An automated machining work station for cooperative machining and threaded fastening by dual robots

Abstract

The application relates to the technical field of automation machining, and discloses an automatic machining workstation for double-robot cooperative machining and thread fastening, which comprises a bearing support assembly, a left machining and detecting tool set, a right thread fastening tool set, a tool magazine assembly, a pneumatic execution assembly and a control and wiring assembly. The left machining and detecting tool set is installed at the tail end of a left robot and is used for hole position detection, hole depth detection, top surface contact judgment, spindle machining and dust collection; the right thread fastening tool set is installed at the tail end of a right robot and is used for screw identification, grabbing, state detection, air blowing cleaning and torque tightening. The tool magazine assembly is located within the reachable range of the double robots and provides cooperation of tools, screws and special wrenches. The workstation can continuously complete machining, detection, cleaning, fastening and tool changing around the same workpiece hole position, and the repeated positioning is reduced.

Description

Technical Field

[0001] This invention belongs to the field of automated machining technology, specifically relating to an automated machining workstation for collaborative machining and thread fastening using dual robotic arms. Background Technology

[0002] In the manufacturing and assembly process of workpieces with holes, this invention typically requires identifying the hole position, confirming the hole depth or hole bottom position, and completing operations such as drilling, denting, tapping, hole cleaning, and screw tightening according to processing requirements.

[0003] In existing automated machining equipment, hole machining, hole depth detection, hole cleaning, screw gripping, torque tightening, and tool changing are usually performed separately by different workstations, different end effectors, or different auxiliary devices. When there is a lack of a unified working reference and continuous operation connection between the machining end, the detection end, the cleaning end, and the tightening end, the robot or workpiece needs to be repeatedly moved between multiple positions, which can easily lead to redundant positioning between the hole position reference, the hole depth reference, and the screw assembly reference.

[0004] Furthermore, when the same workpiece requires the use of multiple machining tools, screws of different specifications, and corresponding fastening tools, conventional equipment often relies on decentralized tool storage, feeding, and status verification methods. Whether tools remain in their storage positions after release, whether screws are correctly gripped, and whether any residue at the hole opening affects subsequent assembly are not easily confirmed in a timely manner during continuous operation, thus affecting the sequential connection between machining, cleaning, and thread tightening. Summary of the Invention

[0005] This invention overcomes the shortcomings of the prior art and provides an automated machining workstation for collaborative processing and thread fastening by two robotic arms.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows: an automated machining workstation for collaborative machining and thread fastening by dual robotic arms, comprising a load-bearing support assembly, a left-side machining and inspection tool set, a right-side thread fastening tool set, a tool magazine assembly, a pneumatic actuator assembly, and a control and wiring assembly;

[0007] The load-bearing support assembly includes a main unit base, a lifting column, a support frame, a left robotic arm, and a right robotic arm. The lifting column is installed on the main unit base, the support frame is installed on the lifting end of the lifting column, and the left and right robotic arms are respectively installed on both sides of the support frame.

[0008] The left-side machining and inspection tool set is installed at the end of the left robot and can move with the left robot to the workpiece hole area or the corresponding area of ​​the tool magazine assembly;

[0009] The right-side threaded fastening tool set is installed at the end of the right robot and can move with the right robot to the screw feeding position, the workpiece hole area, or the corresponding area of ​​the tool magazine assembly;

[0010] The tool magazine assembly is installed in the upper working area of ​​the main unit base and is within the reach of the left and right robotic arms. This allows the left machining and inspection tool set to engage with the tool magazine assembly for tool picking and placing, and the right thread fastening tool set to engage with the tool magazine assembly for screw feeding or special wrench retrieval.

[0011] The pneumatic actuator is connected to the left machining and inspection tool set, the right thread fastening tool set, and the tool magazine assembly via pneumatic pipelines.

[0012] The control and wiring components are located within the main unit base and support frame, and form a control, signal transmission and wiring relationship with the machining and inspection tool set on the left and the thread fastening tool set on the right.

