An automated production line for machining long shaft-type workpieces and its machining process

Abstract

This invention discloses an automated machining production line for long-shaft workpieces and its machining process, including a material trolley (1) for loading and unloading workpieces and a robotic arm (2) for transferring workpieces. It also includes a first-stage machine tool (3) arranged around the robotic arm (2), which is used for turning one end of the workpiece. A tilting table (4) is provided on the front side of the first-stage machine tool (3), which is used for secondary positioning of the workpiece and for tilting and positioning the workpiece after completing the first machining step. A second-stage machine tool (5) is arranged around the robotic arm (2), which is used for turning the other end of the workpiece. A third-stage machine tool (6) is arranged around the robotic arm (2). This invention can ensure the continuity of workpiece processing, improve processing efficiency, and adapt to the processing characteristics of long-shaft workpieces.

Description

Technical Field

[0001] This invention relates to the field of machining production lines, and more specifically to an automated machining production line for long shaft workpieces and its machining process. Background Technology

[0002] Long shaft workpieces are common basic components in the machining field. Using automated production lines for batch processing can effectively reduce manual intervention and operational errors, thereby significantly improving production efficiency.

[0003] In the existing technology, there are already relevant solutions for automated processing of shaft-type workpieces. For example, Chinese invention patent CN116900736A discloses a production line and method for processing brake rotor plug shafts. This production line is equipped with a robotic arm with two operating claws at its end. Within the operating trajectory of the robotic arm, the operating area of ​​the operating claws is surrounded by a contour line. Within the area defined by the contour line, a drive shaft arrangement section, a rotor assembly arrangement section, a high-frequency heating section, a straightness detector, a material sorting section, a stamping section, a cooling rack, and a finished product storage box are arranged sequentially. This layout, through the coordinated operation of the robotic arm, realizes automated multi-stage processing of brake rotor plug shafts from raw materials to finished products.

[0004] However, in actual production, when workpieces need to be transferred between multiple processing stations, existing robotic arms have certain shortcomings in the loading and unloading process. Specifically, after completing an operation at one processing station, if a new workpiece needs to be installed to replace it, the already processed workpiece must be removed before the new workpiece can be installed. This "remove first, then replace" single-operation logic affects the continuity of the entire production line and restricts further improvement in production efficiency. Secondly, for long-shaft workpieces, their length requires a displacement adjustment structure in conjunction with a clamping chuck to achieve stable clamping. Obviously, this type of device is not suitable for processing long-shaft workpieces. Summary of the Invention

[0005] The purpose of this invention is to provide an automated production line and processing technology for long-shaft workpieces. This invention can ensure the continuity of workpiece processing, improve processing efficiency, and adapt to the processing characteristics of long-shaft workpieces.

[0006] The technical solution of this invention: An automated processing production line for long shaft workpieces, comprising a material trolley for loading and unloading workpieces, a robotic arm mounted on the front of the material trolley, and a first-process machine tool, a second-process machine tool, and a third-process machine tool arranged around the periphery of the robotic arm, and further comprising...

[0007] A turnover table is set on the front side of the first-process machine tool and is used for secondary positioning of the workpiece and turnover positioning of the workpiece after the first processing step is completed.

[0008] The sampling inspection station is located next to the material cart and is used for manual sampling inspection of workpiece quality.

[0009] The bidirectional independent pneumatic gripper includes a main frame connected to the actuator of a robotic arm. Rodless cylinders are provided on both sides of the main frame, and three-finger grippers for clamping workpieces are provided on the moving end of the rodless cylinders. One set of three-finger grippers is used for loading the workpiece to be processed onto the first, second, or third machine tool; the other set of three-finger grippers is used for unloading the workpiece after it has been processed on the first, second, or third machine tool.

[0010] In the aforementioned automated processing production line for long shaft workpieces, the material trolley includes a track frame arranged on both sides, a trolley frame mounted on the track frame via a slide rail slider structure, a shaft frame for placing workpieces mounted on the trolley frame, rotary clamping cylinders at both ends of the track frame, and positioning plates at both ends of the bottom of the trolley frame that cooperate with the rotary clamping cylinders at corresponding positions.

