in the gap adjustment groove on one side, and a second guide block and a second adjustment block are provided in the gap adjustment groove on the other side. Guide recesses are provided on the following frames on both sides of the following block, and guide protrusions are provided at the contact ends of the first guide block, the second guide block and the following frame. When the following frame moves toward the fixed frame, the guide recesses on the following frame contact and position with the guide protrusions on the first guide block and the second guide block. By adjusting the thickness of the first adjustment block and the second adjustment block, the gap between the fixed block and the following block relative to the positioning locking portion of the threaded connection sleeve can be adjusted, and the positioning imbalance caused by processing errors can be adjusted at the same time.

[0023] In the present invention, the corresponding fixed block and follower block inner arc sizes are set according to the outer circle size of the positioning locking portion of the threaded connection sleeve of different flow levels, and the positioning requirements of threaded connection sleeves of different sizes can be met without replacing the entire fixture.

[0024] The fixed block and the follower block are made of a material with a higher hardness than the threaded connection sleeve. The inner arcs of the fixed block and the follower block are trimmed according to the actual size of the outer circle of the positioning and locking part of the mass-produced threaded connection sleeve to maximize the positioning fit of the arc surface, thereby greatly reducing positioning deviation. The use of non-hard contact gap floating positioning ensures the required positioning accuracy while avoiding damage caused by secondary clamping due to marks left by contact positioning clamping.

[0025] A first limiting portion is provided on the fixed block and a second limiting portion is provided on the follower block. The first limiting portion and the second limiting portion correspond to the positioning cone portion on the threaded connection sleeve, and play a role in limiting and overcoming the resistance of the tool when the tool is withdrawn after punching is completed.

[0026] In the present invention, the power head is detachably mounted on the sliding frame, the power head and the sliding frame are connected via spherical connection, a cover plate for limiting the relative position of the power head and the sliding frame is provided on the sliding frame, and the cover plate is detachably fixedly connected to the sliding frame.

[0027] In the present invention, 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 driving control of external fluid pressure, the power cylinder rod can move back and forth. 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.

[0028] The precision automatic punching control method comprises the following steps:

[0029] Step 1): According to the actual size of the outer circle of the positioning locking part of the mass-produced threaded connection sleeve, trim the inner arc of the fixed block and the follower block, install the fixed block and the follower block, and adjust the thickness of the first adjustment block and the second adjustment block;

[0030] Step 2): Adjust the detection and punching stroke position according to the size of the threaded connection sleeve;

[0031] Step 3): Adjust the position of the positioning locking part relative to the guide push rod;

[0032] Step 4): Adjust the loading position of the manipulator according to the position of the positioning locking part;

[0033] Step 5): The controller controls the punching power cylinder and the positioning power cylinder to be in the return state respectively;

[0034] Step 6): The controller controls the manipulator to clamp the threaded connection sleeve to be processed for loading;

[0035] Step 7): The controller controls the positioning locking part to position the threaded connection sleeve;

[0036] Step 8): The controller controls the detection sensor part to detect the positioning error and performs positioning accuracy compensation correction based on the feedback data;

[0037] Step 9): The controller controls the punching tool to punch downward and return to the return state after punching is completed;

[0038] Step 10): The controller controls the positioning locking part to release the positioning;

[0039] Step 11): The controller controls the manipulator to clamp the threaded connection sleeve for cutting;

[0040] Step 12): The controller performs linear punching optimization based on the stroke and punching force data of the first punching, and punches again and optimizes the correction according to the optimized parameters.

[0041] In the present invention, the punching force is not constant during the entire punching process. The punching force will change with the change of 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 drop suddenly. In addition, the punching force is affected by the punching tool structure, the error of the punching prefabricated bottom hole, the secondary punching positioning and clamping error, and the material and hardness of the threaded connection sleeve, and will show different chip force change laws. In order to achieve uniform and stable punching and thus ensure punching accuracy, the controller needs to control the oil supply pressure and flow of the power station to the punching power cylinder according to the change law of the punching force. The traditional pressure and speed regulation circuit cannot obtain and accurately control the punching force law, nor can it accurately control the flow according to the change of the actual chip force to achieve uniform and precise punching feed. It is even more impossible to perform deep learning and optimize the punching parameters according to the change law of the punching force to achieve energy consumption optimization.

[0042] In order to achieve the above functions, the power station is equipped with an electronically controlled reversing valve, an electronically controlled pressure valve, an electronically controlled flow valve and a variable pump driven by a variable frequency drive. According to the design and selection parameters of the punching system, the pressure control range of the electronically controlled pressure valve, the flow adjustment range of the electronically controlled flow valve, the speed adjustment range of the variable frequency drive motor, the displacement adjustment range of the variable pump and the control range of the punching process speed are first given;

[0043] 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 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 converted to generate a punching oil pressure curve. Due to the resistance of the punching power cylinder and the guide push rod itself, the oil pressure of the punching power cylinder controlled by the electric pressure valve is greater than the punching oil pressure converted 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 electric control reversing valve, the electric control pressure valve and the electric 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. During the operation, the controller obtains the actual punching time according to the data changes of the weighing sensor, and obtains the actual punching speed according to the data obtained by the stroke sensor and the actual punching time. The actual oil volume input to the punching power cylinder is converted according to the actual punching speed. 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 volumetric efficiency, and the difference between the 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 change of the actual punching speed, the relevant parameters are adjusted to make the actual punching speed constant to achieve uniform punching. Under the premise of meeting the uniform punching speed, the relevant parameters are further adjusted to finally optimize the punching speed and overall power consumption.

[0044] To simplify the calculation and analysis, according to the principle of energy conservation, the energy efficiency calculation 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 obtained by calculating the punching force collected by the weighing sensor and the displacement of the stroke sensor. The total input power consumption can be directly collected and obtained, and the energy efficiency obtained in this way is more accurate, avoiding various errors caused by too many intermediate calculation links.

[0045] During the punching process, the controller uses a weighing sensor to detect the punching force throughout the process 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, manual intervention will resume processing.

[0046] In the present invention, the controller drives the detection control part to rotate around the rotation axis of the guide push rod, the detection control part drives the detection sensing part to rotate with it, the threaded connection sleeve is placed in the positioning 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 guide push rod, and feeds back the primary position deviation value to the controller, the controller drives the transverse power device and the longitudinal power device according to the position deviation value to move the positioning locking part together with the threaded connection sleeve to the primary adjustment coaxial position, and then the controller drives the detection control part again and then rotates the detection sensing part to detect the secondary position deviation of the threaded connection sleeve relative to the rotation axis of the guide push rod. The difference between the secondary position deviation value and the primary position deviation value is the system error value of the primary adjustment coaxiality, and the system error value is included in the adjustment compensation to eliminate the adjustment error of the system.

[0047] In the present invention, before trimming the inner arc size of the fixed block and the follower block, the actual processing size of the outer circle of the positioning and locking part of the threaded connection sleeve is first detected. Since the outer circle of the positioning and locking part is obtained by the previous fine turning process, the size consistency is good, and the go and no-go gauge is used for detection during the previous fine turning process to ensure that the size error of the outer circle of the positioning and locking part is within the control range. According to the actual processing size of the outer circle of the positioning and locking part, the inner arcs of the fixed block and the follower block are trimmed, and the inner arc sizes of the fixed block and the follower block are made larger than the upper limit value of the actual processing size of the outer circle of the positioning and locking part. The trimmed fixed block is fastened and installed on the fixed frame, and the trimmed follower block is fastened and installed on the follower frame.