[0013] Preferably, the support assembly further includes a mobile docking trolley and a main unit base. The main unit base is located at the lower part of the main unit base, and the mobile docking trolley and the main unit base form a separable support and transfer relationship.

[0014] Preferably, the left-side machining inspection tool set includes a left-side tool mount, an electric spindle assembly, a hole depth detection assembly, a workpiece top surface contact detection component, a machining dust collection assembly, and a left-side vision inspection assembly. The left-side tool mount is connected to the end of the left robot and serves as the common mounting base for the electric spindle assembly, the hole depth detection assembly, the workpiece top surface contact detection component, the machining dust collection assembly, and the left-side vision inspection assembly.

[0015] Preferably, the electric spindle assembly includes a spindle mounting bracket, an electric spindle body, and a spindle tool connection end. The spindle mounting bracket is fixed to the left tool mounting seat, the electric spindle body is fixed to the spindle mounting bracket, and the spindle tool connection end is located at the machining end of the electric spindle body and faces the workpiece machining area.

[0016] Preferably, the hole depth detection assembly includes a probe guide seat, a hole depth detection probe, a probe telescopic drive, and a displacement detection component. The probe guide seat is connected to the left tool mounting seat. The hole depth detection probe is slidably disposed on the probe guide seat in a direction close to or away from the bottom of the workpiece hole. The probe telescopic drive is connected to the hole depth detection probe in a transmission connection. The displacement detection component cooperates with the hole depth detection probe.

[0017] The workpiece top surface contact detection component is located on the left tool mounting base near the top surface of the workpiece, and it corresponds to the hole depth detection component in the vertical detection direction.

[0018] Preferably, the machining dust collection component includes a detachable dust collection hood and a dust collection interface. The detachable dust collection hood is located in the vicinity of the spindle tool connection end, and the dust collection interface is connected to the detachable dust collection hood.

[0019] Preferably, the right-side threaded fastening tool set includes a right-side tool mounting base, a torque tightening assembly, an air cleaning assembly, a multi-specification screw pneumatic clamping assembly, a screw status detection assembly, and a right-side vision inspection assembly. The right-side tool mounting base is connected to the end of the right robot arm and serves as the common mounting base for the torque tightening assembly, the air cleaning assembly, the multi-specification screw pneumatic clamping assembly, the screw status detection assembly, and the right-side vision inspection assembly.

[0020] Preferably, the torque tightening assembly includes a torque wrench body and a tightening output end, the torque wrench body is fixed to the right tool mounting base, and the tightening output end is located at the working end of the torque wrench body;

[0021] The air-blowing cleaning assembly includes an air-blowing telescopic drive and an air-blowing nozzle. The air-blowing telescopic drive is mounted on the right-side tool mounting base, and the air-blowing nozzle is connected to the output end of the air-blowing telescopic drive and faces the workpiece hole area corresponding to the tightening output end.

[0022] Preferably, the multi-specification screw pneumatic clamping assembly includes a clamping mounting base, a pneumatic gripper, and a gripper extension drive. The clamping mounting base is connected to the right-side tool mounting base, the pneumatic gripper is mounted on the clamping mounting base and can open and close to clamp the screw, and the gripper extension drive is connected to the pneumatic gripper.

[0023] The screw status detection component includes an open / closed status detection switch and a screw position detection switch. The open / closed status detection switch is located at the open / closed stroke position of the pneumatic gripper, and the screw position detection switch is located in or near the gripping area of ​​the pneumatic gripper.

[0024] Preferably, the tool magazine assembly includes a tool magazine base, a tool magazine top plate, a multi-specification tool storage section, a screw feeding section, a tool loading mating section, a tool releasing section, an anti-slip clamping section, and a tool position status recognition section. The tool magazine base is installed on the main unit base, and the tool magazine top plate is disposed on the tool magazine base.

