An automated boring device and method for hydraulic support connecting rods.

Abstract

This invention discloses an automated boring device and method for hydraulic support connecting rods, relating to the field of intelligent manufacturing technology for coal mining machinery. The device includes a boring machine comprising a gantry frame and a machining spindle mounted on the gantry frame. A stepper feeder is located on the lower inner side of the gantry frame, with a worktable positioned in the middle of the feeder. A conveyor chain is located on the left side of the feeder, and a tray is located on the right side of the stepper motor. A loading gantry is located on the left side of the gantry frame, and an unloading gantry is located on the right side. The advantages of this invention are: it can adapt to various workpiece processing needs, achieving synchronous and coordinated loading, unloading, and machining; it adaptively calls machining parameters, reducing tool wear; it integrates a rotating mechanism to reduce floor space; it improves efficiency and accuracy; and it lowers costs.

Description

Technical Field

[0001] This invention relates to the field of intelligent mechanical manufacturing technology, and in particular to an automated boring device and method for hydraulic support connecting rods. Background Technology

[0002] Hydraulic support connecting rods are key components of hydraulic supports in coal mining. They connect the shield beam and the base, forming a four-bar linkage mechanism that can withstand horizontal and lateral forces from the roof, ensuring support stability and allowing the roof beam to rise and fall almost vertically for better roof support. Boring is a crucial process in connecting rod machining. Boring is necessary primarily to ensure accuracy, correct hole misalignment, and guarantee dimensional, shape, and positional precision, ensuring accurate fit between the connecting rod and other components. Secondly, it improves surface quality, reduces roughness, minimizes friction, and extends the connecting rod's service life. Furthermore, the hole diameter and depth-to-diameter ratio of the connecting rod are suitable for boring, and using a dedicated boring machine can improve machining efficiency and quality. However, current hydraulic support connecting rod boring processes involve manual loading using a crane, manual clamping of the workpiece, sequential boring by a machine tool, manual unloading of the clamps, manual unloading of the workpiece by the crane to a horizontal rotating device for 90° rotation, and finally, the crane lifting the workpiece for the next process.

[0003] The existing technical solutions have the following drawbacks: (1) Traditional double-hole boring requires sequential processing (processing a row of holes first and then moving the workpiece), resulting in a cumulative coaxiality error ≥ Φ0.3mm; (2) The level of intelligence is not high, there are many manual intervention links (loading and unloading, 90° rotation, etc.), the cycle time is long, the manual hoisting of loading and unloading takes a long time in the processing cycle, and the equipment utilization rate is low; (3) It cannot automatically change production. The change of production needs to be issued in advance in the MES system, and the workpiece type needs to be manually selected on site. The change of production takes a long time. (4) Insufficient flexibility; existing equipment is difficult to be compatible with connecting rods of different specifications (length range 800~4500mm, hole diameter Φ80~240mm). (5) The high temperature of the incoming workpiece after the previous welding is completed and the fixed boring parameters lead to abnormal tool wear (average life < 80 pieces); (6) The production line needs to be equipped with a 90° horizontal rotation device, resulting in low space utilization. Summary of the Invention

[0004] The purpose of this invention is to provide an automated boring device and method for hydraulic support connecting rods to solve the above-mentioned problems, thereby addressing technical bottlenecks such as precision loss caused by the separation of dual-hole machining of hydraulic support connecting rods, low level of automation and intelligence, low equipment utilization, abnormal tool wear, and large footprint.

[0005] The present invention achieves the above objectives through the following technical solutions: An automated boring device for hydraulic support connecting rod machining includes a boring machine, characterized in that: the boring machine includes a gantry frame and a machining spindle mounted on the gantry frame; a stepping feeder is mounted on the lower inner side of the gantry frame; a worktable is mounted in the middle of the stepping feeder; a discharge gantry and a conveyor chain are mounted on the discharge side of the stepping feeder; and an infeed gantry and a pallet are mounted on the feed side of the stepping feeder.