[0011] In the aforementioned automated production line for long shaft workpieces, the shaft frame includes a base plate mounted on a trolley frame, a plurality of guide cylinders on the base plate, a plurality of support columns around the base plate, a top plate on the support columns, and a plurality of positioning holes corresponding to the guide cylinders on the top plate. The workpiece passes through the positioning holes and the guide cylinders.

[0012] In the aforementioned automated processing production line for long shaft workpieces, the turnover table includes a frame set in front of the machine tool in the first process. The upper end of the frame is provided with a water receiving tray, and a set of V-shaped blocks for supporting workpieces are provided on the water receiving tray. The water receiving tray is also provided with a positioning cylinder for pressing the workpiece. A set of sensor brackets is provided on the water receiving tray, and an infrared sensor for positioning and detecting the workpiece is provided at the upper end of the sensor brackets.

[0013] In the aforementioned automated processing production line for long shaft workpieces, the bidirectional independent pneumatic gripper also includes a slide rail set on the side of the main frame, a slider on the slide rail, a linear seat on the moving end of the rodless cylinder and the slider, a three-grip seat on the linear seat, and a three-finger gripper set at one end of the three-grip seat.

[0014] In the aforementioned automated machining production line for long shaft workpieces, the three-finger gripper includes a gripper body fixed to a three-grip seat. One end of the gripper body is provided with multiple side grippers, and a clamping block is provided inside the side grippers. One end of the gripper body and inside the side grippers are provided with a cover plate. Inside the gripper body are multiple shaft supports that pass through the cover plate. The ends of the shaft supports are provided with push plates that are in close contact with the ends of the workpiece.

[0015] In the aforementioned automated processing production line for long shaft workpieces, the sampling inspection station includes a sampling inspection frame set next to the material trolley. A linear cylinder is provided on the sampling inspection frame, and a moving platform is provided on the moving end of the linear cylinder. An arc block for supporting the workpiece is provided on the moving platform, and a right-angle plate for positioning the workpiece is provided at one end of the moving platform. Plate frames are provided on the sampling inspection frame and on both sides of the arc block, and position sensors for detecting the position of the workpiece are provided on the plate frames.

[0016] The specific steps in the aforementioned automated machining production line for long shaft workpieces are as follows:

[0017] Step 1: First, place the workpiece blank at the feeding point of the material trolley. The material trolley pushes the workpiece blank into the loading station. The robotic arm grabs the blank and places it on the turnover table to achieve secondary positioning of the workpiece blank.

[0018] Step 2: The robotic arm removes the positioned workpiece blank from the turnover table and places it into the first process machine tool. The first process machine tool turns and processes one end of the workpiece. At this time, the robotic arm grabs another workpiece from the material trolley and places it onto the turnover table for secondary positioning. The robotic arm drives the bidirectional independent pneumatic gripper to clamp the workpiece blank on the turnover table into the first process machine tool. The semi-finished workpiece that has been processed in the first process machine tool is removed and placed on the turnover table to realize the rotation of the processed end. Then the semi-finished workpiece is clamped into the second process machine tool.

[0019] Step 3: The robotic arm grabs the semi-finished workpiece from the first-process machine tool, and then uses a turnover table to rotate the workpiece's processing end. The semi-finished workpiece replaces the finished workpiece in the second-process machine tool. The removed workpiece is placed in the third-process machine tool to remove burrs from the processing end. The robotic arm uses the workpiece removed from the second-process machine tool to replace the finished workpiece in the third-process machine tool. The finished workpiece is rotated by the turnover table and then placed into the material cart to unload the finished product.

[0020] In the aforementioned automated processing production line for long shaft workpieces, in step 2, the robotic arm grabs any workpiece during processing and places it into the sampling inspection table. The sampling inspection table moves the workpiece out, and the operator performs sampling inspection on the workpiece.

