An automated production line for double-sided machining of workpieces with dual spindles and its control method

Abstract

This invention belongs to the field of automotive assembly technology and discloses an automated production line and control method for double-sided machining of workpieces with dual spindles. It includes a flipping mechanism, a dual-spindle machining mechanism, a raw material conveying mechanism, a finished product conveying mechanism, a robot, and a workstation conveying mechanism. The machining devices of the dual-spindle machining mechanism are spaced apart on the chassis. The lifting platform of the flipping mechanism is located next to the chassis. A flipping gripper is fixedly mounted on the chassis and positioned above the lifting platform. The rotating mechanism of the flipping gripper drives the clamping mechanism to rotate horizontally by 180 degrees. Two spindle boxes are slidably connected to the upper part of the chassis. The spindle is located inside the spindle box, with its lower end extending out of the lower end of the spindle box and fixedly connected to a spherical positioning chuck. The robot is positioned between the raw material conveying mechanism, the finished product conveying mechanism, and the workstation conveying mechanism. This invention achieves automatic workpiece flipping, avoids positioning errors and clamping eccentricity, uses air blowing to clean foreign objects from the chuck, detects the airtightness of the positioning surface, prevents workpiece deformation, and extends the service life of the equipment.

Description

Technical Field

[0001] This invention belongs to the field of automotive assembly technology, specifically relating to an automated production line and control method for double-sided machining of workpieces with dual spindles. Background Technology

[0002] Shafts, discs, and sleeves are core basic components in the machining field. The positioning accuracy, machining consistency, and production efficiency of double-sided machining directly determine the quality of finished parts and the overall capacity of the production line. Currently, the mainstream method for double-sided machining of such workpieces in the industry still uses traditional single-spindle machining equipment. This method involves two clamping operations, two positioning operations, and manual workpiece flipping to complete the machining of both sides. However, this traditional machining process has revealed many unavoidable technical defects and production drawbacks in actual large-scale production, making it unsuitable for the demands of modern high-precision, automated, and high-speed production.

[0003] The primary drawback of traditional machining processes is poor stability in machining accuracy and a high scrap rate. Traditional processes require secondary clamping and positioning of the workpiece. Since the two positioning references cannot perfectly coincide, secondary positioning errors are inevitable. This directly leads to difficulties in meeting core geometric tolerances such as coaxiality and positional accuracy after machining, resulting in poor workpiece consistency and significantly increasing scrap rates and production costs. Furthermore, the rigid end-face positioning chuck structure of traditional machining equipment is fixed and lacks the ability to adaptively compensate for workpiece posture deviations. Eccentric clamping problems easily occur during workpiece clamping, further exacerbating machining accuracy deviations and making it difficult to meet the precision machining requirements of high-end components.

[0004] Secondly, traditional processing methods have extremely low levels of automation, resulting in insufficient production efficiency and operational safety. The entire processing flow relies heavily on manual labor for tasks such as loading and unloading workpieces, flipping workpieces, and transferring workstations. This not only significantly increases the labor intensity of operators, but the randomness of manual operation also leads to unstable production cycles and low processing efficiency. Furthermore, close-range operation of machinery poses safety hazards such as mechanical crushing and workpiece detachment, resulting in poor operational safety and making unmanned continuous production impossible.

[0005] Furthermore, traditional production layouts are unreasonable, resulting in poor production continuity and slow cycle times. Traditional processing techniques involve cumbersome workpiece flow paths, scattered processing stations, and loosely distributed processing equipment. Workpieces are frequently transferred between different stations and equipment, leading to poor process connections, long production waiting times, and a slow overall production cycle time, which severely restricts the production line's capacity for large-scale and continuous production.

[0006] Although dual-spindle machining equipment has emerged in the existing technology, which can initially realize double-sided machining of workpieces and optimize the shortcomings of traditional single-spindle multi-process machining to a certain extent, the structural design of this type of equipment has obvious defects. It cannot build a fully closed-loop automated production process of raw material feeding, primary processing, automatic flipping, secondary processing, and finished product output. It still requires manual intervention and cannot completely solve a series of problems such as positioning error, clamping eccentricity, iron filings residue, and clamping abnormality. It is difficult to meet the needs of high-precision, high-efficiency, continuous, and unmanned mass production.

[0007] In conclusion, there is an urgent need to develop a new type of automated production line for double-sided machining of workpieces with dual spindle flipping mechanism to overcome the many shortcomings of existing technologies. Summary of the Invention

[0008] This invention provides an automated production line and control method for double-sided machining of workpieces with dual spindles. Through the coordinated structure of a lifting and avoidance-type flipping mechanism and a spherical self-centering chuck of the dual-axis machining mechanism, the core functions of automatic workpiece flipping, intelligent detection, and adaptive correction are achieved without manual intervention. This completely solves the problems of positioning errors and clamping eccentricity. The design and control method of the chuck's air-blowing structure can achieve the following: clearing and eliminating foreign object hazards; airtightness testing to verify the fit of the positioning surfaces; symmetrical clamping to ensure uniform force distribution; and clamping stroke testing to verify the clamping force. This completely eliminates clamping skew and positioning errors, ensures long-term stability of the spherical positioning reference accuracy, avoids workpiece deformation and clamping jaw damage, and extends the service life of the equipment.

[0009] The specific details of the plan are as follows:

[0010] An automated production line for double-sided machining of workpieces with dual spindles includes a flipping mechanism, a dual-spindle machining mechanism, a raw material conveying mechanism, a finished product conveying mechanism, a robot, and a workstation conveying mechanism. The flipping mechanism includes a flipping gripper and a lifting platform. The dual-spindle machining mechanism includes two spindles, two spindle boxes, two spherical positioning chucks, two machining devices, and a chassis. The two machining devices are spaced apart on the chassis. The lifting platform is fixed to the ground on one side of the middle of the chassis. The flipping gripper is fixed inside the chassis above the lifting platform. The flipping gripper includes a clamping mechanism and a rotating mechanism. The clamping mechanism is located at the front end of the flipping gripper and extends horizontally. The output end of the rotating drive device is fixedly connected to the clamping mechanism, and the rotating mechanism drives the clamping device... The clamping mechanism rotates horizontally by 180 degrees. Two spindle boxes are slidably connected to the upper part of the machine housing and located above the rotating gripper. Two spindles are set in the corresponding spindle boxes, with their lower ends extending out of the lower end face of the spindle boxes. The spindles are rotatable. Two spherical positioning chucks are fixedly connected to the lower ends of the corresponding spindles. Each spherical positioning chuck has a clamping drive mechanism inside. The clamping drive mechanism is used to provide power support for the spherical positioning chuck to grip and release workpieces. The station conveying mechanism and the dual-spindle processing mechanism are arranged horizontally and vertically. The robot's gripping arm can rotate at least 180 degrees horizontally and is set between the raw material conveying mechanism, the finished product conveying mechanism, and the station conveying mechanism to realize the transfer of unprocessed workpieces and finished workpieces.