[0025] The multi-specification tool storage section includes drill bit slots, spindle tool holders, drill tools, tap slots, tap tools, wrench slots, and special wrenches;

[0026] The screw feeding section includes a screw tray and multiple screw positioning holes;

[0027] The tool loading mating part includes a tool loading station hole, and the tool releasing part includes a tool releasing station hole, a sleeve connecting seat and a release sleeve. The tool releasing station hole and the tool loading station hole are arranged at intervals.

[0028] The anti-slip clamping part includes a finger cylinder and a tool holder for clamping fingers. The tool holder for clamping fingers is connected to the output end of the finger cylinder and can clamp the main spindle-mounted tool holder from the radial side of the main spindle-mounted tool holder.

[0029] The tool position status identification unit includes a tool position number identifier and a tool position sensor switch.

[0030] This invention addresses the shortcomings of the prior art and has the following beneficial effects:

[0031] The supporting components, left-side machining and inspection tool set, right-side thread fastening tool set, tool magazine assembly, pneumatic actuator assembly, and control and wiring assembly are integrated into a single automated machining workstation. These components are mounted on the end effectors of the left and right robotic arms and are within their common reach, enabling continuous completion of hole machining, screw assembly, tool handling, and screw feeding at the same station. Utilizing the coordinated movement of the lifting column, support frame, and dual robotic arms, the system achieves integrated machining, inspection, cleaning, fastening, and tool changing around workpiece holes, reducing repetitive positioning.

[0032] The left-side machining and inspection toolset integrates the electric spindle assembly, hole depth detection assembly, workpiece top surface contact detection component, machining dust collection assembly, and left-side vision inspection assembly into the left-side tool mount, achieving integrated hole position detection, hole depth detection, top surface judgment, spindle machining, and dust collection. Hole depth detection and top surface detection establish a correspondence to determine the positions of the hole bottom and top surface; the electric spindle performs machining based on the same mounting reference; the dust collection hood is located near the tool connection end, enabling synchronous dust collection in the machining area.

[0033] The right-side threaded fastening tool set integrates a torque tightening component, an air-blowing cleaning component, a multi-size screw pneumatic clamping component, a screw status detection component, and a right-side vision inspection component into the right-side tool mounting base, enabling continuous operation of screw identification, gripping, status detection, hole cleaning, and tightening. The pneumatic grippers, combined with opening / closing status detection and screw positioning detection, improve gripping reliability; the air nozzles are correspondingly arranged with the tightening end, achieving spatial matching between cleaning and tightening.

[0034] The tool magazine assembly includes a multi-specification tool storage section, a screw feeding section, a tool loading and unloading section, a tool release section, an anti-slip clamping section, and a tool position status recognition section, integrating tool and screw storage, feeding, loading, unloading, and status recognition. The tool loading and unloading positions are structurally distinct; the release sleeve engages with the clamping fingers to release and hold the tool holder; and the tool position number corresponds to a sensor switch, enabling tool position and tool status recognition.

[0035] The tool magazine assembly is located within the shared reach of both robotic arms, enabling the left-side machining and inspection tool set, the right-side thread-fastening tool set, and the tool magazine assembly to work collaboratively around the same workpiece hole. The left side completes the tool change and hole machining process, while the right side completes the screw gripping and tightening process. The tool release unit and the anti-slip clamping unit work together to maintain the tool holder position, thus forming a continuous work chain of tool supply, hole machining, hole cleaning, and thread fastening. Attached Figure Description

[0036] Other features, objects, and advantages of the invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0037] Figure 1 This is a rear view of an automated machining workstation that uses two robotic arms for collaborative machining and thread fastening.

[0038] Figure 2 This is a top view of an automated machining workstation that uses two robotic arms for collaborative machining and thread fastening.

[0039] Figure 3 This is a structural diagram of the processing and inspection toolset on the left.