[0006] Preferably, the stepper feeder includes a conveyor frame, transmission rods, pulleys, and a conveyor belt. The left and right ends of the conveyor frame are each equipped with two transmission rods, one upper and one lower, via bearing seats. The transmission rods are equipped with pulleys at intervals, and a conveyor belt is wound around the four pulleys on the same front and rear sides. The stepper feeder also includes an external drive motor for driving the transmission rods to rotate.

[0007] Preferably, the workbench is arranged through the conveyor frame from front to back, a hydraulic lifting device is installed under the workbench, an clearance groove is opened on the upper surface of the workbench corresponding to the position of the conveyor belt, and hydraulic clamps for clamping workpieces are respectively installed at the front and rear ends of the workbench.

[0008] Preferably, the stepper feeder is positioned at the worktable as a processing position, the feed side of the stepper feeder is the loading position, and the discharge side of the stepper feeder is the unloading position.

[0009] Preferably, the unloading truss includes a frame and a movable crossbeam on the upper part of the frame that can move left and right, and a gripper is installed in the middle of the movable crossbeam; the loading truss has the same structure as the unloading truss.

[0010] An automated boring method for hydraulic support connecting rods is provided, using the aforementioned automated boring device for hydraulic support connecting rods.

[0011] Preferably, it includes the following steps: Step S1: AGV feeding; Step S2: Visual recognition; Step S3: Automatic feeding; Step S4: Step clamping; Step S5: Synchronous and collaborative processing; Step S6: Rotate to unload.

[0012] Preferably, the steps are as follows: Step S1: The workpiece is welded at the robotic welding workstation and then transported by an AGV to the pallet area at a given coordinate. Step S2: The loading gantry with a 3D vision camera automatically identifies the workpiece and transmits the workpiece data information to the control system so that the loading and unloading gantry grippers can automatically adjust their posture and size, the hydraulic clamps can automatically adjust their positions, the boring machine can automatically adjust the position of its dual spindles, and the machining parameters can be automatically called. Step S3: The loading gantry gripper automatically adjusts its posture and size to place the workpiece on the boring machine. Step S4: The boring machine automatically adjusts the spacing of the hydraulic clamps to accommodate the placement and clamping of workpieces of different lengths. The dual spindles automatically change the boring tool according to the hole spacing in the initial position and then move to the theoretical machining position. The stepper feeder automatically transports the workpiece to the machining position, the hydraulic lifting device extends to lift the worktable to support the workpiece, and the hydraulic clamps clamp the workpiece. Step S5: The boring machine probe verifies the 3D vision recognition of the workpiece information, then locates the hole position, controls the system to fine adjust the position of the dual spindles, calls the corresponding machining parameters, and automatically starts boring, first rough boring and then fine boring, to achieve the machining quality and accuracy requirements; the probe automatically detects the hole diameter and hole position of the machined workpiece, and alarms when the limits are exceeded. Step S6: The unloading gantry grabs the workpiece at the unloading position of the boring machine, lifts it up, rotates it horizontally by 90°, and places it on the conveyor chain.

[0013] Preferably, the number of trays is multiple.

[0014] Preferably, the following processes are completed in the same cycle: Process 1: The loading gantry places the next workpiece into the loading position; Step 2: The stepper feeder moves the next workpiece from the loading position to the processing position; Process 3: Boring and after boring, the hydraulic clamp automatically releases the workpiece, the lifting mechanism lowers, and the conveyor chain moves the boring workpiece to the unloading position; Step 4: The unloading gantry picks up the workpieces from the unloading position, rotates them, and places them onto the conveyor chain.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: (1) Adaptive to multiple workpiece machining methods The 3D vision recognition of the loading gantry identifies the workpiece parameters, guiding the gripper to adjust its gripping posture and grasp the workpiece. On the other hand, it transmits the information to the production line system, automatically matching it with the workpiece drawing information in the system. It adaptively adjusts the clamps, worktable fixtures, boring CNC machining program switching, and plate chain fixtures, achieving a high degree of automation and enabling rapid production changeover, reducing changeover time by 30 minutes.