[0011] This invention employs a core structure and pneumatic circuit design. The clamping base incorporates a drive mechanism, displacement sensor, and integrated pneumatic channel, providing power support for the synchronous radial opening and closing of the grippers while simultaneously collecting clamping stroke data. Four sets of spherical positioning mounting base assemblies for the grippers are evenly distributed around the circumference of the base. Each set includes a spherical positioning component, a gripper mounting base, and a gripper mounting connector. The spherical positioning component includes a spherical floating support structure, which is located within the clamping base for independent micro-float compensation, achieving circumferential self-centering adjustment. The upper and lower grippers are positioned opposite each other, achieving symmetrical clamping of the workpiece's upper and lower end faces. The positioning contact surface of the upper gripper has a first air blow hole, and the top positioning surface of the axial positioning mounting plate also has a second air blow hole, working in conjunction with the centering structure to achieve high-precision workpiece clamping. The upper clamping claw and the positioning block of the axial positioning mounting plate integrate an air passage with a directional nozzle. The air passage system simultaneously connects a high-pressure air source, a pressure sensor, an airtightness sensor, and a PLC control unit, realizing the reuse of air passages for air blowing cleaning and airtightness detection, reducing pipeline redundancy, and improving response speed.

[0012] The technical solution of this invention has four-fold precision closed-loop protection: air blowing to eliminate foreign object hazards, air tightness testing to verify the fit of the positioning surface, symmetrical clamping to ensure uniform force, and clamping stroke testing to verify the clamping force, completely eliminating clamping deviation and positioning error, and ensuring the long-term stability of the spherical positioning reference accuracy.

[0013] Highly automated error prevention and adaptability: No manual cleaning or inspection is required. The equipment automatically identifies abnormal states such as foreign object residue, insufficient / over-tight clamping and triggers alarms to prevent unqualified clamping from entering the processing process, and adapts to the continuous processing needs of automated production lines.

[0014] Equipment protection and life extension: Stroke detection prevents workpiece deformation and jaw damage caused by over-clamping; targeted blowing reduces metal chip wear, lowering equipment failure rate and maintenance costs.

[0015] Furthermore, the flip gripper also includes a flip support, a clamping mechanism and a rotating mechanism respectively mounted on the flip support. The clamping mechanism includes two clamping components and an opening and closing drive mechanism. The two clamping components are arranged opposite each other, and each of their opposite clamping surfaces is provided with a gripper. The opening and closing drive mechanism is connected to the two clamping components for driving the two clamping components to move towards or away from each other. The rotating mechanism includes a rotating drive device, the output end of which is fixedly connected to the clamping mechanism for driving the clamping mechanism to rotate horizontally by 180 degrees.

[0016] Furthermore, the front of the flipping bracket is provided with a clamping mechanism mounting box, and the two clamping components are a left clamping arm and a right clamping arm. The left clamping arm and the right clamping arm are slidably connected to the front end face of the clamping mechanism mounting box. At least two sets of grippers are symmetrically arranged on the clamping surfaces of the left clamping arm and the right clamping arm facing each other. The opening and closing drive mechanism includes an opening and closing drive device and is set inside the clamping mechanism mounting box. The opening and closing drive device includes a first motor, and the output end of the first motor is drivenly connected to the left clamping arm and the right clamping arm. The rotation drive device is set at the rear of the flipping bracket and includes a second motor. The output end of the second motor is fixedly connected to the rear end face of the clamping mechanism mounting box and is used to drive the clamping mechanism mounting box, the left clamping arm and the right clamping arm to rotate as a whole around a horizontal axis.

[0017] Furthermore, the lifting platform includes a lifting mechanism, a lifting platform frame, a workpiece bearing platform, a workpiece positioning detection element, and a sensor switch; the lifting mechanism is located at the lower part of the lifting platform, the workpiece bearing platform is located at the top of the lifting platform frame, and the lifting mechanism is arranged on the lifting platform frame and located below the workpiece bearing platform, used to drive the workpiece bearing platform to move vertically; the workpiece bearing platform has a positioning groove, and the positioning groove has a workpiece positioning detection element, used to detect whether the workpiece is in position; the sensor switch is located on the lifting platform frame, used to control the lifting mechanism to act after receiving the workpiece positioning signal.

[0018] Furthermore, the two spindles are designated as a first spindle and a second spindle. A first spherical positioning chuck is fixedly connected to the lower end of the first spindle, and a second spherical positioning chuck is fixedly connected to the lower end of the second spindle. The first and second spherical positioning chucks have the same structure, both including a chuck base, four sets of gripper spherical positioning mounting base assemblies, two upper gripper claws, two lower gripper claws, and an axial positioning mounting plate. Four positioning blocks are evenly spaced on the upper surface of the axial positioning mounting plate. The bottom of the axial positioning mounting plate is fixed to the chuck base. The gaps between the four positioning blocks form four mounting notches. The four sets of gripper spherical positioning mounting base assemblies are fixed at the positions of the four mounting notches. The two upper gripper claws are respectively fixed to the top of two sets of opposing gripper spherical positioning mounting base assemblies, and the two lower gripper claws are respectively fixed to the top of the other two sets of opposing gripper spherical positioning mounting base assemblies.

[0019] Furthermore, each set of gripper spherical positioning mounting base assemblies includes a spherical positioning component, a gripper mounting base, and a gripper mounting connecting seat. The spherical positioning component includes a spherical floating support structure, which is set inside the chuck base for independent micro-float compensation to achieve circumferential self-centering adjustment. The gripper mounting base is fixed to the top of the spherical positioning component, and the gripper mounting connecting seat is fixedly connected to the top of the spherical positioning component. The upper gripper / lower gripper is fixedly connected to the top of the gripper mounting connecting seat. Each spherical positioning chuck device also includes a gripper driving device, which is fixed to the outside of the spindle box. The upper gripper and lower gripper are respectively connected to the gripper driving device for workpiece gripping and release.

[0020] Furthermore, the upper clamping claw is provided with a first air passage and a first air blow hole is opened on the clamping surface. The positioning block of the axial positioning mounting plate is provided with a vertical second air passage and a second air blow hole is opened on its top end face. Both the first and second air passages are provided with directional nozzles. The clamping plate base is also provided with an integrated air passage and a displacement sensor. The displacement sensor is used to collect clamping stroke data. The first and second air passages are respectively connected to the integrated air passage. The dual-spindle machining mechanism also includes a PLC control unit, a high-pressure air source, a pressure sensor and an airtight sensor. The pressure sensor and the airtight sensor are respectively connected to the integrated air passage. The integrated air passage is connected to the high-pressure air source. The displacement sensor, directional nozzle, pressure sensor, airtight sensor and high-pressure air source are respectively electrically connected to the PLC control unit.