[0048] The thickness of the first adjustment block and the second adjustment block is adjusted so that the guide recesses on both sides of the follower block on the follower frame can contact and position with the corresponding first guide block and second guide block at the same time, and after contact and positioning, the inner arcs of the fixed block and the follower block remain concentric.

[0049] In the present invention, according to the height position of the threaded connection sleeve placed on the longitudinal adjustment seat, the probe of the detection sensing part is set to the detection part of the threaded connection sleeve, and avoids the external thread set on the detection part, and then the punching downward stroke of the punching tool is set. After setting the downward position of the punching tool, the position of the position sensor is adjusted. 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 components.

[0050] In the present invention, when the positioning locking part is installed on the longitudinal adjustment seat, the coaxiality of the inner arcs of the fixed block and the follower block and the guide push rod is manually preliminarily adjusted, the dial indicator base is set on the detection and control part, the dial indicator head is placed on the inner arcs of the fixed block and the follower block, the detection and control part is rotated and the change in the dial indicator reading is observed, and the position of the positioning locking part is adjusted according to the change in the dial indicator reading so that the change in the dial indicator reading is within the required error control range. After the adjustment is completed, the positioning locking part is fastened to the longitudinal adjustment seat;

[0051] The coaxiality detection rod is placed in the inner cavity formed by the fixed block and the follower block and positioned and locked. The controller drives the detection control part to rotate and then drives the detection sensing part to rotate, scans the outer contour of the coaxiality detection rod, and feeds back the scanning data to the controller. The controller further analyzes the coaxiality of the coaxiality detection rod relative to the guide push rod based on the scanning data. The controller drives the transverse power device and the longitudinal power device based on the analysis results and then corrects the coaxiality of the coaxiality detection rod relative to the guide push rod.

[0052] In the present invention, the loading position of the manipulator is set according to the position of the positioning locking part and the return amount of the positioning power cylinder driving the follower block;

[0053] The punching tool is coaxially and firmly arranged on the guide push rod.

[0054] In the present invention, the controller controls the first oil circuit control valve of the power station to provide return pressure oil to the punching power cylinder, so that the punching power cylinder drives the guide push rod together with the punching tool to be in the return state;

[0055] The controller controls the second oil circuit control valve of the power station to provide 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 the return state.

[0056] In the present invention, the manipulator clamps the clamping part of the threaded connection sleeve to load the material, the threaded connection sleeve is located on the longitudinal adjustment seat through the load-bearing part, and the weighing sensor feeds back the weight of the threaded connection sleeve to the controller to indicate that the loading of the workpiece has been completed. The controller controls the second oil circuit control valve of the power station to provide 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.

[0057] In the present invention, the controller drives the detection control part to rotate and then drives the detection sensing part to rotate, scans the outer contour of the detection part of the threaded connection sleeve, and the controller confirms the positioning accuracy based on the scanning data. While confirming the positioning accuracy, it detects the processing accuracy of the previous fine turning. If it exceeds the given range of the positioning error but does not exceed the comprehensive value of the shape and position error of the threaded connection sleeve and the positioning error, 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 shape and position error of the threaded connection sleeve and the positioning error, it is judged that the shape and position error of the previous fine turning of the threaded connection sleeve is unqualified, and the controller controls the robot to unload the material and remove the unqualified part.

[0058] In the present invention, a controller controls the first oil circuit control valve of the power station to provide process pressure oil to the punching power cylinder to complete punching. During the punching process, the first guide portion of the tool cooperates with the first guide portion of the inner hole of the threaded connection sleeve for guidance, and the second guide portion of the tool cooperates with the second guide portion of the inner hole of the threaded connection sleeve for guidance. Under the guidance, the punching forming portion enters the prefabricated bottom hole of the inner limit groove portion to complete the axial groove processing. The stroke sensor records the displacement data of the punching tool, and the weighing sensor records the punching force corresponding to the displacement.

[0059] After punching is completed, the controller drives the detection control part to rotate and then drives the detection sensing part to rotate, scanning the outer contour of the feedback part of the threaded connection sleeve. The controller confirms the processing accuracy after punching based on the scan data, and compares the scan data after punching with the error allowance to confirm whether the accuracy is qualified;

[0060] After the detection sensing part completes the precision scan, the controller controls the first oil circuit control valve of the power station to provide return pressure oil to the punching power cylinder to complete the tool retraction. The elastic deformation of the workpiece brings about tool retraction resistance. This resistance will carry the threaded connection sleeve along with the punching tool return. At this time, the positioning cone of the threaded connection sleeve contacts the first limiting part of the fixed block and the second limiting part of the follower block respectively to limit the position, thereby separating the threaded connection sleeve from the punching tool.

[0061] 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 provide 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, thereby releasing the positioning. After the positioning is released, the controller controls the manipulator to clamp the clamping part of the threaded connection sleeve for unloading.

[0062] In the present invention, the controller performs linear optimization of the punching force and 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, stable linear punching is formed and the optimal matching of power consumption and efficiency is achieved.

[0063] Beneficial effects: 1. 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 in the present invention adopt clearance floating positioning and non-contact clamping positioning, which can achieve the positioning function without causing damage; 2. In order to cope with the external dimensions of threaded connection sleeves of different levels, the present invention only needs to replace the fixed block and the follower block, without replacing the entire clamping device, which has good versatility, and the wear and replacement and maintenance costs of the fixed block and the follower block are relatively low; 3. The outer circle of the positioning and locking part of the threaded connection sleeve in the present invention and other parts with positioning accuracy requirements are obtained by one-time processing in the previous process, and the positioning accuracy between each other is guaranteed by the machine tool itself, and the secondary positioning uses the outer circle to maximize the positioning accuracy, and the detection part scans and corrects the positioning again, further eliminating the random error of the clearance floating positioning, and the bearing part of the threaded connection sleeve used to bear the punching force and other surfaces with positioning accuracy requirements are also obtained by one-time processing in the previous process, and the positioning accuracy of the two is also guaranteed by the machine tool itself. Therefore, the two high-precision positionings based on each other will not be caused by the positioning accuracy during punching. The positioning and heavy chip force cause punching precision errors. After the gap floating positioning, the first guide part of the punching tool cooperates with the first guide part of the inner hole for guidance, and at the same time, the second guide part of the punching tool cooperates with the second guide part of the inner hole for guidance, thereby completing the punching. This is a double mutual reference, which maximizes the processing accuracy. Fourth, the present invention realizes automatic loading and unloading, automatic positioning detection feedback correction, and adopts the punching processing principle of mutual reference. In addition, 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, thereby ensuring the consistency of mass production precision and the production efficiency of obtaining qualified products. Fifth, the detection part of the present invention can eliminate defective products with excessive form and position tolerances due to the previous fine turning processing while completing positioning monitoring, and no one is missed during the entire detection process. While obtaining qualified products, the cost problem caused by manual sorting is also greatly reduced. Sixth, the present invention performs comprehensive optimization of energy consumption and efficiency while linearly optimizing the punching force, realizing low-power green intelligent manufacturing and achieving the purpose of energy saving and consumption reduction. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] Figure 1 This is a schematic diagram of the overall structure of the precision automatic punching system of a preferred embodiment of the present invention.