[0021] In the aforementioned automated processing production line for long shaft workpieces, in step 1, the material trolley is divided into two shaft frames, one for placing workpiece blanks and the other for placing finished workpieces.

[0022] Compared with the prior art, the present invention has the following advantages:

[0023] 1. In this invention, the workpiece blank is picked up from the material trolley by a robotic arm and transferred to the first-process machine tool. The bidirectional independent pneumatic gripper at the execution end of the robotic arm can load and unload the workpiece on the machine tool. Compared with the previous method of picking up and replacing the workpiece first, this invention allows the workpiece to be quickly transferred between three sets of machine tools for processing, improving the continuity of processing and thus improving processing efficiency. Secondly, due to the special length of the long shaft workpiece, when the workpiece is clamped in the machine tool, the rodless cylinder drives the three-finger gripper to move and place the workpiece into the chuck of the machine tool, so that the extension length of the workpiece after clamping is within a suitable range, ensuring the stability of processing.

[0024] 2. The material trolley's track frame and trolley frame are connected by a sliding rail slider structure, allowing the trolley frame to move smoothly along the track frame, facilitating the transport of a large number of workpiece blanks placed on the shaft frame to the loading station. Simultaneously, the rotary clamping cylinders at both ends of the track frame cooperate with the positioning plate at the bottom of the trolley frame to precisely fix the position of the trolley frame, ensuring that the workpiece is in a stable and accurate picking position when the robotic arm grasps it.

[0025] 3. The water receiving tray of the tilting table is equipped with a set of V-blocks, which can stably support the workpiece. Combined with the pressing of the positioning cylinder, the workpiece blank can be accurately fixed in the preset position. At the same time, the infrared sensor on the sensor bracket can perform positioning detection on the workpiece, ensuring that the workpiece is in the accurate processing reference position before entering the first process machine tool. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the structure of the present invention;

[0027] Figure 2 This is a schematic diagram of a robotic arm;

[0028] Figure 3 This is a schematic diagram of a linear seat;

[0029] Figure 4 This is a schematic diagram of a three-finger gripper;

[0030] Figure 5 This is a schematic diagram of the push plate;

[0031] Figure 6 This is a schematic diagram of a material trolley;

[0032] Figure 7 This is a schematic diagram of the positioning plate;

[0033] Figure 8 This is a schematic diagram of the tilting table;

[0034] Figure 9 This is a schematic diagram of the sampling inspection station.

[0035] Explanation of markings in the attached diagram: 1-Material trolley, 2-Robotic arm, 3-First-stage machine tool, 4-Tilting table, 5-Second-stage machine tool, 6-Third-stage machine tool, 7-Sampling table, 8-Two-way independent pneumatic gripper, 9-Main frame, 10-Rodless cylinder, 11-Three-finger gripper, 12-Track frame, 13-Trolley frame, 14-Shaft frame, 15-Rotary clamping cylinder, 16-Positioning plate, 17-Base plate, 18-Guide cylinder, 19-Support column, 20-Top plate, 21-Positioning 22-Frame, 23-Water tray, 24-V-block, 25-Positioning cylinder, 26-Sensor bracket, 27-Infrared sensor, 28-Slide rail, 29-Slider, 30-Linear seat, 31-Three-grip seat, 32-Claw body, 33-Side claw, 34-Clamping block, 35-Cover plate, 36-Shaft support, 37-Push plate, 38-Sampling frame, 39-Linear cylinder, 40-Moving stage, 41-Arc block, 42-Right angle plate, 43-Plate frame, 44-Position sensor. Detailed Implementation

[0036] The present invention will be further described below with reference to the accompanying drawings and embodiments, but this should not be construed as limiting the present invention.

[0037] Example: An automated production line for long shaft workpieces includes a material trolley 1 for loading and unloading workpieces and a robotic arm 2 for transferring workpieces, as shown in the attached figure. Figure 1 As shown, it also includes:

[0038] The first machine tool 3 is set around the robotic arm 2 and is used for turning one end of the workpiece;

[0039] The tilting table 4 is located on the front side of the first process machine tool 3 and is used for secondary positioning of the workpiece and tilting positioning of the workpiece after the first processing step is completed.