[0040] Figure 4 This is a schematic diagram of the right-side threaded fastening tool set;

[0041] In the diagram: 1. Bearing support assembly; 11. Main unit base; 12. Lifting column; 13. Support frame; 14. Left robot arm; 15. Right robot arm; 16. Moving docking trolley; 17. Main unit foot; 2. Left side machining and inspection tool set; 21. Left side tool mounting base; 22. Electric spindle assembly; 23. Hole depth detection assembly; 24. Workpiece top surface contact detection component; 25. Machining dust extraction assembly; 26. Left side vision inspection assembly; 27. Left side terminal box; 3. Right side thread fastening tool set; 31. Right side tool mounting base; 32. Torque... 33. Torque tightening assembly; 34. Air blowing cleaning assembly; 35. Multi-specification screw pneumatic clamping assembly; 36. Screw status detection assembly; 37. Right-side vision inspection assembly; 48. Right-side terminal box; 49. Tool magazine assembly; 40. Tool magazine base; 41. Tool magazine top plate; 42. Multi-specification tool storage section; 43. Screw feeding section; 44. Tool loading mating section; 45. Tool loading station hole; 46. Tool release section; 47. Anti-slip clamping section; 48. Tool position status recognition section; 5. Pneumatic actuation assembly; 69. Control and wiring assembly; 60. Cable bundle. Detailed Implementation

[0042] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0043] Example 1:

[0044] In automated machining and thread tightening operations on workpieces with holes, when machining, hole depth detection, hole cleaning, screw gripping, torque tightening, and tool changing rely on different stations or different end tools, the robot arm needs to switch between multiple tools or stations. This can easily lead to redundant positioning between the hole position reference, hole depth reference, and screw assembly reference. For situations where drilling, scouring, tapping, cleaning, and screw tightening are required simultaneously, a single machining end or a single clamping end cannot easily form a continuous working relationship around the same workpiece hole.

[0045] This embodiment provides, as follows: Figure 1 and Figure 2 The automated machining workstation shown, featuring dual robotic arms for collaborative machining and thread tightening, includes a support assembly 1, a left-side machining and inspection tool set 2, a right-side thread tightening tool set 3, a tool magazine assembly 4, a pneumatic actuator assembly 5, and a control and wiring assembly 6. The left-side machining and inspection tool set 2 handles hole machining-related actions, the right-side thread tightening tool set 3 handles screw assembly-related actions, the tool magazine assembly 4 provides machining tools, taps, special wrenches, and screw feeding conditions, the pneumatic actuator assembly 5 provides pneumatic actuation conditions to structures requiring pneumatic action, and the control and wiring assembly 6 provides control, signal transmission, and wiring paths for the inspection components, actuators, and display / operation components.

[0046] The support assembly 1 includes a main unit base 11, a lifting column 12, a support frame 13, a left robotic arm 14, a right robotic arm 15, a mobile docking trolley 16, and a main unit base 17. The main unit base 17 is located at the lower part of the main unit base 11. The lifting column 12 is mounted on the main unit base 11, and the support frame 13 is mounted on the lifting end of the lifting column 12, allowing the support frame 13 to adjust its vertical position relative to the main unit base 11 as the lifting column 12 moves. The left robotic arm 14 and the right robotic arm 15 are respectively mounted on both sides of the support frame 13, giving them independent end-effector movement spaces. The mobile docking trolley 16 serves as an auxiliary moving structure, forming a separable support and transport relationship with the main unit base 11.

[0047] The left-side machining and inspection tool set 2 is installed at the end of the left robot arm 14 and moves with the left robot arm 14 to the workpiece hole area or the corresponding area of ​​the tool magazine assembly 4. The right-side thread fastening tool set 3 is installed at the end of the right robot arm 15 and moves with the right robot arm 15 to the screw feeding position, the workpiece hole area, or the corresponding area of ​​the tool magazine assembly 4. The tool magazine assembly 4 is installed in the upper working area of ​​the main unit base 11. The tool magazine assembly 4 is within the reach of the left robot arm 14 and the right robot arm 15, enabling the left-side machining and inspection tool set 2 to engage with the tool magazine assembly 4 for tool picking and placing, and enabling the right-side thread fastening tool set 3 to engage with the tool magazine assembly 4 for screw feeding or special wrench retrieval.