[0065] Figure 2 Schematic diagram of the threaded connection sleeve structure of a preferred embodiment of the present invention.

[0066] Figure 3 This is a schematic diagram of the automatic punching floating limit fit of a preferred embodiment of the present invention.

[0067] Figure 4 This is a schematic diagram of the automatic punching positioning locking part of a preferred embodiment of the present invention.

[0068] Figure 5 This is a schematic diagram of the state before automatic punching and positioning of a preferred embodiment of the present invention.

[0069] Figure 6 This is a schematic diagram of the automatic punching and positioning state of a preferred embodiment of the present invention.

[0070] Figures marked: 1. Positioning locking part, 2. Detection sensing part, 3. Detection control part, 4. Guide push rod, 5. Main body bracket, 6. Punching power cylinder, 7. Power station, 8. Controller, 9. Travel 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;

[0071] 161, first guide portion of the tool, 162, second guide portion of the tool, 163, punching and forming portion;

[0072] 171. Inner limiting groove portion, 172. Bearing portion, 173. Positioning locking portion, 174. Positioning cone portion, 175. Detection portion, 176. First inner hole guide portion, 177. Clamping portion, 178. Feedback portion, 179. Second inner hole guide portion;

[0073] 101. First guide rail, 102. First bracket, 103. Second guide rail, 104. Fixed bracket, 105. Fixed block, 106. First adjustment block, 107. First guide block, 108. Follower block, 109. Follower bracket, 110. Sliding bracket, 111. Cover plate, 112. Second bracket, 113. Power head, 114. Second guide block, 115. Second adjustment block;

[0074] 1051, a first limiting portion, 1081, a second limiting portion. DETAILED DESCRIPTION

[0075] In order to make the technical means, creative features, objectives and effects achieved by the present invention easier to understand, the present invention is further described below with reference to specific illustrations.

[0076] See also Figures 1 to 6The precision automatic punching system includes a positioning locking part 1, a detection sensor part 2, a detection control part 3, a guide 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, and a weighing sensor 18, wherein the lateral adjustment seat 12 is arranged at On the machine tool base 13, the longitudinal adjustment seat 14 is arranged on the transverse adjustment seat 12, the positioning locking part 1 is arranged on the longitudinal adjustment seat 14, the positioning power cylinder 11 is arranged on the positioning locking part 1, the transverse adjustment seat 12 is provided with a transverse power device 121, and the longitudinal adjustment seat 14 is provided with a longitudinal power device 141; the lower part of the main body bracket 5 is connected with the machine tool base 13, and a space is reserved 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 a guide push rod 4, and the upper part of the main body bracket 5 is also provided with a guide push rod 4. A punching power cylinder 6 is provided, and the extended rod end of the punching power cylinder 6 is connected to one end of the guide push rod 4 to transmit power, and the other end of the guide push rod 4 is connected to the positioning clamping end of the punching tool 16. The connecting end of the guide push rod 4 and the punching tool 16 is provided with a detection control part 3, and the detection control part 3 is provided with a detection sensing part 2; a stroke sensor 9 and a position sensor 10 are provided on the main bracket 5 along the top-down running direction of the guide push rod 4, and a weighing sensor 18 is provided on the longitudinal adjustment seat 14 and at the supporting and bearing position of the threaded connection sleeve 17. A manipulator 15 is provided on one side of the machine tool base 13, and 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 connected to the power station 7, the detection control part 3, the transverse 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.

[0077] In this embodiment, the controller 8 controls the transverse power device 121 to drive the transverse adjustment seat 12 to drive the longitudinal adjustment seat 14 together with the positioning locking part 1 to move in the transverse direction, and can control the transverse 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 locking part 1 to move in the longitudinal direction, and can control the longitudinal power device 141 to lock the corresponding position.

[0078] In this embodiment, the controller 8 controls the first oil circuit control valve of the power station 7 to provide two-way power oil to the punching power cylinder 6, one way is the process pressure oil that drives the punching tool 16 downward through the punching power cylinder 6, and the other way is the return pressure oil that drives the punching tool 16 upward through the punching power cylinder 6; the controller 8 controls the second oil circuit control valve of the power station 7 to provide two-way power oil to the positioning power cylinder 11, one way is the process pressure oil that drives the positioning locking part 1 to lock the position through the positioning power cylinder 11, and the other way is the return pressure oil that drives the positioning locking part 1 to release the reset through the positioning power cylinder 11.

[0079] 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 guide 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 positioning locking part 1 is clamped with the threaded connection sleeve 17 through the weighing sensor 18, and collects the punching force of the punching tool 16 on the threaded connection sleeve 17.

[0080] In this embodiment, multiple pressure gauges are provided on the upper part of the main support 5, and 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 intuitively reflect the working oil pressure in each power cylinder, which is convenient for manual and rapid monitoring of the working conditions, and convenient for manual identification and maintenance when the system fails.

[0081] In this embodiment, the guide push rod 4 arranged on the main bracket 5 needs to adjust the vertical accuracy of the rotation axis of the guide push rod 4 relative to the machine tool base 13, and when setting the horizontal 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.

[0082] In this embodiment, the punching tool 16 is a rotating shaft as a whole, and from one end to the other end are the clamping part 177, the first tool guide part 161, the second tool guide part 162, and the punching and forming part 163. A transition cone part is provided between the first tool guide part 161 and the second tool guide part 162, and a transition cone part is also provided between the second tool guide part 162 and the punching and forming part 163.

[0083] In this embodiment, the threaded connection sleeve 17 is a rotary shaft part, and is sequentially provided with an inner hole first guide portion 176, an inner hole second guide portion 179, and an inner limit groove portion 171. A bearing step is provided between the inner hole first guide portion 176 and the inner hole second guide portion 179. A guide cone is provided on the connecting side of the inner limit groove portion 171 and the inner hole second guide portion 179. A tool relief groove for punching is provided on the other side of the inner limit groove portion 171. The inner limit groove portion 171 is formed by punching an axial groove after prefabricating a bottom hole through the previous machining process.

[0084] The exterior is provided with a detection portion 175, a clamping portion 177, a feedback portion 178, a positioning cone 174, and a positioning locking portion 173 in sequence. The end portion where the positioning locking portion 173 is located is the bearing portion 172. An external hexagon is provided between the positioning locking portion 173 and the positioning cone 174. A positioning boss is provided between the detection portion 175 and the clamping portion 177. The detection portion 175 is provided with an external thread, which is fastened to the internal thread of the valve block jack and is limited by the positioning boss.

[0085] The prefabricated bottom hole of the inner limit groove 171, the detection part 175, the clamping part 177, the feedback part 178, the positioning locking part 173, the inner hole first guide part 176, and the inner hole second guide part 179 are processed by one-time clamping to meet the mutual position accuracy requirements and thus achieve the assembly accuracy, working conditions and performance requirements of the product. Due to the processing technology completed by one-time clamping, the relative position accuracy is guaranteed by the processing accuracy of the machine tool itself.