[0021] Furthermore, the raw material conveying mechanism and the finished product conveying mechanism are arranged laterally on the same straight line. The end of the raw material conveying mechanism adjacent to the robot is set as the raw material loading position, and the end of the finished product conveying mechanism adjacent to the robot is set as the finished product unloading position. The station conveying mechanism includes a station feeding conveyor and a station discharging conveyor. The station feeding conveyor and the station discharging conveyor are arranged perpendicularly and spaced apart from the dual spindle machining mechanism and located between the two machining devices. The end of the station feeding conveyor away from the robot is set with a first spindle gripping position, and the end of the station discharging conveyor away from the robot is set with a finished product conveying position. The second spindle drives the second spherical positioning chuck device to grip the finished workpiece and place it in the finished product conveying position.

[0022] A control method for an automated production line for double-sided machining of workpieces with dual spindles, comprising the following steps:

[0023] S1. Pre-purge before loading: Before loading the unprocessed workpiece, the PLC control unit controls the high-pressure air source to turn on, and the high-pressure airflow is sprayed out from the air blowing hole of the positioning block of the upper clamping claw and the axial positioning mounting plate to purge.

[0024] S2, workpiece loading: The unprocessed workpiece is placed on the raw material conveying mechanism and conveyed to the raw material loading position. The robot grabs the unprocessed workpiece and places it on the station feeding conveyor, and it is conveyed to the first spindle gripping position.

[0025] S3. The first spherical positioning chuck device grips the unprocessed workpiece: The first spherical positioning chuck device moves with the first spindle to the gripping position of the first spindle. The first spindle descends, and the first spherical positioning chuck device positions the workpiece and performs an airtightness test. If the test fails, it is purged a second time until the test passes. If the test passes, synchronous clamping and stroke verification are performed, and the verification passes and the process jumps to step S4.

[0026] S4. First surface machining of the workpiece: The first spherical positioning chuck clamps the workpiece and moves it with the first spindle to the corresponding machining device for machining. During the machining process, a micro air path is activated for purging. After the workpiece is machined, the upper and lower clamping jaws open, the displacement sensor provides feedback that the clamping jaws have been released, and high-pressure purging is started.

[0027] S5. Workpiece Tilting: After the first side is processed, the first spindle drives the first ball positioning chuck and the workpiece to move above the lifting platform. The first spindle falls, and the first ball positioning chuck releases the workpiece and places it on the workpiece bearing platform. After the workpiece contacts the workpiece positioning detection piece, the first spindle retracts, the sensor switch is turned on, and at the same time, the two clamping components clamp the workpiece. The lifting mechanism descends to a height where the workpiece can be rotated without interference and locks. The rotating mechanism rotates, driving the two clamping components and the workpiece to rotate 180 degrees together. The lifting mechanism drives the workpiece bearing platform to rise to the original height. The two sets of clamping components release the workpiece, and the workpiece is placed on the workpiece bearing platform. The lifting platform rises to the second spindle gripping height.

[0028] S6. The second ball-shaped positioning chuck device grabs the unprocessed workpiece: The second spindle drives the second ball-shaped positioning chuck device to move above the lifting platform. The second ball-shaped positioning chuck device positions the workpiece and performs an airtightness test. If the test fails, it is purged a second time until the test passes. If the test passes, it performs synchronous clamping and stroke verification, and then jumps to step 7 after verification.

[0029] S7. Second-side machining of the workpiece: The second spherical positioning chuck clamps the workpiece and moves it to the machining mechanism corresponding to the second spindle for second-side machining. During the machining process, a micro-air path is activated for purging. After the workpiece is machined, the upper and lower clamping jaws open, the displacement sensor provides feedback that the clamping jaws have been released, and high-pressure purging is activated. After the machining is completed, the second spindle drives the second spherical positioning chuck to place the finished workpiece in the finished part conveying position.

[0030] S8. The workstation discharge conveyor transports the finished parts to the robot. The robot grabs the workpiece and places it at the finished part unloading position of the finished product conveying mechanism. The finished product conveying mechanism then delivers the finished workpiece.

[0031] Furthermore, in steps S3 and S6,

[0032] The workpiece positioning method is as follows: the unprocessed workpiece is closely fitted with the four positioning blocks, spherical positioning components, upper clamping claws and lower clamping claws of the axial positioning mounting plate of the first spherical positioning chuck device / second spherical positioning chuck device, so that the integrated airflow channel forms a sealed cavity;

[0033] The method for airtightness testing and secondary purging is as follows: switch the air path to the testing mode, and introduce compressed air at a constant pressure into the sealing cavity of the positioning surface using a high-pressure air source. The pressure sensor monitors the pressure changes inside the cavity in real time.

[0034] If the leakage is less than or equal to the set threshold, it is determined that there are no foreign objects on the positioning surface and the fit is good.

[0035] If the leakage exceeds the standard, it is determined that there are iron filings / debris residues on the positioning surface. A second high-pressure air purging is immediately triggered. After the purging is completed, the air tightness test is performed again until the test is qualified.

[0036] The method for synchronous clamping and stroke verification is as follows: After the airtightness test is passed, the clamping jaw drive device drives the upper and lower clamping jaws to retract synchronously in the radial direction, clamping the workpiece uniformly at multiple points; the displacement sensor collects the actual clamping stroke of the clamping jaws in real time and compares it with the preset parameters of loosened, clamped, and over-clamped.

[0037] When the stroke falls within the acceptable range: it is determined that the clamping is in place, and the processing procedure is entered, and the process is skipped to step S6;

[0038] When the stroke is less than the minimum clamping value: insufficient clamping is determined, the equipment triggers an alarm and suspends processing;

[0039] When the stroke exceeds the maximum clamping value: if the clamping is too tight, the equipment will trigger an alarm and suspend processing to prevent material deformation or damage to the clamping claws.

[0040] Compared with the prior art, the present invention has the following advantages:

[0041] 1. Through the coordinated structure of the lifting and avoidance flipping mechanism and the spherical self-centering chuck of the dual-axis machining mechanism, the core functions of automatic workpiece flipping, intelligent detection and adaptive correction are realized without manual intervention, completely solving the problem of positioning error and clamping eccentricity.

[0042] 2. Through the design of the clamping plate air blowing structure and the corresponding control methods, it can achieve the following: cleaning and eliminating the hidden dangers of foreign objects, airtightness testing and verification of the positioning surface fit, symmetrical clamping to ensure uniform force, clamping stroke testing and verification of the clamping force, completely eliminating clamping deviation and positioning errors, with strong automation error prevention and adaptability, no need for manual cleaning and inspection, the equipment automatically identifies abnormal states such as foreign object residue, insufficient / over-tight clamping and triggers alarms, preventing unqualified clamping from entering the processing process, and adapting to the continuous processing needs of automated production lines;

[0043] 3. By detecting the stroke, workpiece deformation and jaw damage caused by excessive clamping are avoided; targeted blowing reduces iron filings wear, lowers equipment failure rate and maintenance costs, and extends equipment life. Attached Figure Description

[0044] Figure 1 This is an overall schematic diagram of the automated production line for double-sided machining of workpieces with dual spindles according to the present invention.