[0048] The pneumatic actuator 5 is installed within the main unit base 11 or in the pneumatic mounting area of ​​the main unit base 11. The pneumatic actuator 5 is connected via pneumatic pipelines to the pneumatically driven components in the left machining and inspection tool set 2, the right threaded fastening tool set 3, and the tool magazine assembly 4, enabling these components to obtain the corresponding pneumatic actuation conditions. The control and wiring assembly 6 is installed within the main unit base 11 and the support frame 13. The controller unit in the control and wiring assembly 6 connects to the actuators and inspection components in the workstation. The cable bundle 62 and cable chain are used to introduce the cables from the left machining and inspection tool set 2 and the right threaded fastening tool set 3 into the controller unit, and to ensure that the relevant cables can adapt to the movements of the left robot arm 14 and the right robot arm 15.

[0049] During hole machining, the left robot arm 14 moves the left machining and inspection tool set 2 to the workpiece hole area. The left machining and inspection tool set 2, at the end position of the left robot arm 14, inspects, probes, processes, and vacuums the hole. When a tool change is required, the left robot arm 14 moves the left machining and inspection tool set 2 to the corresponding position of the tool magazine assembly 4. The left machining and inspection tool set 2 cooperates with the tool magazine assembly 4 to transfer the machining tool between the left machining and inspection tool set 2 and the tool magazine assembly 4.

[0050] During thread tightening, the right robotic arm 15 moves the right-side thread tightening tool set 3 to the screw feeding position or the workpiece hole area. At the end position of the right robotic arm 15, the right-side thread tightening tool set 3 grips the screw, performs status detection, blows air into the hole, and tightens the torque. When the right-side thread tightening tool set 3 needs to accommodate screws of different specifications, it cooperates with the screw feeding section 44 in the tool magazine assembly 4 and a dedicated wrench to complete the feeding and tightening of screws of the corresponding specifications.

[0051] During the coordinated operation of the left-side machining and inspection tool set 2, the right-side thread fastening tool set 3, and the tool magazine assembly 4, the lifting column 12 drives the support frame 13, the left robot arm 14, and the right robot arm 15 to adjust their vertical positions as a whole. This allows the left-side machining and inspection tool set 2 and the right-side thread fastening tool set 3 to adjust their height relative to the workpiece hole area or the tool magazine assembly 4. The pneumatic actuator assembly 5 provides driving force for probe extension and retraction, gripper opening and closing, air blowing extension and retraction, and tool holder clamping. The control and wiring assembly 6 provides control and signal transmission paths for the actuators and inspection components.

[0052] In this embodiment, the left-side machining and inspection tool set 2, the right-side thread fastening tool set 3, and the tool magazine assembly 4 are arranged in the same automated machining workstation. The left-side machining and inspection tool set 2 performs machining and inspection related actions around the workpiece hole, and the right-side thread fastening tool set 3 performs thread fastening related actions around the workpiece hole. The tool magazine assembly 4 provides tool supply and screw feeding conditions for the left-side machining and inspection tool set 2 and the right-side thread fastening tool set 3. The pneumatic actuator assembly 5 and the control and wiring assembly 6 provide the pneumatic, control, and wiring foundation for the corresponding working processes, enabling machining, inspection, cleaning, fastening, and tool changing to be performed continuously around the same workpiece hole.

[0053] Example 2:

[0054] Based on the automated machining workstation described in Example 1, the machining inspection toolset 2 on the left is used to handle the continuous operation relationship between hole position detection, hole depth detection, workpiece top surface contact judgment, spindle machining, and machining dust removal. When only a single electric spindle is configured at the machining end, hole position identification, hole depth confirmation, workpiece top surface contact judgment, and machining dust removal usually need to rely on external detection devices or independent cleaning structures. The detection reference and the machining reference are not mounted on the same end base, which easily leads to the need for additional coordinate transformation to determine the hole position status, hole bottom position, and workpiece top surface position before and after electric spindle machining. Furthermore, machining debris can easily affect hole depth detection and subsequent assembly.