[0086] In this embodiment, the stroke sensor 9 records detailed stroke data of the punching tool 16, and the position sensor 10 plays a role of position limiting protection.

[0087] 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 bracket 104, a fixing block 105, a first adjustment block 106, a first guide block 107, a follower block 108, a follower bracket 109, a sliding bracket 110, a cover plate 111, a second bracket 112, a power head 113, a second guide block 114, and a second adjustment block 115;

[0088] The first bracket 102 and the second bracket 112 are respectively fixedly arranged on the longitudinal adjustment base 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 parallel to each other.

[0089] One end of the sliding frame 110 is slidably mounted on the first guide rail 101, and the other end of the sliding frame 110 is slidably mounted on the second guide rail 103. The follower frame 109 is detachably fixedly mounted on the sliding frame 110. The fixed frame 104 is detachably fixedly mounted on the first bracket 102. The fixed frame 104 and the follower frame 109 are disposed between the first guide rail 101 and the second guide rail 103.

[0090] The fixed block 105 is detachably fixedly connected to the fixed frame 104 , and the follower block 108 is detachably fixedly connected to the follower frame 109 .

[0091] In this embodiment, a concave arc groove is provided on the opposite side of the fixed frame 104 and the follower frame 109, and a concave arc groove is provided on the opposite side of the follower frame 109 and the fixed frame 104;

[0092] The fixed block 105 is a circular arc ring body that is less than half, and the follower block 108 is a circular arc ring body that is less than half. The fixed block 105 is detachably fixedly connected to the concave circular arc groove of the fixing frame 104 through the outer circular arc, and the follower block 108 is detachably fixedly connected to the concave circular arc groove of the follower frame 109 through the outer circular arc.

[0093] The inner arc of the fixed block 105 and the inner arc diameter of the follower block 108 are consistent, and the outer circle of the positioning locking portion 173 of the clamped threaded connection sleeve 17 is smaller than the inner arc diameter of the fixed block 105 and the inner arc diameter of the follower block 108. When the fixed block 105 and the follower block 108 position the threaded connection sleeve 17, the inner arc of the fixed block 105 and the inner arc of the follower block 108 retain a non-contact gap with the positioning locking portion 173 of the threaded connection sleeve 17, and a gap is retained between the fixed block 105 and the follower block 108, and a gap is also retained between the fixed frame 104 and the follower frame 109.

[0094] In this embodiment, clearance adjustment grooves are provided on the fixing frames 104 on both sides of the fixing block 105, and a first adjustment block 106 and a first guide block 107 are provided in the clearance adjustment groove on one side, and a second guide block 114 and a second adjustment block 115 are provided in the clearance adjustment groove on the other side. Guide recesses are provided on the follower frames 109 on both sides of the follower block 108, and guide protrusions are provided at the contact ends of the first guide block 107, the second guide block 114 and the follower frame 109. When the follower frame 109 moves toward the fixing frame 104, the guide recesses on the follower frame 109 contact and position with the guide protrusions on the first guide block 107 and the second guide block 114. By adjusting the thickness of the first adjustment block 106 and the second adjustment block 115, the clearance between the fixing block 105 and the follower block 108 relative to the positioning locking portion 173 of the threaded connection sleeve 17 can be adjusted, and the positioning imbalance caused by processing errors can also be adjusted.

[0095] In this embodiment, the outer diameter of the positioning locking portion 173 of the threaded connection sleeve 17 of different flow levels is adjusted by replacing the inner arc diameter of the corresponding fixed block 105 and the follower block 108. This can meet the positioning requirements of threaded connection sleeves 17 of different sizes without replacing the entire fixture.

[0096] The fixed block 105 and the follower block 108 are made of a material with a higher hardness than 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 size of the outer circle of the positioning locking portion 173 of the mass-produced threaded connection sleeve 17, so that their positioning fits the arc surface to the maximum extent, thereby greatly reducing positioning deviation. Due to the use of non-hard contact gap floating positioning, the required positioning accuracy is guaranteed while avoiding damage caused by secondary clamping due to marks left by contact positioning clamping;

[0097] 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 174 on the threaded connecting sleeve 17, and play a role in limiting and overcoming the resistance of the tool when the tool is retracted after punching is completed.

[0098] In this embodiment, the power head 113 is detachably and movably arranged on the sliding frame 110, and the power head 113 and the sliding frame 110 are transmitted through a spherical connection. A cover plate 111 is provided on the sliding frame 110 for limiting the relative position of the power head 113 and the sliding frame 110, and the cover plate 111 is detachably and fixedly connected to the sliding frame 110.

[0099] 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 driving control of external fluid pressure, the power cylinder rod can move back and forth. 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.

[0100] The precision automatic punching control method comprises the following steps:

[0101] Step 1): trim the inner arcs of the fixed block 105 and the follower block 108 according to the actual outer size of the positioning locking portion 173 of the mass-produced threaded connection sleeve 17, install the fixed block 105 and the follower block 108, and adjust the thickness of the first adjustment block 106 and the second adjustment block 115;

[0102] Step 2): Adjust the detection and punching stroke position according to the size of the threaded connection sleeve 17;

[0103] Step 3): Adjust the position of the positioning locking part 1 relative to the guide push rod 4;

[0104] Step 4): Adjust the loading position of the manipulator 15 according to the position of the positioning locking part 1;

[0105] Step 5): The controller 8 controls the punching power cylinder 6 and the positioning power cylinder 11 to be in the return state respectively;

[0106] Step 6): The controller 8 controls the manipulator 15 to clamp the threaded connection sleeve 17 to be processed for loading;

[0107] Step 7): The controller 8 controls the positioning locking part 1 to position the threaded connection sleeve 17;

[0108] Step 8): The controller 8 controls the detection sensor part 2 to detect the positioning error and performs positioning accuracy compensation correction based on the feedback data;

[0109] Step 9): The controller 8 controls the punching tool 16 to punch downward and return to the return state after completing the punching;

[0110] Step 10): The controller 8 controls the positioning locking part 1 to release the positioning;

[0111] Step 11): The controller 8 controls the manipulator 15 to clamp the threaded connection sleeve 17 for cutting;

[0112] Step 12): The controller 8 performs linear punching optimization based on the stroke and punching force data of the first punching, and punches again and optimizes and corrects according to the optimized parameters.

[0113] In this embodiment, the punching force is not constant during the entire punching process. The punching force will change with the change of 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 drop suddenly. In addition, the punching force is affected by the structure of the punching tool 16, the error of the punching prefabricated bottom hole, the secondary punching positioning and clamping error, and the material and hardness of the threaded connection sleeve 17, and will show different chip force change laws. In order to achieve uniform and stable punching and thus ensure punching accuracy, the controller 8 needs to control the oil supply pressure and flow of the power station 7 to the punching power cylinder 6 according to the change law of the punching force. The traditional pressure and speed regulation circuit cannot obtain and accurately control the punching force law, nor can it accurately control the flow according to the change of the actual chip force to achieve uniform and accurate punching feed, and it is even more impossible to perform deep learning and optimize the punching parameters according to the change law of the punching force to achieve energy consumption optimization.