[0045] Figure 2 This is a schematic diagram of the flip gripper structure of the present invention.

[0046] Figure 3This is a schematic diagram of the lifting platform of the present invention.

[0047] Figure 4 This is a schematic diagram of the spherical positioning clamping device of the present invention.

[0048] Figure 5 This is a schematic diagram of the axial positioning mounting disc of the present invention.

[0049] Figure 6 This is a schematic diagram of the structure of the spherical positioning mounting base assembly with clamping claw, the upper clamping claw, and the lower clamping claw of the present invention.

[0050] Figure 7 This is a partial schematic diagram of the clamping claw ball-shaped positioning mounting base assembly of the present invention.

[0051] Figure 8 This is a schematic diagram of the structure of the spherical positioning chuck device of the present invention for clamping a workpiece.

[0052] Figure 9 This is a schematic diagram showing the clamping force direction of the spherical positioning clamping device of the present invention.

[0053] in

[0054] 1. Tilting gripper; 1.1. Clamping mechanism; 1.11. Clamping assembly; 1.12. Gripper; 1.2. Rotation mechanism; 1.21. Rotation drive device; 1.3. Tilting bracket; 1.31. Clamping mechanism mounting box; 2. Lifting platform; 2.1. Lifting mechanism; 2.2. Lifting platform frame; 2.3. Workpiece bearing platform; 2.31. Positioning groove; 2.4. Workpiece arrival detection piece; 2.5. Sensor switch; 3. Dual-spindle machining mechanism; 3.1. Spindle; 3.11. First spindle; 3.12. Second spindle; 3.2. Spherical positioning chuck device; 3.21. Chuck base; 3.22. Gripper spherical positioning mounting base assembly; 3.221. Spherical positioning assembly; 3.222. Gripper Mounting base; 3.223. Gripper mounting connector; 3.23. Upper gripper; 3.231. First air blow hole; 3.24. Lower gripper; 3.25. Axial positioning mounting plate; 3.251. Positioning block; 3.252. Second air blow hole; 3.3. Chassis; 4. Raw material conveying mechanism; 4.1. Raw material loading position; 5. Finished product conveying mechanism; 5.1. Finished product unloading position; 6. Robot; 7. Station conveying mechanism; 7.1. Station feeding conveyor; 7.11. First spindle gripping position; 7.2. Station unloading conveyor; 7.21. Finished product conveying position; 8. Workpiece; 9. Arrow indicates circumferential self-centering adjustment; 10. Arrow indicates axial positioning force; 11. Arrow indicates radial clamping force. Detailed Implementation

[0055] To make the technical problems solved by the present invention, the technical solutions adopted, and the technical effects achieved clearer, the technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely for explaining the present invention and are not intended to limit the present invention. Furthermore, it should be noted that, for ease of description, only the parts related to the present invention are shown in the accompanying drawings, not all of them.

[0056] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for 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 the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The terms "first position" and "second position" refer to two different positions.

[0057] 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 fixed connections or detachable connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components. Those skilled in the art can understand the specific meaning of these terms in this invention based on the specific circumstances.

[0058] The following examples are combined Figures 1-9 The present invention will be described in detail below.

[0059] Example 1:

[0060] An automated production line for double-sided machining of workpieces with dual spindles, see Figure 1As shown, the system includes a flipping mechanism, a dual-spindle machining mechanism 3, a raw material conveying mechanism 4, a finished product conveying mechanism 5, a robot 6, and a workstation conveying mechanism 7. The flipping mechanism includes a flipping gripper 1 and a lifting platform 2. The dual-spindle machining mechanism 3 includes two spindles 3.1, two spindle boxes, two spherical positioning chucks 3.2, two machining devices, and a housing 3.3. The two machining devices are spaced apart on the housing 3.3. The lifting platform 2 is fixed to the ground on one side of the middle of the housing 3.3. The flipping gripper 1 is fixed inside the housing 3.3 above the lifting platform 2. The flipping gripper 1 includes a clamping mechanism 1.1 and a rotating mechanism 1.2. The clamping mechanism 1.1 is located at the front end of the flipping gripper 1 and extends horizontally. The output end of the rotating drive device 1.21 is fixedly connected to the clamping mechanism 1.1. The rotating mechanism 1.2 drives the clamping mechanism 1.1. The robot 6 features a 180-degree horizontal flip, with two spindle boxes slidably connected to the upper part of the housing 3.3 and positioned above the flip gripper. Two spindles 3.1 are housed within their respective spindle boxes, with their lower ends extending beyond the lower end face of the spindle box. The spindles 3.1 are rotatable. Two spherical positioning chucks 3.2 are fixedly connected to the lower ends of their respective spindles 3.1. Each spherical positioning chuck 3.2 has an internal clamping drive mechanism that provides power support for the spherical positioning chuck 3.2 to grip and release workpieces. The station conveying mechanism 7 and the dual-spindle machining mechanism 3 are arranged horizontally and vertically. The gripping arm of the robot 6 can rotate at least 180 degrees horizontally and is positioned between the raw material conveying mechanism 4, the finished product conveying mechanism 5, and the station conveying mechanism 7 to realize the transfer of unprocessed and finished workpieces.

[0061] The flip gripper 1 includes a clamping mechanism 1.1, a rotating mechanism 1.2, and a flipping bracket 1.3. The clamping mechanism 1.1 and the rotating mechanism 1.2 are respectively mounted on the flipping bracket 1.3. The clamping mechanism 1.1 includes two clamping components 1.11 and an opening and closing drive mechanism. The two clamping components 1.11 are arranged opposite to each other, and each of their opposite clamping surfaces is provided with a gripper 1.12. The opening and closing drive mechanism is connected to the two clamping components 1.11 and is used to drive the two clamping components 1.11 to move towards or away from each other. The rotating mechanism 1.2 includes a rotating drive device 1.21. The output end of the rotating drive device 1.21 is fixedly connected to the clamping mechanism 1.1 and is used to drive the clamping mechanism 1.1 to rotate 180 degrees around a horizontal axis.

[0062] See Figure 2As shown, the front of the flip bracket 1.3 is provided with a clamping mechanism mounting box 1.31. Two clamping components 1.11 are a left clamping arm and a right clamping arm, which are slidably connected to the front end face of the clamping mechanism mounting box 1.31. Two sets of grippers 1.12 are symmetrically arranged on the clamping surfaces of the left and right clamping arms facing each other. The opening and closing drive mechanism includes an opening and closing drive device and is disposed within the clamping mechanism mounting box 1.31. The opening and closing drive device includes a first motor, and the output end of the first motor... The rotating drive device 1.21 is located at the rear of the flipping bracket 1.3 and includes a second motor. The output end of the second motor is fixedly connected to the rear end face of the clamping mechanism mounting box 1.31 and is used to drive the clamping mechanism mounting box 1.31, the left clamping arm and the right clamping arm to open and slide in opposite directions on the clamping mechanism mounting box 1.31, thereby realizing the gripping and release of the workpiece.