[0016] (2) Synchronous and coordinated loading and unloading of materials By using "dynamic switching of stepper feeder", boring and loading / unloading are synchronized and coordinated (when the processing progress is ≥80%, the loading gantry is triggered to place the workpiece in the loading position. After processing is completed, the feeder steps to send the workpiece in the processing position to the unloading position and the workpiece in the loading position to the processing position), breaking through the limitations of traditional production line cycle time.

[0017] (3) Adaptive calling of built-in processing parameters The machining parameters are linked with the workpiece identification information. The system has built-in machining parameters (cutting speed, feed rate, etc.) for different tools with different hole diameters, thicknesses and materials. The boring machine automatically calls up the corresponding machining parameters to reduce tool wear and improve tool life.

[0018] (4) Spatial attitude conversion device The material unloading truss integrates a 90° rotating mechanism (positioning accuracy ±1°), avoiding secondary positioning errors, reducing horizontal rotation equipment, and minimizing floor space requirements. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a top view schematic diagram of an automated boring device for hydraulic support connecting rods as described in this invention.

[0021] Figure 2 This is a partial structural schematic diagram of an automated boring device for hydraulic support connecting rods as described in this invention.

[0022] Figure 3 This is a top view schematic diagram of a stepper feeder for an automated boring device for hydraulic support connecting rods, as described in this invention.

[0023] Figure 4 This is a three-dimensional structural diagram of a stepper feeder for an automated boring device for hydraulic support connecting rods, as described in this invention.

[0024] Figure 5 This is a three-dimensional structural diagram of the blanking gantry for an automated boring device for hydraulic support connecting rods according to the present invention. The reference numerals are explained below: 1. Boring machine; 11. Gantry frame; 12. Machining spindle; 13. Stepper feeder; 131. Conveyor frame; 132. Transmission rod; 133. Pulley; 134. Conveyor belt; 14. Worktable; 15. Hydraulic clamp; 16. Clearance groove; 17. Hydraulic lifting device; 2. Conveyor chain; 3. Unloading gantry; 31. Frame; 32. Moving crossbeam; 33. Handle; 4. Pallet; 5. Loading gantry; 7. Machining position; 8. Loading position. Detailed Implementation

[0025] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention. In addition, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0026] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation", "connection", and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal connection of two components. For those skilled in the art, the specific meaning of the above terms in this invention can be understood through the specific circumstances.

[0027] The present invention will be further described below with reference to the accompanying drawings: Example 1

[0028] like Figures 1-2As shown, an automated boring device for hydraulic support connecting rods includes a boring machine 1. The boring machine 1 includes a gantry frame 11 and dual machining spindles 12 mounted on the gantry frame 11. The spacing between the dual machining spindles 12 is adjustable from 1000 to 4500 mm, covering 98% of hydraulic support connecting rod specifications. A stepping feeder 13 is mounted on the lower inner side of the gantry frame 11, and a worktable 14 is mounted in the middle of the stepping feeder 13. A conveyor chain 2 is mounted on the discharge side of the stepping feeder 13, and two trays 4 are mounted on the feed side of the stepping feeder 13. A discharge gantry 3 is mounted on the left side of the gantry frame 11, and a loading gantry 5 is mounted on the right side of the gantry frame 11.