[0114] In order to achieve the above functions, the power station 7 is provided with an electric-controlled reversing valve, an electric-controlled pressure valve, an electric-controlled flow valve and a variable pump driven by a variable frequency drive. According to the design and selection parameters of the punching system, the pressure control range of the electric-controlled pressure valve, the flow adjustment range of the electric-controlled flow valve, the speed adjustment range of the variable frequency drive motor, the displacement adjustment range of the variable pump and the control range of the punching process speed are first given;

[0115] The controller 8 selects parameters within each parameter range and forms multiple parameter combinations according to the algorithm optimization rules, and then outputs each parameter combination for punching; during the punching process, the controller 8 collects the data fed back by the weighing sensor 18 and generates a punching force curve by fitting, and at the same time, the punching force collected by the weighing sensor 18 during the punching process is converted to the corresponding punching oil pressure and then generates a punching oil pressure curve. Due to the resistance of the punching power cylinder 6 and the guide push rod 4 themselves and the pipeline fluid resistance, the oil pressure of the punching power cylinder 6 controlled by the electric pressure valve is greater than the punching oil pressure converted according to 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 electric control reversing valve, the electric control pressure valve and the electric control flow valve, and obtains the overall power consumption of the entire punching process. The controller 8 also records the entire punching process. The completion time of the process, the controller 8 obtains the actual punching time according to the data change of the weighing sensor 18, the controller 8 obtains the actual punching speed according to the data obtained by the stroke sensor 9 and combined with the actual punching time, and converts the actual oil amount input to the punching power cylinder 6 according to the actual punching speed. The controller 8 obtains the theoretical output oil amount 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 amount and the theoretical output oil amount is the volumetric power loss caused by volumetric efficiency, and the difference between the 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 change of the actual punching speed, the relevant parameters are adjusted to make the actual punching speed constant to achieve uniform punching, and the relevant parameters are further adjusted under the premise of satisfying uniform punching to finally obtain the optimization of punching speed and overall power consumption;

[0116] In order to simplify the calculation and analysis, according to the principle of conservation of energy, the energy efficiency calculation does not need to consider the intermediate links, and is directly calculated 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 by 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 and obtained, and the energy efficiency obtained thereby is more accurate, avoiding various errors caused by too many intermediate calculation links.

[0117] 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, manual intervention will resume processing.

[0118] In this embodiment, the controller 8 drives the detection control part 3 to rotate around the rotation axis of the guide push rod 4, the detection control part 3 drives the detection sensing part 2 to rotate, the threaded connection sleeve 17 is placed in the positioning 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 guide push rod 4, and feeds back the primary position deviation value to the controller 8, the controller 8 drives the transverse power device 121 and the longitudinal power device 141 according to the position deviation value to move the positioning locking part 1 together with the threaded connection sleeve 17 to the primary adjustment coaxial position, and then the controller 8 drives the detection control part 3 again and then rotates the detection sensing part 2 to detect the secondary position deviation of the threaded connection sleeve 17 relative to the rotation axis of the guide push rod 4, the difference between the secondary position deviation value and the primary position deviation value is the system error value of the primary adjustment coaxiality, and the system error value is included in the adjustment compensation to eliminate the adjustment error of the system.

[0119] In this embodiment, before trimming the inner arc size of the fixed block 105 and the follower block 108, the actual processing size of the outer circle of the positioning locking portion 173 of the threaded connection sleeve 17 is first detected. Since the outer circle of the positioning locking portion 173 is obtained by the previous fine turning process, the size consistency is good, and the go / no-go gauge is used for detection during the previous fine turning process to ensure that the size error of the outer circle of the positioning locking portion 173 is within the control range. According to the actual processing size of the outer circle of the positioning locking portion 173, the inner arcs of the fixed block 105 and the follower block 108 are trimmed, and the inner arc size of the fixed block 105 and the follower block 108 is larger than the upper limit value of the actual processing size of the outer circle of the positioning locking portion 173. The trimmed fixed block 105 is fastened and installed on the fixed frame 104, and the trimmed follower block 108 is fastened and installed on the follower frame 109.

[0120] The thickness of the first adjustment block 106 and the second adjustment block 115 are adjusted so that the guide recesses on the follower frame 109 on both sides of the follower block 108 can simultaneously contact and position with the corresponding first guide block 107 and second guide block 114, and after contact and positioning, the inner arcs of the fixed block 105 and the follower block 108 remain concentric.

[0121] In this embodiment, according to the height position of the threaded connection sleeve 17 placed on the longitudinal adjustment seat 14, the probe of the detection sensing part 2 is set to the detection part 175 of the threaded connection sleeve 17, and avoids the external thread set on the detection part 175, and then the punching downward stroke of the punching tool 16 is set. After setting the downward position of the punching tool 16, the position of the position sensor 10 is adjusted. 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 components.

[0122] In this embodiment, when the positioning locking part 1 is installed on the longitudinal adjustment seat 14, the coaxiality of the inner arcs of the fixed block 105 and the following block 108 and the guide push rod 4 is manually preliminarily adjusted, the dial indicator base is set on the detection and control part 3, the dial indicator head is placed on the inner arcs of the fixed block 105 and the following block 108, the detection and control part 3 is rotated and the reading change of the dial indicator is observed, and the position of the positioning locking part 1 is adjusted according to the reading change of the dial indicator so that the reading change of the dial indicator is within the required error control range. When adjusting the coaxiality, the positioning locking part 1 is in a positioning locking state. While adjusting the coaxiality, the coaxiality of the inner arcs of the fixed block 105 and the inner arcs of the following block 108 can be detected and adjusted. After the adjustment is completed, the positioning locking part 1 is fastened to the longitudinal adjustment seat 14;

[0123] The coaxiality detection rod is placed in the inner cavity formed by the fixed block 105 and the follower block 108 and positioned and locked. The controller 8 drives the detection control part 3 to rotate and then drives the detection sensing part 2 to rotate, scans the outer contour of the coaxiality detection rod, and feeds back the scanning data to the controller 8. The controller 8 further analyzes the coaxiality of the coaxiality detection rod relative to the guide push rod 4 based on the scanning data. The controller 8 drives the transverse power device 121 and the longitudinal power device 141 according to the analysis results and then corrects the coaxiality of the coaxiality detection rod relative to the guide push rod 4 to eliminate the error of the initial adjustment of the coaxiality.

[0124] In this embodiment, the loading position of the manipulator 15 is set according to the position of the positioning locking part 1 and the return amount of the positioning power cylinder 11 driving the follower block 108;

[0125] The punching tool 16 is coaxially fixed on the guide push rod 4 .

[0126] In this embodiment, the controller 8 controls the first oil circuit control valve of the power station 7 to provide return pressure oil to the punching power cylinder 6, so that the punching power cylinder 6 drives the guide push rod 4 together with the punching tool 16 to be in the return state;

[0127] The controller 8 controls the second oil circuit control valve of the power station 7 to provide 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 the return state.