[0063] See Figure 3 As shown, the lifting platform 2 includes a lifting mechanism 2.1, a lifting platform frame 2.2, a workpiece bearing platform 2.3, a workpiece arrival detection component 2.4, and a sensor switch 2.5. The lifting mechanism 2.1 is mounted on the lifting platform frame 2.2, and the workpiece bearing platform 2.3 is located on top of the lifting platform frame 2.2. The lifting mechanism 2.1 is arranged on the lifting platform frame 2.2 and located below the workpiece bearing platform 2.3, and is used to drive the workpiece bearing platform 2.3 to move vertically. The workpiece bearing platform 2.3 has a positioning groove 2.31, and the positioning groove 2.31 has a workpiece arrival detection component 2.4, which is used to detect whether the workpiece is in place. The sensor switch 2.5 is mounted on the lifting platform frame 2.2 and is used to control the lifting mechanism 2.1 to move after receiving the workpiece arrival signal.

[0064] The lifting mechanism of the lifting platform 2 includes a lifting motor. The rotation of the lifting motor drives the lifting mechanism to rise or fall, and the workpiece support platform 2.3 rises and falls with the lifting mechanism. After the first side of the workpiece is processed, the first spindle 3.11 drives the first spherical positioning chuck to clamp the workpiece above the lifting platform 2. The first spindle 3.11 descends, and the first spherical positioning chuck releases the workpiece onto the workpiece support platform 2.3. The first spindle retracts, and the workpiece positioning detection component 2.4 detects that the workpiece has arrived in place and sends a signal to the sensor switch 2.5. The sensor switch 2.5 opens, and the lifting mechanism of the lifting platform 2 locks at a preset height. This height is the height at which the lifting platform will not interfere with the workpiece or the flipping gripper when the workpiece is flipped. After the workpiece has completed a 180-degree flip, the lifting platform 2 rises to a height at which the second spindle 3.12 can drive the second spherical positioning chuck to grasp the workpiece and then locks.

[0065] The two spindles 3.1 are the first spindle and the second spindle, respectively. A first spherical positioning chuck is fixedly connected to the lower end of the first spindle, and a second spherical positioning chuck is fixedly connected to the lower end of the second spindle. The first and second spherical positioning chucks have the same structure. (See...) Figure 4 As shown, each component includes a clamping base 3.21, a four-set spherical positioning mounting base assembly for clamping claws 3.22, two upper clamping claws 3.23, two lower clamping claws 3.24, and an axial positioning mounting plate 3.25. Figure 5 As shown, four positioning blocks 3.251 are evenly spaced on the upper surface of the axial positioning mounting plate 3.25. The bottom of the axial positioning mounting plate 3.25 is fixed to the clamping plate base 3.21. The gaps between the four positioning blocks 3.251 form four mounting notches. Four sets of clamping claw ball-shaped positioning mounting seat assemblies 3.22 are fixed at the positions of the four mounting notches. Two upper clamping claws 3.23 are respectively fixed to the top of two sets of opposite clamping claw ball-shaped positioning mounting seat assemblies 3.22, and two lower clamping claws 3.24 are respectively fixed to the top of the other two sets of opposite clamping claw ball-shaped positioning mounting seat assemblies 3.22. Each clamping plate base 3.21 is also provided with a clamping claw drive device. The upper clamping claws 3.23 and lower clamping claws 3.24 are respectively connected to the clamping claw drive device for transmission, which is used to realize the gripping and release of the workpiece.

[0066] See Figure 6 and Figure 7 As shown, each set of gripper spherical positioning mounting base assemblies 3.22 includes a spherical positioning component 3.221, a gripper mounting base 3.222, and a gripper mounting connecting seat 3.223. The spherical positioning component 3.221 includes a spherical floating support structure, which is disposed within the clamping plate base 3.21 for independent micro-float compensation and to achieve circumferential self-centering adjustment. The gripper mounting base 3.222 is fixed to the top of the spherical positioning component 3.221, and the gripper mounting connecting seat 3.223 is fixedly connected to the top of the spherical positioning component 3.221. The upper gripper 3.23 and the lower gripper 3.24 are fixedly connected to the top of the gripper mounting connecting seat 3.223.

[0067] See Figure 6 As shown, Figure 6 The diagram shows the front and back of the upper clamping claw. The upper clamping claw 3.23 is provided with a first air passage and a first air blowing hole 3.231 is opened on the clamping surface. Figure 5As shown, the axial positioning mounting plate 3.25 has a vertical second air passage on its positioning block 3.251 and a second air blow hole 3.252 on its top end face. Both the first and second air passages are equipped with directional nozzles. The clamping base 3.21 is also equipped with an integrated air passage and a displacement sensor. The displacement sensor is used to collect clamping stroke data. The first and second air passages are respectively connected to the integrated air passage. The dual spindle machining mechanism 3 also includes a PLC control unit, a high-pressure air source, a pressure sensor and an airtight sensor. The pressure sensor and the airtight sensor are respectively connected to the integrated air passage. The integrated air passage is connected to the high-pressure air source. The displacement sensor, the directional nozzle, the pressure sensor, the airtight sensor and the high-pressure air source are respectively electrically connected to the PLC control unit.

[0068] The raw material conveying mechanism 4 and the finished product conveying mechanism 5 are arranged laterally on the same straight line. The end of the raw material conveying mechanism 4 adjacent to the robot 6 is designated as the raw material loading position 4.1, and the end of the finished product conveying mechanism 5 adjacent to the robot 6 is designated as the finished product unloading position 5.1. The station conveying mechanism 7 includes a station feeding conveyor 7.1 and a station discharging conveyor 7.2. The station feeding conveyor 7.1 and the station discharging conveyor 7.2 are arranged perpendicularly and spaced apart from the dual spindle machining mechanism 3 and located between the two machining devices. The end of the station feeding conveyor 7.1 away from the robot 6 is provided with a first spindle gripping position 7.11, and the end of the station discharging conveyor 7.2 away from the robot 6 is provided with a finished product conveying position 7.21. The second spindle drives the second spherical positioning chuck device to grip the finished workpiece and place it in the finished product conveying position 7.21.