[0040] The second-process machine tool 5 is set around the robotic arm 2 and is used for turning the other end of the workpiece;

[0041] The third-process machine tool 6 is set around the robotic arm 2 and is used to remove burrs from both ends of the workpiece after processing.

[0042] The sampling inspection station 7 is located next to the material cart 1 and is used for manual sampling inspection of workpiece quality.

[0043] A bidirectional independent pneumatic gripper 8 is mounted on the actuator end of the robotic arm 2, as shown in the attached diagram. Figure 2As shown, the bidirectional independent pneumatic gripper 8 includes a main frame 9 connected to the actuator of the robotic arm 2. Rodless cylinders 10 are mounted on both sides of the main frame 9. Three-finger grippers 11 for clamping workpieces are mounted on the moving ends of the rodless cylinders 10. When placing the workpiece into the machine tool chuck, because the workpiece is relatively long, the length of the workpiece extending beyond the clamping point should not be too long. First, the robotic arm moves the workpiece to the center of the chuck, aligning the chuck center with the workpiece axis. The rodless cylinders then drive the three-finger grippers to move, and the workpiece held by the three-finger grippers moves along the center of the chuck towards the chuck. After reaching the appropriate position, the chuck tightens to stably clamp the workpiece. The two sets of three-finger grippers 11 realize the loading and unloading of workpieces on the machine tool.

[0044] The material trolley 1 includes track frames 12 arranged on both sides, as shown in the attached diagram. Figure 6 As shown, a trolley frame 13 is mounted on the track frame 12 via a slide rail slider structure. The trolley frame 13 has a shaft frame 14 for placing workpieces. Rotary clamping cylinders 15 are mounted at both ends of the track frame 12. Positioning plates 16, which mate with the corresponding rotary clamping cylinders 15, are mounted at both ends of the bottom of the trolley frame 13. Figure 7 As shown, the trolley frame can slide on the track frame, facilitating the transport of a large number of workpiece blanks placed on the shaft frame to the loading station. Simultaneously, the rotary clamping cylinders at both ends of the track frame cooperate with the positioning plate at the bottom of the trolley frame to precisely fix the position of the trolley frame, ensuring that the workpiece is in a stable and accurate picking position when the robotic arm grasps it. The ribs at the extended end of the rotary clamping cylinders hook onto the positioning plate, achieving the positioning of the trolley frame. The shaft frame 14 includes a base plate 17 mounted on the trolley frame 13. The base plate 17 has multiple guide cylinders 18, and multiple support columns 19 are installed around the base plate 17. A top plate 20 is installed on each support column 19. The support columns have a certain length, creating a certain distance between the top plate and the base plate. The top plate 20 has multiple positioning holes 21 corresponding to the guide cylinders 18. The workpiece passes through the positioning holes 21 and the guide cylinders 18, with one end of the workpiece inserted into the guide cylinder and the upper end passing through the positioning hole, thus stably placing the workpiece on the shaft frame. The material trolley is divided into two shafts, left and right. One shaft is used to place workpiece blanks for loading, and the other shaft is used to place finished workpieces for unloading.

[0045] The turnover table 4 includes a frame 22 disposed on the front side of the machine tool in the first process, as shown in the attached figure. Figure 8As shown, a water receiving tray 23 is installed on the upper end of the frame 22. A set of V-blocks 24 for supporting workpieces are mounted on the water receiving tray 23, and a positioning cylinder 25 for pressing the workpiece is also installed on the water receiving tray 23. A set of sensor brackets 26 are installed on the water receiving tray 23, and an infrared sensor 27 for positioning and detecting the workpiece is located at the upper end of the sensor brackets 26. The V-blocks on the water receiving tray of the turnover table can stably support the workpiece, and together with the pressing of the positioning cylinder, the workpiece blank can be accurately fixed in a preset position. Simultaneously, the infrared sensor on the sensor bracket can perform positioning detection on the workpiece, ensuring that the workpiece is in an accurate processing reference position before entering the first process machine tool. When the workpiece is flipped, after it is placed on the V-blocks, a bidirectional independent pneumatic gripper can grasp the other end of the workpiece.