[0128] In this embodiment, the manipulator 15 clamps 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 seat 14 through the load-bearing part 172. The weighing sensor 18 feeds back the weight of the threaded connection sleeve 17 to the controller 8 to inform the controller 8 that the loading of the workpiece has been completed. The controller 8 controls the second oil circuit control valve of the power station 7 to provide 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.

[0129] In this embodiment, the controller 8 drives the detection control part 3 to rotate and then drives the detection sensing part 2 to rotate, scans the outer contour of the detection part 175 of the threaded connection sleeve 17, and the controller 8 confirms the positioning accuracy based on the scanning data. While confirming the positioning accuracy, it detects the processing accuracy of the previous fine turning. If it exceeds the given range of the positioning error but does not exceed the comprehensive value of the form and position 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 and position error and the positioning error of the threaded connection sleeve 17, it is judged that the form and position error of the previous fine turning of the threaded connection sleeve 17 is unqualified, and the controller 8 controls the manipulator 15 to cut the material and remove the unqualified part.

[0130] In this embodiment, the controller 8 controls the first oil circuit control valve of the power station 7 to provide process pressure oil to the punching power cylinder 6 to complete the punching. During the punching process, the first guide portion 161 of the tool cooperates with the first guide portion 176 of the inner hole of the threaded connection sleeve 17 for guidance, and the second guide portion 162 of the tool cooperates with the second guide portion 179 of the inner hole of the threaded connection sleeve 17 for guidance. Under the guidance, the punching forming portion 163 enters the prefabricated bottom hole of the inner limit groove portion 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.

[0131] After punching is completed, the controller 8 drives the detection control part 3 to rotate and then drives the detection sensor part 2 to rotate, scanning the outer contour of the feedback part 178 of the threaded connection sleeve 17. The controller 8 confirms the processing accuracy after punching based on the scan data. The controller 8 compares the scan data after punching with the error allowance to confirm whether the accuracy is qualified;

[0132] After the detection sensing part 2 completes the precision scan, the controller 8 controls the first oil circuit control valve of the power station 7 to provide return pressure oil to the punching power cylinder 6 to complete the retraction stroke. The elastic deformation of the workpiece brings retraction resistance, and this resistance will carry the threaded connection sleeve 17 back along with the punching tool 16. At this time, the positioning cone 174 of the threaded connection sleeve 17 contacts the first limiting portion 1051 of the fixed block 105 and the second limiting portion 1081 of the follower block 108 respectively to limit the threaded connection sleeve 17 and separate the threaded connection sleeve 17 from the punching tool 16.

[0133] 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 provide 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, thereby releasing the positioning. After the positioning is released, the controller 8 controls the manipulator 15 to clamp the clamping part 177 of the threaded connecting sleeve 17 for unloading.

[0134] In this embodiment, the controller 8 performs linear optimization of the punching force and 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, stable linear punching is formed and the optimal matching of power consumption and efficiency is achieved.

[0135] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention; those skilled in the art should understand that the present invention is not limited to the above embodiments, and the above embodiments and descriptions are only for illustrating the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, and these changes and improvements fall within the scope of the present invention to be protected; the scope of protection claimed in the present invention is defined by the attached claims and their equivalents.

Claims

1. Precision automatic punching system, including positioning locking part, detection sensing part, detection control part, guide push rod, main body bracket, punching power cylinder, power station, controller, stroke sensor, position sensor, positioning power cylinder, lateral adjustment seat, lateral power device, machine tool base, longitudinal adjustment seat, longitudinal power device, manipulator, punching tool, threaded connection sleeve, weighing sensor, characterized in that: The lateral adjustment seat is arranged on the machine tool base, the longitudinal adjustment seat is arranged on the lateral adjustment seat, the positioning locking part is arranged on the longitudinal adjustment seat, the positioning power cylinder is arranged on the positioning locking part, the lateral adjustment seat is provided with a lateral power device, and the longitudinal adjustment seat is provided with a longitudinal power device; the lower part of the main body bracket is connected with the machine tool base, and a space is reserved between the upper part of the main body bracket and the machine tool base. A guide push rod is provided on the upper part of the main body bracket, and a punching power cylinder is also provided on the upper part of the main body bracket. The extended rod end of the punching power cylinder is connected with one end of the guide push rod to transmit power, and the other end of the guide push rod is connected with the positioning clamping end of the punching tool. The connecting end of the guide push rod and the punching tool is provided with a detection control part, a detection sensing part is provided on the detection control part; a stroke sensor and a position sensor are provided on the main bracket along the top-down running direction of the guide push rod, a weighing sensor is provided on the longitudinal adjustment seat and at the support bearing position of the threaded connection sleeve, a manipulator is provided 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 control part, the transverse power unit and the longitudinal power unit for control, and the controller is respectively connected to the stroke sensor, the position sensor and the weighing sensor to obtain data.

2. The precision automatic punching system according to claim 1, characterized in that: The controller controls the transverse power device to drive the transverse adjustment seat to drive the longitudinal adjustment seat together with the positioning locking part to move in the transverse direction, and can control the transverse power device to lock the corresponding position; the controller controls the longitudinal power device to drive the longitudinal adjustment seat to drive the positioning locking part to move in the longitudinal direction, and can control the longitudinal power device to lock the corresponding position; the transverse adjustment seat and the longitudinal adjustment seat adjust their respective parallel accuracy relative to the machine tool base.

3. The precision automatic punching system according to claim 1, characterized in that: The controller controls the first oil circuit control valve of the power station to provide two-way power oil to the punching power cylinder, one way is the process pressure oil for driving the punching tool downward through the punching power cylinder, and the other way is the return pressure oil for driving the punching tool upward through the punching power cylinder; the controller controls the second oil circuit control valve of the power station to provide two-way power oil to the positioning power cylinder, one way is the process pressure oil for driving the positioning locking part to lock the position through the positioning power cylinder, and the other way is the return pressure oil for driving the positioning locking part to 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 the power cylinder rod can reciprocate under the driving control of external fluid pressure; 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, and the pressure gauges monitor the working oil pressure in each power cylinder; the power station is provided with an electrically controlled reversing valve, an electrically controlled pressure valve, an electrically controlled flow valve and a variable pump driven by a variable frequency motor.

4. The precision automatic punching system according to claim 3, characterized in that: The controller controls the manipulator to complete the loading and unloading of the threaded connection sleeve. The controller collects the stroke position of the guide push rod through the stroke sensor and the position sensor, and then senses the position of the detection control part, the detection sensing part and the punching tool. The controller senses whether the positioning locking part is clamped with the threaded connection sleeve through the weighing sensor, and collects the punching force of the punching tool on the threaded connection sleeve. The guide push rod adjusts the vertical accuracy of its rotation axis relative to the machine tool base. The punching tool as a whole is a rotating shaft body, and from one end to the other end are the clamping part, the first guide part of the tool, the second guide part of the tool, and the punching and forming part. A transition cone is provided between the first guide part of the tool and the second guide part of the tool, and a transition cone is provided between the second guide part of the tool and the punching and forming part. The punching tool is coaxially fastened to the guide 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 4, characterized in that: The threaded connection sleeve is a rotary shaft part, wherein a first inner hole guide portion, a second inner hole guide portion, and an inner limit groove portion are sequentially provided inside the interior, a bearing step is provided between the first inner hole guide portion and the second inner hole guide portion, a guide cone portion is provided on the connecting side of the inner limit groove portion and the inner hole second guide portion, and a tool withdrawal groove for punching is provided on the other side of the inner limit groove portion. The inner limit groove portion is formed by punching an axial groove after prefabricating a bottom hole through front machining; a detection portion, a clamping portion, a feedback portion, a positioning cone portion, and a positioning locking portion are sequentially provided on the outside, the end where the positioning locking portion is located is the bearing portion, an external hexagon is provided between the positioning locking portion and the positioning cone portion, a positioning boss is provided between the detection portion and the clamping portion, an external thread is provided on the detection portion, the external thread is connected and tightened with the internal thread of the valve block jack and is limited and assembled by the positioning boss; the detection portion, the clamping portion, the feedback portion, the positioning locking portion, the first inner hole guide portion, the second inner hole guide portion, and the bottom hole of the inner limit groove portion are clamped and processed in one time.