[0069] In this embodiment, the workpiece to be processed is a shell-shaped workpiece. When the spherical positioning chuck grips the shell-shaped workpiece... Figure 8 As shown, the workpiece's center hole is positioned and self-centered within the spherical floating support structure. The upper and lower clamping jaws clamp radially and synchronously. The clamping force direction of the spherical positioning chuck is as follows. Figure 9 As shown, Figure 9 Arrow number 9 indicates the circumferential self-centering adjustment direction; arrow number 10 indicates the axial positioning force; arrow number 11 indicates the radial clamping force.

[0070] Example 2:

[0071] The present invention also provides a control method for the aforementioned automated production line for double-sided machining of workpieces with dual spindles, the specific steps of which are as follows:

[0072] S1. Pre-purge before loading: Before loading the unprocessed workpiece, the PLC control unit controls the high-pressure air source to turn on, and the high-pressure airflow is sprayed out from the air blowing hole of the positioning block 3.251 of the upper clamping claw 3.23 and the axial positioning mounting plate 3.25 to purge;

[0073] S2, workpiece loading: The unprocessed workpiece is placed on the raw material conveying mechanism 4 and conveyed to the raw material loading position 4.1. The robot 6 grabs the unprocessed workpiece and places it on the station feeding conveyor 7.1, and it is conveyed to the first spindle gripping position 7.11.

[0074] S3. The first spherical positioning chuck device grips the unprocessed workpiece: The first spherical positioning chuck device moves with the first spindle to the first spindle gripping position 7.11. The first spindle descends, and the first spherical positioning chuck device performs workpiece positioning and airtightness testing. If the test fails, a second purging is performed until the test passes. If the test passes, synchronous clamping and stroke verification are performed, and the verification passes, then the process jumps to step S4.

[0075] S4. First surface machining of the workpiece: The first spherical positioning chuck clamps the workpiece and moves it with the first spindle to the corresponding machining device for machining. During the machining process, a micro air path is activated for purging. After the workpiece is machined, the upper clamping jaw 3.23 and the lower clamping jaw 3.24 open. The displacement sensor provides feedback that the clamping jaws have been released, and high-pressure purging is started.

[0076] S5. Workpiece Tilting: After the first side is processed, the first spindle drives the first spherical positioning chuck and the workpiece to move above the lifting platform 2. The first spindle falls, and the first spherical positioning chuck releases the workpiece and places it on the workpiece bearing platform 2.3. After the workpiece contacts the workpiece positioning detection piece 2.4, the first spindle retracts, the sensor switch 2.5 turns on, and the two clamping components 1.11 clamp the workpiece. The lifting mechanism 2.1 descends to a position where the workpiece can be rotated without interference. The rotating mechanism 1.2 rotates, causing the two clamping components 1.11 and the workpiece to rotate 180 degrees together. The lifting mechanism 2.1 causes the workpiece bearing platform 2.3 to rise to its original height. The two clamping components 1.11 release the workpiece, which is placed on the workpiece bearing platform 2.3. The lifting platform 2 rises to the second spindle gripping height.

[0077] S6. The second ball-shaped positioning chuck device grabs the unprocessed workpiece: The second spindle drives the second ball-shaped positioning chuck device to move above the lifting platform 2. The second ball-shaped positioning chuck device performs workpiece positioning and airtightness testing. If the test fails, it performs a second purging until the test passes. If the test passes, it performs synchronous clamping and stroke verification, and then jumps to step 7 after verification.

[0078] S7. Second-side machining of the workpiece: The second spherical positioning chuck clamps the workpiece and moves it to the machining device corresponding to the second spindle for second-side machining. During the machining process, a micro-air purging is activated. After the workpiece is machined, the upper clamping jaw 3.23 and the lower clamping jaw 3.24 open. The displacement sensor provides feedback that the clamping jaws have been released, and high-pressure purging is activated. After machining is completed, the second spindle drives the second spherical positioning chuck to place the finished workpiece at the finished workpiece conveying position 7.21.

[0079] S8, the workstation discharge conveyor 7.2 conveys the finished part to the robot 6, the robot 6 grabs the workpiece and places it at the finished part unloading position 5.1 of the finished part conveying mechanism 5, and the finished part conveying mechanism 5 delivers the finished workpiece.

[0080] In steps S3 and S6,

[0081] The workpiece positioning method is as follows: the unprocessed workpiece is closely fitted with the clamping surfaces of the four positioning blocks 3.251, spherical positioning component 3.221, upper clamping claw 3.23 and lower clamping claw 3.24 of the axial positioning mounting plate 3.25 of the first spherical positioning chuck device / second spherical positioning chuck device, so that the integrated airflow channel forms a sealed cavity;

[0082] The airtightness test and secondary purging method is as follows: switch the air path to the test mode, and introduce compressed air at a constant pressure into the sealing cavity of the positioning surface using a high-pressure air source. The pressure sensor monitors the pressure changes inside the cavity in real time.

[0083] If the leakage is less than or equal to the set threshold, it is determined that there are no foreign objects on the positioning surface and the fit is good.

[0084] If the leakage exceeds the standard, it is determined that there are iron filings / debris residues on the positioning surface. A second high-pressure air purging is immediately triggered. After the purging is completed, an air tightness test is performed again until the test is qualified.

[0085] The synchronous clamping and stroke verification method is as follows: After the airtightness test is qualified, the clamping jaw drive device drives the upper clamping jaw 3.23 and the lower clamping jaw 3.24 to retract synchronously in the radial direction, so as to clamp the workpiece uniformly at multiple points; the displacement sensor collects the actual clamping stroke of the clamping jaw in real time and compares it with the preset parameters of loosened, clamped range, and over-clamped.

[0086] When the stroke falls within the acceptable range: it is determined that the clamping is in place, and the processing procedure is entered, and the process is skipped to step S6;

[0087] When the stroke is less than the minimum clamping value: insufficient clamping is determined, the equipment triggers an alarm and suspends processing;

[0088] When the stroke exceeds the maximum clamping value: if the clamping is too tight, the equipment will trigger an alarm and suspend processing to prevent material deformation or damage to the clamping claws.