[0046] The bidirectional independent pneumatic gripper 8 also includes a slide rail 28 disposed on the side of the main frame 9, a slider 29 mounted on the slide rail 28, and a linear support 30 mounted on both the moving end of the rodless cylinder 10 and the slider 29, as shown in the attached figure. Figure 3 As shown, a three-grip seat 31 is mounted on the linear seat 30, and a three-finger gripper 11 is disposed at one end of the three-grip seat 31. The three-finger gripper 11 includes a claw body 32 fixed to the three-grip seat 31, as shown in the attached figure. Figure 4 As shown, a plurality of side jaws 33 are mounted on one end of the jaw body 32, and a clamping block 34 is mounted on the inner side of the side jaws 33. The clamping block can more stably clamp the workpiece. A cover plate 35 is mounted on one end of the jaw body 32 and on the inner side of the side jaws 33. A plurality of shaft supports 36 are mounted on the inner side of the jaw body 32, passing through the cover plate 35. A push plate 37 is mounted on the end of the shaft support 36, which is in close contact with the end of the workpiece. Figure 5 As shown, the shaft support is fixed to the gripper body by a cover plate, and the push plate is clamped at the end of the shaft support. The gripper is driven by two sets of three-finger grippers via rodless cylinders on both sides of the main frame. The two sets of grippers can operate independently. When the robotic arm moves to a processing position, one set of grippers removes the already processed workpiece. The robotic arm rotates, causing the other set of grippers to face the processing position, and the other set of grippers clamps the new workpiece to be processed. The three-finger grippers form a multi-point clamping structure through the clamping blocks on the inner side of the side grippers and the push plate at the end. This structure can firmly clamp the workpiece from its outer periphery and limit axial displacement through the contact between the push plate and the end of the workpiece, effectively preventing swaying or displacement of long-shaft workpieces due to gravity during transport. Simultaneously, the rodless cylinders, in conjunction with the slide rail slider structure, drive the grippers to move, ensuring the linear accuracy of the clamping action and allowing the workpiece to be precisely aligned when transferred to each processing position, meeting the clamping requirements of the processing equipment. The operation of this bidirectional independent pneumatic gripper can shorten workpiece turnaround time and optimize the production process.

[0047] The sampling inspection station 7 includes a sampling inspection frame 38 located next to the material cart 1, as shown in the attached figure. Figure 9As shown, a linear cylinder 39 is mounted on the sampling inspection frame 38. A moving platform 40 is provided on the moving end of the linear cylinder 39. An arc block 41 for supporting the workpiece is mounted on the moving platform 40. A right-angle plate 42 for positioning the workpiece is mounted on one end of the moving platform 40. Plate frames 43 are provided on both sides of the arc block 41 on the sampling inspection frame 38. Position sensors 44 for detecting the position of the workpiece are provided on the plate frames 43. During the operation of the production line, the robotic arm can grab the workpiece after any process and place it on the sampling inspection platform. The operator performs manual sampling inspection operations such as dimensional measurement and surface quality inspection on the workpiece through the sampling inspection platform. This process can promptly detect errors or defects that may occur during processing, such as turning dimensional deviations and incomplete burr removal, preventing unqualified workpieces from flowing into the next process or becoming finished products, thereby effectively controlling product quality and improving the finished product qualification rate. The arc block on the moving platform of the sampling inspection platform can stably support long-shaft workpieces, while the right-angle plate can position one end of the workpiece to ensure that the workpiece is in a fixed posture during sampling inspection, which is convenient for the operator to measure and inspect. Meanwhile, the position sensors on the plate rack can detect whether the workpiece is accurately placed in the sampling inspection position, ensuring the standardization and accuracy of the sampling inspection process. In addition, through continuous sampling inspection by the sampling inspection station, relevant data on workpiece processing quality can be accumulated, and the trend of processing accuracy changes in different processes can be analyzed. This provides a basis for adjusting machine tool parameters and optimizing processing technology, thereby continuously improving the overall processing level of the production line and the stability of product quality.