6. The precision automatic punching system according to claim 5, characterized in that: The positioning locking part includes a first guide rail, a first bracket, a second guide rail, a fixed frame, a fixed block, a first adjusting block, a first guide block, a following block, a following frame, a sliding frame, a cover plate, a second bracket, a power head, a second guide block, and a second adjusting block, the first bracket and the second bracket are respectively fixedly arranged on the longitudinal adjustment seat, 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 following frame is detachably fixed on the sliding frame, the fixed frame is detachably fixed on the first bracket, the fixed frame and the following frame are arranged between the first guide rail and the second guide rail, the fixed block and the fixed The frame is detachably fixedly connected, the follower block is detachably fixedly connected to the follower frame, and a concave arc groove is provided on the opposite sides of the fixing frame and the follower frame, and a concave arc groove is provided on the opposite sides of the follower frame and the fixing frame, the fixing block is less than half of the arc ring body, and the follower block is less than half of the arc ring body, the fixing block is detachably fixedly engaged with the concave arc groove of the fixing frame through the outer arc, and the follower block is detachably fixedly engaged with the concave arc groove of the follower frame through the outer arc, the inner arc of the fixing block and the inner arc diameter of the follower block are consistent, the outer circle of the positioning locking part of the clamped threaded connection sleeve is smaller than the inner arc diameter of the fixed block and the inner arc diameter of the follower block, and when the fixed block and the follower block position the threaded connection sleeve, the inner arc of the fixed block and the inner arc of the follower block both retain a non-contact gap with the positioning locking part of the threaded connection sleeve, and a gap is retained between the fixed block and the follower block, and a gap is also retained between the fixed frame and the follower frame; Gap adjustment grooves are provided on the fixing frames on both sides of the fixing block, a first adjustment block and a first guide block are provided in the gap adjustment groove on one side, and a second guide block and a second adjustment block are provided in the gap adjustment groove on the other side. Guide recesses are provided on the following frames on both sides of the following block, and guide protrusions are provided at the contact ends of the first guide block, the second guide block and the following frame. When the following frame moves toward the fixed frame, the guide recesses on the following frame contact and position with the guide protrusions on the first guide block and the second guide block. By adjusting the thickness of the first adjustment block and the second adjustment block, the gap between the fixed block and the following block relative to the positioning locking portion of the threaded connection sleeve is adjusted, and the positioning imbalance caused by the processing error is adjusted at the same time. A first limiting portion is provided on the fixed block and a second limiting portion is provided on the follower block. The first limiting portion and the second limiting portion correspond to the positioning cone portion on the threaded connection sleeve, and play a role in limiting and overcoming the resistance of the tool when the tool is withdrawn after punching is completed.

7. The precision automatic punching system according to claim 6, characterized in that: According to the outer circle size of the positioning locking part of the threaded connection sleeve with different flow levels, the corresponding inner arc size of the fixed block and the follower block are set for replacement. The fixed block and the follower block are made of a material with a higher hardness than the threaded connection sleeve, and the inner arc of the fixed block and the follower block are trimmed according to the actual size of the outer circle of the positioning locking part of the mass-produced threaded connection sleeve to maximize the positioning fit of the arc surface, thereby reducing positioning deviation.

8. The precision automatic punching system according to claim 6, characterized in that: The power head is detachably mounted on the sliding frame, and the power head and the sliding frame are connected via a spherical connection. The sliding frame is provided with a cover plate for limiting the relative position of the power head and 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 precision automatic punching control method, used in the precision automatic punching system according to claim 6, characterized in that: The following steps are involved: Step 1): According to the actual size of the outer circle of the positioning locking part of the mass-produced threaded connection sleeve, trim the inner arc of the fixed block and the follower block, install the fixed block and the follower block, and adjust the thickness of the first adjustment block and the second adjustment block; Step 2): Adjust the detection and punching stroke position according to the size of the threaded connection sleeve; Step 3): Adjust the position of the positioning locking part relative to the guide push rod; Step 4): Adjust the loading position of the manipulator according to the position of the positioning locking part; Step 5): The controller controls the punching power cylinder and the positioning power cylinder to be in the return state respectively; Step 6): The controller controls the manipulator to clamp the threaded connection sleeve to be processed for loading; Step 7): The controller controls the positioning locking part to position the threaded connection sleeve; Step 8): The controller controls the detection sensor part to detect the positioning error and performs positioning accuracy compensation correction based on the feedback data; Step 9): The controller controls the punching tool to punch downward and return to the return state after punching is completed; Step 10): The controller controls the positioning locking part to release the positioning; Step 11): The controller controls the manipulator to clamp the threaded connection sleeve for cutting; Step 12): The controller performs linear punching optimization based on the stroke and punching force data of the first punching, and punches again and optimizes the correction according to the optimized parameters.

10. The precision automatic punching control method according to claim 9, characterized in that: The controller controls the power station to precisely control the oil supply pressure and flow of the punching power cylinder according to the changing law of the punching force, thereby realizing uniform speed precision punching feed. According to the design and selection parameters of the punching system, the pressure control range of the electric pressure valve, the flow adjustment range of the electric flow valve, the speed adjustment range of the variable frequency motor, the displacement adjustment range of the variable pump and the control range of the punching process speed are first given; the controller selects parameters within each parameter range and forms multiple parameter combinations according to the algorithm optimization rules, and then outputs each parameter combination for punching. During the punching process, the controller collects data fed back by the weighing sensor and fits it to generate a punching force curve. At the same time, according to the punching process, the punching force collected by the weighing sensor is converted to the corresponding punching oil pressure, and then a punching oil pressure curve is generated. The oil pressure of the punching power cylinder controlled by the electric pressure valve is greater than the punching oil pressure converted according to the punching force collected by the weighing sensor, and the two form an oil pressure difference; the controller collects data from the variable frequency motor, the electric reversing valve, the electric pressure valve and the electric flow The power consumption of the measuring valve is measured, and the overall power consumption of the entire punching process is obtained. The controller also records the completion time of the entire punching process. The controller obtains the actual punching time according to the data changes of the weighing sensor. The controller obtains the actual punching speed according to the data obtained by the stroke sensor and the actual punching time. The actual oil volume input to the punching power cylinder is converted according to the actual punching speed. The controller obtains the theoretical output oil volume of the variable pump according to the speed of the variable frequency 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 volumetric efficiency. The difference between the electrical power consumption of the variable frequency motor and the theoretical volumetric power generated by the variable pump is the mechanical loss power consumption. The overall power consumption of the actual punching process is obtained by calculating the punching force collected by the weighing sensor and the displacement of the stroke sensor. The relevant parameters are adjusted according to the changes in the actual punching speed to make the actual punching speed constant and thus achieve uniform punching. Under the premise of meeting uniform punching speed, the relevant parameters are further adjusted to finally optimize the punching speed and overall power consumption.