[0089] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A double-spindle workpiece double-sided machining automatic production line, characterized by, The system includes a flipping mechanism, a dual-spindle machining mechanism (3), a raw material conveying mechanism (4), a finished product conveying mechanism (5), a robot (6), and a workstation conveying mechanism (7). The flipping mechanism includes a flipping gripper (1) and a lifting platform (2). The dual-spindle machining mechanism (3) includes two spindles (3.1), two spindle boxes, two spherical positioning chucks (3.2), two machining devices, and a chassis (3.3). The two machining devices are spaced apart on the chassis (3.3). The lifting platform (2) is fixed to the ground on one side of the middle of the chassis (3.3). The flipping gripper (1) is fixed inside the chassis (3.3) above the lifting platform (2). The flipping gripper (1) includes a clamping mechanism (1.1) and a rotating mechanism (1.2). The clamping mechanism (1.1) is located at the front end of the flipping gripper (1) and extends horizontally. The output end of the rotating drive device (1.21) is fixedly connected to the clamping mechanism (1.1). The rotating mechanism (1.2) drives the clamping mechanism (1.1) to rotate 180 degrees horizontally. The two spindle boxes are slidably connected to the upper part of the machine box (3.3) and located above the flipping gripper. The two spindles (3.1) are set in the corresponding spindle boxes, with their lower ends extending out of the lower end face of the spindle boxes. The spindles (3.1) are rotatable. The two spherical positioning chucks (3.2) are respectively fixedly connected to the lower end of the corresponding spindles (3.1). Each spherical positioning chuck (3.2) is equipped with a clamping drive mechanism. The clamping drive mechanism is used to provide power support for the spherical positioning chuck (3.2) to grip and release workpieces. The station conveying mechanism (7) and the dual spindle processing mechanism (3) are arranged horizontally and vertically. The gripping arm of the robot (6) can rotate at least 180 degrees horizontally and is set between the raw material conveying mechanism (4), the finished product conveying mechanism (5) and the station conveying mechanism (7) to realize the transfer of unprocessed workpieces and finished workpieces.

2. The dual-spindle workpiece double-sided machining automated production line according to claim 1, wherein, The flip gripper (1) further includes a flip support (1.3). The clamping mechanism (1.1) and the rotating mechanism (1.2) are respectively disposed on the flip support (1.3). The clamping mechanism (1.1) includes two clamping components (1.11) and an opening and closing drive mechanism. The two clamping components (1.11) are disposed opposite to each other, and the clamping surfaces opposite to each other are respectively provided with jaws (1.12). The opening and closing drive mechanism is connected to the two clamping components (1.11) for driving the two clamping components (1.11) to move towards or away from each other. The rotating mechanism (1.2) includes a rotating drive device (1.21). The output end of the rotating drive device (1.21) is fixedly connected to the clamping mechanism (1.1) for driving the clamping mechanism (1.1) to rotate horizontally by 180 degrees.

3. The dual-spindle workpiece double-sided machining automated production line according to claim 2, wherein, The front of the flipping bracket (1.3) is provided with a clamping mechanism mounting box (1.31). The two clamping components (1.11) are a left clamping arm and a right clamping arm, respectively. The left clamping arm and the right clamping arm are slidably connected to the front end face of the clamping mechanism mounting box (1.31). At least two sets of jaws (1.12) are symmetrically provided on the clamping surfaces of the left clamping arm and the right clamping arm facing each other. The opening and closing drive mechanism includes an opening and closing drive device, which is located on the clamping mechanism mounting box (1.31). Inside the box (1.31), the opening and closing drive device includes a first motor, the output end of which is connected to the left clamping arm and the right clamping arm. The rotation drive device (1.21) is located at the rear of the flipping bracket (1.3) and includes a second motor. The output end of the second motor is fixedly connected to the rear end face of the clamping mechanism mounting box (1.31) and is used to drive the clamping mechanism mounting box (1.31), the left clamping arm and the right clamping arm to rotate as a whole around the horizontal axis.

4. The dual-spindle workpiece double-sided machining automated production line according to claim 3, wherein, The lifting platform (2) includes a lifting mechanism (2.1), a lifting platform frame (2.2), a workpiece bearing platform (2.3), a workpiece positioning detection component (2.4), and a sensor switch (2.5). The lifting mechanism (2.1) is located at the lower part of the lifting platform (2) and can be raised and lowered vertically. The workpiece bearing platform (2.3) is located at the top of the lifting platform frame (2.2). The lifting mechanism (2.1) is arranged on the lifting platform frame (2.2) and located below the workpiece bearing platform (2.3) to drive the workpiece bearing platform (2.3) to be raised and lowered vertically. The workpiece bearing platform (2.3) is provided with a positioning groove (2.31), and the workpiece positioning detection component (2.4) is provided in the positioning groove (2.31) to detect whether the workpiece is in place. The sensor switch (2.5) is located on the lifting platform frame (2.2) and is used to control the lifting mechanism (2.1) to operate after receiving the workpiece positioning signal.

5. The dual-spindle workpiece double-sided machining automated production line according to claim 4, wherein, The two spindles (3.1) are a first spindle (3.11) and a second spindle (3.12), respectively. A first spherical positioning chuck device is fixedly connected to the lower end of the first spindle (3.11), and a second spherical positioning chuck device is fixedly connected to the lower end of the second spindle (3.12). The first and second spherical positioning chuck devices have the same structure, both including a chuck base (3.21), four sets of gripper spherical positioning mounting base assemblies (3.22), two upper gripper claws (3.23), two lower gripper claws (3.24), and an axial positioning mounting plate (3.25). Four positioning blocks (3.251) are evenly spaced on the upper surface of the axial positioning mounting plate (3.25). The bottom of the axial positioning mounting plate (3.25) is fixed to... On the chuck base (3.21), four mounting notches are formed by the gaps between the four positioning blocks (3.251). Four sets of gripper spherical positioning mounting base assemblies (3.22) are fixed at the positions of the four mounting notches. Two upper gripper claws (3.23) are respectively fixed on the top of two sets of opposite gripper spherical positioning mounting base assemblies (3.22), and two lower gripper claws (3.24) are respectively fixed on the top of the other two sets of opposite gripper spherical positioning mounting base assemblies (3.22). Each chuck base (3.21) is also provided with a gripper claw driving device. The upper gripper claws (3.23) and lower gripper claws (3.24) are respectively connected to the gripper claw driving device for gripping and releasing the workpiece.

6. The dual-spindle workpiece double-sided machining automated production line according to claim 5, wherein, Each set of the gripper spherical positioning mounting base assembly (3.22) includes a spherical positioning component (3.221), a gripper mounting base (3.222), and a gripper mounting connecting seat (3.223). The spherical positioning component (3.221) includes a spherical floating support structure, which is disposed in the clamping plate base (3.21) for independent micro-float compensation and to achieve circumferential self-centering adjustment. The gripper mounting base (3.222) is fixed to the top of the spherical positioning component (3.221), and the gripper mounting connecting seat (3.223) is fixedly connected to the top of the spherical positioning component (3.221). The upper gripper (3.23) and the lower gripper (3.24) are fixedly connected to the top of the gripper mounting connecting seat (3.223).

7. The dual-spindle workpiece double-sided machining automated production line according to claim 6, characterized in that, The upper clamping claw (3.23) is provided with a first air passage and a first air blow hole (3.231) is opened on the clamping surface. The positioning block (3.251) of the axial positioning mounting plate (3.25) is provided with a vertical second air passage and a second air blow hole (3.252) is opened on its top end face. The first air passage and the second air passage are both provided with directional nozzles. The clamping plate base (3.21) is also provided with an integrated air passage and a displacement sensor. The displacement sensor is used to collect clamping stroke data. The first air passage and the second air passage are respectively connected to the integrated air passage. The dual spindle machining mechanism (3) also includes a PLC control unit, a high-pressure air source, a pressure sensor and an airtight sensor. The pressure sensor and the airtight sensor are respectively connected to the integrated air passage. The integrated air passage is connected to the high-pressure air source. The displacement sensor, the directional nozzle, the pressure sensor, the airtight sensor and the high-pressure air source are respectively electrically connected to the PLC control unit.