[0029] like Figures 3-4 As shown, the stepper feeder 13 includes a conveyor frame 131, transmission rods 132, pulleys 133, and a conveyor belt 134. Two transmission rods 132 are mounted on the left and right ends of the conveyor frame 131 via bearing seats. Pulleys 133 are spaced apart on the transmission rods 132. A conveyor belt 134 is wound around four pulleys 133 on the same front and rear end. The stepper feeder 13 also includes an external drive motor for rotating the transmission rods 132. A worktable 14 is arranged through the conveyor frame 131 from front to back. A hydraulic lifting device 17, which is a hydraulic cylinder, is installed below. A clearance groove 16 is provided on the upper surface of the worktable 14 corresponding to the position of the conveyor belt 134. Hydraulic clamps 15 for clamping workpieces are installed at the front and rear ends of the worktable 14. The hydraulic clamps 15 can be adaptively adjusted to support the clamping of workpieces with a length range of 2000-5000mm. The stepper feeder 13 is the processing position 7 corresponding to the position of the worktable 14. The right end of the stepper feeder 13 is the loading position 8, and the left end of the stepper feeder 13 is the unloading position. When the workpiece on the loading position 8 is sent to the processing position 7, the external drive motor drives the transmission rod 132 to rotate, and the pulley 133 on the transmission rod 132 drives the conveyor belt 134 to rotate, thereby moving the workpiece on the loading position 8 to the processing position 7. The hydraulic lifting device 17 extends to lift the worktable 14 until the workpiece is freed from the support of the conveyor belt 134. The hydraulic clamp 15 clamps and fixes the workpiece, and the boring machine can then perform boring. After boring is completed, the hydraulic clamp 15 releases the workpiece, the hydraulic lifting device 17 retracts, the worktable 14 descends, the conveyor belt 134 supports the workpiece, and the external drive motor is started again to drive the conveyor belt 134 to run, so that the workpiece processed to position 7 can be transported to the unloading position. At the same time, the next workpiece on the loading position 8 is also moved to the processing position 8 by the conveyor belt 134. Repeating the operation can achieve continuous processing.

[0030] like Figure 5 As shown, the unloading truss 3 includes a frame 31 and a movable crossbeam 32 on the upper part of the frame 31 that can move left and right. A gripper 33 is installed in the middle of the movable crossbeam 32. The gripper 33 includes a 90° rotation mechanism. The 90° rotation mechanism is driven by a hollow shaft servo motor and has a built-in slip ring to realize the integrated pneumatic and electric transmission. The loading truss 5 has the same structure as the unloading truss 3.

[0031] In addition, this embodiment also provides an automated boring method for integral machining of hydraulic support connecting rods, using the aforementioned automated boring device for integral machining of hydraulic support connecting rods.

[0032] The specific steps are as follows: Step S1: AGV feeding: After the workpiece is welded at the robot welding workstation, it is transported by AGV with workpiece pallet 4 to pallet 4 area at a given coordinate; pallet 4 area is planned with double pallets 4 to ensure feeding of boring machine 1, avoid untimely feeding and increase waiting time, and improve equipment utilization. Step S2: Visual Recognition: The loading gantry 5 with a 3D vision camera automatically recognizes the workpiece and transmits the workpiece data information to the control system, so that the grippers 33 of the loading gantry 5 and the unloading gantry 3 can automatically adjust their posture and size, the hydraulic clamp 15 can automatically adjust its position, the boring machine 1 can automatically adjust the position of the dual spindles, and the machining parameters can be automatically called; the control system adopts the MES system; Step S3: Automatic loading of boring machine 1: The loading gantry 5 and gripper 33 automatically adjust their posture and size to place the workpiece on the loading position 8 of boring machine 1; Step S4: Stepping clamping: The boring machine 1 automatically adjusts the spacing of the hydraulic clamps 15 to accommodate the placement and clamping of workpieces of different lengths. The dual spindles automatically change the boring tool according to the hole spacing in the initial position and then move to the theoretical machining position. The stepping feeder 13 automatically transports the workpiece to the machining position 7. The hydraulic lifting device 17 extends to lift the worktable 14 to support the workpiece, and the hydraulic clamps 15 clamp the workpiece. Step S5: Synchronous Collaborative Machining: The probe verifies the workpiece information using 3D vision, then locates the hole position, controls the system to fine-tune the dual spindle positions, calls the corresponding machining parameters, and automatically starts boring, first rough boring and then fine boring, to achieve the required machining quality and precision; the probe verifies the hole diameter and position using 3D vision, and alarms if any exceed the limits; the following processes are completed in the same cycle: Process 1: Loading gantry 5 places the next workpiece into loading position 8; Process 2: The stepper feeder 13 moves the next workpiece from the loading position 8 to the processing position 7; Process 3: After boring, the hydraulic clamp 15 automatically releases the workpiece, the lifting mechanism lowers, and the conveyor chain 2 moves to advance the workpiece that has completed boring to the unloading position; Step 4: The unloading gantry 3 picks up the workpiece at the unloading position, rotates it, and places it on the conveyor chain 2.