11. The precision automatic punching control method according to claim 9, characterized in that: The controller drives the detection control part to rotate around the rotation axis of the guide push rod, and the detection control part drives the detection sensing part to rotate with it. The threaded sleeve is placed in the positioning locking part and is positioned and locked. The rotating detection sensing part detects the primary position deviation of the threaded sleeve relative to the rotation axis of the guide push rod, and feeds back the primary position deviation value to the controller. The controller drives the transverse power device and the longitudinal power device according to the position deviation value to move the positioning locking part together with the threaded sleeve to the primary adjustment coaxial position. Then the controller drives the detection control part again and then rotates the detection sensing part to detect the secondary position deviation of the threaded sleeve relative to the rotation axis of the guide push rod. The difference between the secondary position deviation value and the primary position deviation value is the system error value of the primary adjustment coaxiality. The system error value is included in the adjustment compensation to eliminate the adjustment error of the system.

12. The precision automatic punching control method according to claim 9, characterized in that: In step 1), before trimming the inner arc dimensions of the fixed block and the follower block, the actual machining dimensions of the outer circle of the positioning and locking portion of the threaded connection sleeve are first detected. The inner arcs of the fixed block and the follower block are trimmed according to the actual machining dimensions of the outer circle of the positioning and locking portion, and the inner arc dimensions of the fixed block and the follower block are made larger than the upper limit of the actual machining dimensions of the outer circle of the positioning and locking portion. The trimmed fixed block is fastened to the fixed frame, and the trimmed follower block is fastened to the follower frame. The thickness of the first adjustment block and the second adjustment block is adjusted so that the guide recesses on both sides of the follower block on the follower frame can contact and position with the corresponding first guide block and second guide block at the same time, and after contact and positioning, the inner arcs of the fixed block and the follower block remain concentric.

13. The precision automatic punching control method according to claim 9, characterized in that: In the above step 2), according to the height position of the threaded connection sleeve placed on the longitudinal adjustment seat, the probe of the detection sensing part is set to the detection part of the threaded connection sleeve, avoiding the external thread provided on the detection part, and the punching tool is set to the punching downward stroke. After the downward position of the punching tool is set, the position of the position sensor is adjusted. 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 9, characterized in that: In step 3), when the positioning locking part is installed on the longitudinal adjustment seat, the coaxiality of the inner arcs of the fixed block and the follower block and the guide push rod is manually adjusted. The dial indicator base is set on the detection and control part, and the dial indicator head is placed on the inner arcs of the fixed block and the follower block. The detection and control part is rotated and the change in the dial indicator reading is observed. The position of the positioning locking part is adjusted according to the change in the dial indicator reading so that the change in the dial indicator reading is within the required error control range. After the adjustment is completed, the positioning locking part is fastened to the longitudinal adjustment seat; The coaxiality detection rod is placed in the inner cavity formed by the fixed block and the follower block and positioned and locked. The controller drives the detection control part to rotate and then drives the detection sensing part to rotate, scans the outer contour of the coaxiality detection rod, and feeds back the scanning data to the controller. The controller analyzes the coaxiality of the coaxiality detection rod relative to the guide push rod based on the scanning data. The controller drives the transverse power device and the longitudinal power device based on the analysis results and corrects the coaxiality of the coaxiality detection rod relative to the guide push rod.

15. The precision automatic punching control method according to claim 9, characterized in that: In the step 4), the loading position of the manipulator is set according to the position of the positioning locking part and the return amount of the positioning power cylinder driving the follower block. In the step 5), the controller controls the first oil circuit control valve of the power station to provide return pressure oil to the punching power cylinder, so that the punching power cylinder drives the guide push rod together with the punching tool in the return state. The controller controls the second oil circuit control valve of the power station to provide 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 in the return state. In the step 6), the manipulator clamps the clamping part of the threaded connection sleeve to load the material. The threaded connection sleeve is located on the longitudinal adjustment seat through the load-bearing part. The weighing sensor feeds back to the controller through the weight of the threaded connection sleeve that the workpiece has been loaded. In the step 7), the controller controls the second oil circuit control valve of the power station to provide 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.

16. The precision automatic punching control method according to claim 9, characterized in that: In the above-mentioned step 8), the controller drives the detection control part to rotate and then drives the detection sensing part to rotate, scans the outer contour of the detection part of the threaded connection sleeve, and the controller confirms the positioning accuracy based on the scanning data. While confirming the positioning accuracy, it detects the processing accuracy of the front-end fine turning. If it exceeds the given range of the positioning error but does not exceed the comprehensive value of the shape and position 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 shape and position error of the threaded connection sleeve, it is judged that the shape and position error of the front-end fine turning of the threaded connection sleeve is unqualified, and the controller controls the robot to unload and remove the unqualified part.

17. The precision automatic punching control method according to claim 9, characterized in that: In the step 9), the controller controls the first oil circuit control valve of the power station to provide process pressure oil to the punching power cylinder to complete the punching. During the punching process, the first guide part of the tool cooperates with the first guide part of the inner hole of the threaded connection sleeve for guidance, and the second guide part of the tool cooperates with the second guide part of the inner hole of the threaded connection sleeve for guidance. Under the guidance, the punching forming part enters the prefabricated bottom hole of the inner limit groove to complete the axial groove processing. 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 and then drives the detection sensing part to rotate, scanning the threaded connection. The controller determines the outer contour of the sleeve feedback part based on the scanning data to confirm the processing accuracy after punching. The controller determines whether the accuracy is qualified based on the comparison between the scanning data after punching and the error allowable value. After the detection sensing part completes the accuracy scan, the controller controls the first oil circuit control valve of the power station to provide return pressure oil to the punching power cylinder to complete the tool retraction. The elastic deformation of the workpiece brings about tool retraction resistance. This resistance will carry the threaded sleeve back with the punching tool. At this time, the positioning cone of the threaded sleeve contacts the first limiting part of the fixed block and the second limiting part of the follower block respectively to limit the position, thereby separating the threaded sleeve from the punching tool.

18. The precision automatic punching control method according to claim 9, characterized in that: In the step 10), after the punching tool completes the return stroke, the controller controls the second oil circuit control valve of the power station to provide 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, thereby releasing the positioning. In the step 11), after the positioning is released, the controller controls the manipulator to clamp the clamping part of the threaded connection sleeve to perform blanking. In the step 12), the controller performs linear optimization of the punching force and 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, stable linear punching is formed, and the optimal 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 processing. After manual confirmation, manual intervention will resume processing.

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