8. The dual-spindle workpiece double-sided machining automated production line according to claim 7, characterized in that, The raw material conveying mechanism (4) and the finished product conveying mechanism (5) are arranged laterally on the same straight line. The end of the raw material conveying mechanism (4) adjacent to the robot (6) is set as the raw material loading position (4.1), and the end of the finished product conveying mechanism (5) adjacent to the robot (6) is set as the finished product unloading position (5.1). The station conveying mechanism (7) includes a station feeding conveyor (7.1) and a station discharging conveyor (7.2). The conveyor (7.2) and the dual spindle machining mechanism (3) are arranged vertically and spaced apart and located between the two machining devices. The station feeding conveyor (7.1) has a first spindle gripping position (7.11) at the end away from the robot (6), and the station discharging conveyor (7.2) has a finished product conveying position (7.21) at the end away from the robot (6). The second spindle (3.12) drives the second ball positioning chuck device to grip the finished workpiece and place it in the finished product conveying position (7.21).

9. A control method for an automated production line for double-sided machining of workpieces with dual spindles as described in claim 8, characterized in that, The specific steps are as follows: S1. Pre-purge before loading: Before loading the unprocessed workpiece, the PLC control unit controls the high-pressure air source to turn on. The high-pressure airflow is sprayed out from the air blowing hole of the upper clamping claw (3.23) and the positioning block (3.251) of the axial positioning mounting plate (3.25) to purge. S2, workpiece loading: The unprocessed workpiece is placed on the raw material conveying mechanism (4) and conveyed to the raw material loading position (4.1). The robot (6) grabs the unprocessed workpiece and places it on the station feeding conveyor (7.1), and it is conveyed to the first spindle gripping position (7.11). S3. The first spherical positioning chuck grips the unprocessed workpiece: The first spherical positioning chuck moves with the first spindle (3.11) to the first spindle gripping position (7.11). The first spindle (3.11) descends, and the first spherical positioning chuck positions the workpiece and performs an airtightness test. If the test fails, it is purged a second time until the test passes. If the test passes, synchronous clamping and stroke verification are performed, and the verification passes, then the process jumps to step S4. S4. First surface processing of the workpiece: The first spherical positioning chuck clamps the workpiece and moves it with the first spindle (3.11) to the corresponding processing device for processing. During the processing, a micro air path is activated for purging. After the workpiece is processed, the upper clamping claw (3.23) and the lower clamping claw (3.24) open, and the displacement sensor provides feedback that the clamping claw has been released, and high-pressure purging is started. S5. Workpiece flipping: After the first side is processed, the first spindle (3.11) drives the first spherical positioning chuck and the workpiece to move above the lifting platform (2). The first spindle (3.11) falls, and the first spherical positioning chuck releases the workpiece and places it on the workpiece bearing platform (2.3). After the workpiece contacts the workpiece positioning detection piece (2.4), the first spindle (3.11) retracts, the sensor switch (2.5) is turned on, and at the same time, the two clamping components (1 .11) The workpiece is clamped, the lifting mechanism (2.1) descends to a height where the workpiece can be flipped without interference and locks, the rotating mechanism (1.2) rotates and drives the two clamping components (1.11) and the workpiece to flip 180 degrees together, the lifting mechanism (2.1) drives the workpiece support platform (2.3) to rise to the initial height, the two clamping components (1.11) place the workpiece, the workpiece is placed on the workpiece support platform (2.3), and the lifting platform (2) rises to the gripping height of the second spindle (3.12); S6. The second ball positioning chuck device grabs the unprocessed workpiece: The second spindle (3.12) drives the second ball positioning chuck device to move above the lifting platform (2). The second ball positioning chuck device positions the workpiece and performs an airtightness test. If the test fails, it is purged a second time until the test passes. If the test passes, it performs synchronous clamping and stroke verification, and then jumps to step 7 after verification. S7. Second-side machining of the workpiece: The second spherical positioning chuck clamps the workpiece and moves it to the machining device corresponding to the second spindle (3.12) for second-side machining. During the machining process, a micro-air purging is activated. After the workpiece is machined, the upper clamping jaw (3.23) and the lower clamping jaw (3.24) open. The displacement sensor provides feedback that the clamping jaw has been released, and high-pressure purging is activated. After the machining is completed, the second spindle (3.12) drives the second spherical positioning chuck to place the finished workpiece at the finished part conveying position (7.21). S8, the workstation discharge conveyor (7.2) conveys the finished part to the robot (6), the robot (6) grabs the workpiece and places it at the finished part unloading position (5.1) of the finished part conveying mechanism (5), and the finished part conveying mechanism (5) sends out the finished workpiece.

10. The control method for an automated production line for double-sided machining of workpieces with dual spindles according to claim 9, characterized in that, In steps S3 and S6, The workpiece positioning method is as follows: the unprocessed workpiece is closely fitted with the clamping surfaces of the four positioning blocks (3.251), spherical positioning component (3.221), upper clamping claw (3.23) and lower clamping claw (3.24) of the axial positioning mounting plate (3.25) of the first spherical positioning chuck device / second spherical positioning chuck device, so that the integrated airflow channel forms a sealed cavity; The airtightness test and secondary purging method is as follows: switch the air path to the test mode, and introduce compressed air at a constant pressure into the sealing cavity of the positioning surface using a high-pressure air source. The pressure sensor monitors the pressure change inside the cavity in real time. If the leakage is less than or equal to the set threshold, it is determined that there are no foreign objects on the positioning surface and the fit is good. If the leakage exceeds the standard, it is determined that there are iron filings / debris residues on the positioning surface. A second high-pressure air purging is immediately triggered. After the purging is completed, the air tightness test is performed again until the test is qualified. The synchronous clamping and stroke verification method is as follows: After the airtightness test is qualified, the clamping jaw drive device drives the upper clamping jaw (3.23) and the lower clamping jaw (3.24) to retract synchronously in the radial direction, and clamp the workpiece uniformly at multiple points; the displacement sensor collects the actual clamping stroke of the clamping jaw in real time and compares it with the preset parameters of loosened, clamped range, and over-clamped. When the stroke falls within the acceptable range: it is determined that the clamping is in place, and the processing procedure is entered, and step S6 is skipped; When the stroke is less than the minimum clamping value: insufficient clamping is determined, the equipment triggers an alarm and suspends processing; When the stroke exceeds the maximum clamping value: if the clamping is too tight, the equipment will trigger an alarm and suspend processing to prevent material deformation or damage to the clamping claws.

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