[0033] This solution offers several significant technical advantages, as detailed below: Deep integration of automation and intelligence: The entire process from AGV feeding to 90° rotation unloading is automated, requiring no manual intervention. This improvement reduces the number of operators per shift from 6 to 1, effectively reducing non-operation time during workpiece transfer, thereby shortening the production line cycle time and significantly improving processing efficiency.

[0034] Synchronous and coordinated operation: The stepper feeder and the lifting worktable work together to achieve synchronous and coordinated operation of automatic loading and unloading of the boring machine and boring processing. This operation mode further shortens the processing cycle and improves the overall processing efficiency.

[0035] Automatic identification and parameter matching: The production line can automatically complete workpiece identification, loading and unloading gantry gripper operation, boring machine table fixture movement, boring machine dual-spindle movement, automatic tool changing, and recall of machining parameters matched to the workpiece. Particularly noteworthy is the linkage between machining parameters and workpiece type changeover, automatically retrieving a database containing over 100 process parameters to select the optimal machining parameters, effectively reducing tool wear.

[0036] Tool life prediction: Digital twin technology is used to predict tool life with an accuracy rate of ≥95%. Based on this prediction, tool replacement can be scheduled in advance to avoid affecting the machining schedule due to tool problems.

[0037] Workpiece lifecycle traceability: By combining 3D vision with probes, the entire lifecycle of the workpiece is traceable, which facilitates quality control and problem tracing during the processing.

[0038] The boring machine's dual-spindle synchronous machining method ensures the coaxiality accuracy of the two holes. Simultaneously, automatically selected machining parameters guarantee the hole diameter machining accuracy, resulting in a breakthrough improvement in machining precision.

[0039] The adjustable range of the dual spindle spacing is 1000-4500mm, which can cover 98% of hydraulic support link specifications.

[0040] The fixture has an adaptive adjustment function and can support the processing of workpieces with a length range of 2000-5000mm, fully demonstrating the versatility and compatibility of the equipment.

[0041] By using the MES system and 3D vision to recognize workpiece information, adaptive changeover was achieved. Changeover time was significantly reduced from the traditional 4 hours to 15 minutes, greatly improving production flexibility and responsiveness.

[0042] By replacing the traditional pouring cooling method with a dry boring process, the amount of cutting fluid used is reduced by 100%.

[0043] The energy-saving mode of the servo drive system reduces idle power consumption by 40%, effectively saving energy consumption.

[0044] Iron filings generated during processing are collected centrally, crushed, and then recycled, reflecting the concept of green manufacturing and reducing environmental impact.

[0045] Based on an annual production of 10,000 units, this solution demonstrates significant cost savings:

[0046] This invention, through three major technological breakthroughs—"synchronous and coordinated loading and unloading," "automatic, intelligent, and unmanned operation," and "full-process digital twin"—successfully resolves the long-standing triangular contradiction in the hydraulic support connecting rod processing field: "efficiency, precision, and flexibility cannot be simultaneously achieved." It provides a benchmark solution for the intelligent upgrading of coal mine machinery.

[0047] The control system, boring machine 1, machining spindle 12, hydraulic fixture 15, hydraulic lifting device 17, conveyor chain 2, moving crossbeam 32 and gripper 33 are all general standard parts or components known to those skilled in the art. Their structure and principle can be known to those skilled in the art through technical manuals or through conventional experimental methods, so they will not be described in detail here.

[0048] The foregoing has shown and described the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are only illustrative of the principles of the present invention. Various changes and modifications can be made to the present invention without departing from the spirit and scope of the present invention, and all such changes and modifications fall within the scope of the present invention as claimed.