[0048] The specific steps of the automated machining production line for long shaft workpieces are as follows:

[0049] Step 1: First, place the workpiece blank at the feeding point of the material trolley. The material trolley pushes the workpiece blank into the loading station. The robotic arm grabs the blank and places it on the flipping table to achieve secondary positioning of the workpiece blank. The material trolley is divided into two parts, left and right. One side is used to place the workpiece blank, and the other side is used to place the finished workpiece.

[0050] Step 2: The robotic arm removes the positioned workpiece blank from the turnover table and places it into the first-process machine tool. The first-process machine tool turns one end of the workpiece. At this time, the robotic arm grabs another workpiece from the material trolley and places it onto the turnover table for secondary positioning. The robotic arm drives the bidirectional independent pneumatic gripper to clamp the workpiece blank on the turnover table into the first-process machine tool. The semi-finished workpiece that has been processed in the first-process machine tool is removed and placed on the turnover table to realize the rotation of the processed end. Then, the semi-finished workpiece is clamped into the second-process machine tool. During the processing, the robotic arm grabs any workpiece and places it into the sampling inspection table. The sampling inspection table moves the workpiece out, and the operator performs random inspection of the workpiece.

[0051] Step 3: The robotic arm picks up the semi-finished workpiece from the first-process machine tool, and then rotates the workpiece at the processing end via a flipping table. The semi-finished workpiece replaces the completed workpiece in the second-process machine tool. The removed workpiece is placed in the third-process machine tool to remove burrs from the processing end. The robotic arm uses the workpiece removed from the second-process machine tool to replace the completed workpiece in the third-process machine tool. Due to the requirements for placing the finished workpiece, the end of the workpiece that has completed the first-process processing needs to be facing upwards. The finished workpiece is rotated via a flipping table and then placed into a material cart to unload the finished product.

Claims

1. An automated processing production line for long shaft workpieces, comprising a material trolley (1) for loading and unloading workpieces, a robotic arm (2) disposed on the front side of the material trolley (1), and a first-process machine tool (3), a second-process machine tool (5), and a third-process machine tool (6) disposed around the periphery of the robotic arm (2), characterized in that: Also includes: The flipping table (4) is set on the front side of the first process machine tool (3) for secondary positioning of the workpiece and flipping positioning of the workpiece after the first processing step is completed. The sampling inspection station (7) is set up next to the material cart (1) and is used for manual sampling inspection of workpiece quality; The bidirectional independent pneumatic gripper (8) includes a main frame (9) connected to the execution end of the robotic arm (2). The main frame (9) is equipped with rodless cylinders (10) on both sides. The moving end of the rodless cylinder (10) is equipped with a three-finger gripper (11) for clamping the workpiece. One set of three-finger grippers (11) is used for loading the workpiece to be processed on the first process machine tool (3), the second process machine tool (5), or the third process machine tool (6). The other set of three-finger grippers (11) is used for unloading the workpiece after it has been processed by the first process machine tool (3), the second process machine tool (5), or the third process machine tool (6). The material trolley (1) includes a track frame (12) arranged on both sides, a trolley frame (13) on the track frame (12) via a slide rail slider structure, a shaft frame (14) for placing workpieces on the trolley frame (13), a rotary clamping cylinder (15) at both ends of the track frame (12), and a positioning plate (16) at both ends of the bottom of the trolley frame (13) that cooperates with the rotary clamping cylinder (15) at the corresponding position; the shaft frame (14) includes a base plate (17) set on the trolley frame (13), a plurality of guide cylinders (18) on the base plate (17), a plurality of support columns (19) around the base plate (17), a top plate (20) on the support columns (19), and a plurality of positioning holes (21) corresponding to the guide cylinders (18) on the top plate (20). The workpiece passes through the positioning holes (21) and the guide cylinders (18); The bidirectional independent pneumatic gripper (8) also includes a slide rail (28) set on the side of the main frame (9), a slider (29) is provided on the slide rail (28), a linear seat (30) is provided on the moving end of the rodless cylinder (10) and the slider (29), a three-grip seat (31) is provided on the linear seat (30), and a three-finger gripper (11) is set at one end of the three-grip seat (31); the three-finger gripper (11) includes a gripper body (32) fixed to the three-grip seat (31), a plurality of side grippers (33) are provided at one end of the gripper body (32), a clamping block (34) is provided on the inner side of the side grippers (33), a cover plate (35) is provided at one end of the gripper body (32) and on the inner side of the side grippers (33), a plurality of shaft supports (36) are provided on the inner side of the gripper body (32) passing through the cover plate (35), and a push plate (37) is provided at the end of the shaft support (36) that is in close contact with the end of the workpiece.