Claims

1. A method for automated boring of hydraulic support connecting rods, characterized in that: The specific steps are as follows: Step S1: The workpiece is welded at the robot welding workstation and is transported by AGV to the pallet (4) area at the given coordinates; Step S2: The loading gantry (5) with a 3D vision camera automatically identifies the workpiece and transmits the workpiece data information to the control system so that the loading gantry (5) and unloading gantry (3) gripper (33) automatically adjust the gripper (33) posture and size, the hydraulic clamp (15) automatically adjusts the position, the boring machine (1) automatically adjusts the position of the dual spindles and automatically calls the processing parameters; Step S3: The loading gantry (5) and gripper (33) automatically adjust their posture and size to place the workpiece on the boring machine (1) loading position (8). Step S4: The boring machine (1) automatically adjusts the spacing of the hydraulic clamps (15) to accommodate workpieces of different lengths and sizes for placement and clamping. The dual spindles automatically change the boring tool according to the hole spacing in the initial position and then move to the theoretical machining position (7). The stepper feeder (13) automatically transports the workpiece to the machining position (7). The hydraulic lifting device (17) extends and lifts the worktable (14) to support the workpiece. The hydraulic clamps (15) clamp the workpiece. Step S5: The boring machine probe verifies the 3D vision recognition of the workpiece information, then locates the hole position, controls the system to fine adjust the position of the dual spindles, calls the corresponding machining parameters, and automatically starts boring, first rough boring and then fine boring, to achieve the machining quality and accuracy requirements; the probe automatically detects the hole diameter and hole position of the machined workpiece, and alarms when the limits are exceeded. Step S6: The unloading gantry (3) grabs the workpiece at the unloading position of the boring machine (1), lifts it up, rotates it horizontally by 90°, and places it on the conveyor chain (2); Among them, steps S1-S6 are performed using an automated boring device for hydraulic support connecting rods; The automated boring device for hydraulic support connecting rods includes a boring machine (1), which includes a gantry (11) and a double machining spindle (12) mounted on the gantry (11). A stepping feeder (13) is mounted on the lower inner side of the gantry (11), and a worktable (14) is mounted in the middle of the stepping feeder (13). A discharge gantry (3) and a conveyor chain (2) are mounted on the discharge side of the stepping feeder (13), and an loading gantry (5) and a pallet (4) are mounted on the infeed side of the stepping feeder (13). The stepper feeder (13) includes a conveyor frame (131), a transmission rod (132), pulleys (133), and a conveyor belt (134). The left and right ends of the conveyor frame (131) are each equipped with two upper and lower transmission rods (132) through bearing seats. The transmission rods (132) are equipped with pulleys (133) at intervals. A conveyor belt (134) is wound around the four pulleys (133) on the same front and rear sides. The stepper feeder (13) also includes an external drive motor for driving the transmission rods (132) to rotate. The workbench (14) is arranged through the conveyor frame (131) from front to back. A hydraulic lifting device (17) is installed under the workbench (14). A clearance groove (16) is opened on the upper surface of the workbench (14) corresponding to the position of the conveyor belt (134). Hydraulic clamps (15) for clamping workpieces are installed at the front and rear ends of the workbench (14). The stepper feeder (13) is located at the processing position (7) corresponding to the workbench (14), the feeding side of the stepper feeder (13) is the loading position (8), and the discharging side of the stepper feeder (13) is the unloading position.

2. The automated boring method for hydraulic support connecting rods according to claim 1, characterized in that: The unloading truss (3) includes a frame (31) and a movable crossbeam (32) on the upper part of the frame (31) that can move left and right. A grab (33) is installed in the middle of the movable crossbeam (32). The loading truss (5) has the same structure as the unloading truss (3).

3. The automated boring method for hydraulic support connecting rods according to claim 1, characterized in that: The number of the trays (4) is multiple.

4. The automated boring method for hydraulic support connecting rods according to claim 1, characterized in that: Completed in the same cycle according to the following procedures: Process 1: Loading gantry (5) Place the next workpiece into the loading position (8); Process 2: The stepper feeder (13) steps the next workpiece from the loading position (8) to the processing position (7). Process 3: After boring, the hydraulic clamp (15) automatically releases the workpiece, the lifting mechanism falls, and the conveyor chain (2) moves the workpiece that has completed boring to the unloading position; Process 4: The unloading gantry (3) picks up the workpiece at the unloading position, rotates it, and places it on the conveyor chain (2).

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