2. The automated machining production line for long shaft workpieces according to claim 1, characterized in that: The flipping table (4) includes a frame (22) set in front of the first process machine tool (3). The upper end of the frame (22) is provided with a water receiving tray (23). A set of V-shaped blocks (24) for supporting workpieces is provided on the water receiving tray (23). A positioning cylinder (25) for pressing workpieces is also provided on the water receiving tray (23). A set of sensor brackets (26) is provided on the water receiving tray (23). An infrared sensor (27) for positioning and detecting workpieces is provided at the upper end of the sensor brackets (26).

3. The automated machining production line for long shaft workpieces according to claim 1, characterized in that: The sampling inspection station (7) includes a sampling inspection frame (38) set next to the material cart (1). A linear cylinder (39) is provided on the sampling inspection frame (38). A moving platform (40) is provided on the moving end of the linear cylinder (39). An arc block (41) for mounting the workpiece is provided on the moving platform (40). A right-angle plate (42) for positioning the workpiece is provided at one end of the moving platform (40). A plate frame (43) is provided on the sampling inspection frame (38) and on both sides of the arc block (41). A position sensor (44) for detecting the position of the workpiece is provided on the plate frame (43).

4. The processing technology of the automated machining production line for long shaft workpieces according to any one of claims 1-3, characterized in that: The specific steps are as follows: Step 1: First, place the workpiece blank at the feeding point of the material trolley. The material trolley pushes the workpiece blank into the loading station. The robotic arm grabs the blank and places it on the turnover table to achieve secondary positioning of the workpiece blank. Step 2: The robotic arm removes the positioned workpiece blank from the turnover table and places it into the first process machine tool. The first process machine tool turns and processes one end of the workpiece. At this time, the robotic arm grabs another workpiece from the material trolley and places it onto the turnover table for secondary positioning. The robotic arm drives the bidirectional independent pneumatic gripper to clamp the workpiece blank on the turnover table into the first process machine tool. The semi-finished workpiece that has been processed in the first process machine tool is removed and placed on the turnover table to realize the rotation of the processed end. Then the semi-finished workpiece is clamped into the second process machine tool. Step 3: The robotic arm grabs the semi-finished workpiece from the first-process machine tool, and then uses a turnover table to rotate the workpiece's processing end. The semi-finished workpiece replaces the finished workpiece in the second-process machine tool. The removed workpiece is placed in the third-process machine tool to remove burrs from the processing end. The robotic arm uses the workpiece removed from the second-process machine tool to replace the finished workpiece in the third-process machine tool. The finished workpiece is rotated by the turnover table and then placed into the material cart to unload the finished product.

5. The processing technology according to claim 4, characterized in that: In step 2, the robotic arm grabs any workpiece during the processing and places it into the sampling inspection table. The sampling inspection table moves the workpiece out, and the operator performs sampling inspection on the workpiece.

6. The processing technology according to claim 4, characterized in that: In step 1, the material trolley is divided into two axle frames, one axle frame for placing workpiece blanks and the other axle frame for placing finished workpieces.

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