[0055] To reduce repetitive positioning caused by the dispersion of functions at the processing end, this embodiment sets a left-side processing and inspection tool set 2 at the end of the left robot arm 14. The left-side processing and inspection tool set 2 is as follows: Figure 3 As shown, the assembly includes a left tool mount 21, an electric spindle assembly 22, a hole depth detection assembly 23, a workpiece top surface contact detection component 24, a machining dust collection assembly 25, a left vision inspection assembly 26, and a left terminal box 27. The left tool mount 21 is connected to the end of the left robot arm 14 and serves as a common mounting base for the electric spindle assembly 22, the hole depth detection assembly 23, the workpiece top surface contact detection component 24, the machining dust collection assembly 25, and the left vision inspection assembly 26, thus establishing a fixed relative positional relationship between the various detection, probing, machining, and dust collection components.

[0056] The electric spindle assembly 22 is mounted on the left tool mount 21. The electric spindle assembly 22 includes a spindle mounting bracket, an electric spindle body, and a spindle tool connection end. The spindle mounting bracket is fixed to the left tool mount 21, the electric spindle body is fixed to the spindle mounting bracket, and the spindle tool connection end is located at the machining end of the electric spindle body, facing the workpiece machining area. The spindle mounting bracket forms a supporting connection between the left tool mount 21 and the electric spindle body, enabling the electric spindle body to drive the machining tool to rotate around the workpiece hole via the spindle tool connection end.

[0057] The hole depth detection assembly 23 is disposed on one side of the electric spindle assembly 22. The hole depth detection assembly 23 includes a probe guide seat, a hole depth detection probe, a probe extension / retraction drive, and a displacement detection element. The probe guide seat is connected to the left-side tool mount 21. The hole depth detection probe is slidably disposed on the probe guide seat in a direction approaching or away from the bottom of the workpiece hole, and the probe guide seat restricts the extension / retraction direction of the hole depth detection probe. The probe extension / retraction drive is drively connected to the hole depth detection probe and is used to drive the hole depth detection probe to extend or retract relative to the probe guide seat. The displacement detection element cooperates with the hole depth detection probe and is used to detect the extension displacement of the hole depth detection probe. Through the guiding constraint of the probe guide seat, the hole depth detection probe can enter the workpiece hole along a predetermined detection direction during extension, and hole depth detection displacement information is generated by the displacement detection element.

[0058] The workpiece top surface contact detection element 24 is disposed on the left tool mounting base 21 near the top surface of the workpiece, and corresponds to the hole depth detection assembly 23 in the vertical detection direction. The workpiece top surface contact detection element 24 is used to contact the top surface of the workpiece when the left machining detection tool set 2 approaches the workpiece, thereby providing the workpiece top surface contact status. The hole depth detection probe is used to contact the bottom of the workpiece hole, and the workpiece top surface contact detection element 24 is used to contact the top surface of the workpiece. The hole depth detection probe and the workpiece top surface contact detection element 24 together define the relative positional relationship between the bottom of the workpiece hole and the top surface of the workpiece.

[0059] The machining dust collection assembly 25 is located near the machining end of the electric spindle assembly 22. The machining dust collection assembly 25 includes a detachable dust collection hood and a dust collection interface. The detachable dust collection hood is located in the vicinity of the spindle tool connection end, and the dust collection interface communicates with the detachable dust collection hood. The detachable dust collection hood forms a dust collection area around the machining area corresponding to the spindle tool connection end, allowing debris or dust generated during machining by the electric spindle body driving the machining tool to be discharged through the detachable dust collection hood and the dust collection interface.

[0060] The left-side vision inspection component 26 is positioned at the outer observation position of the left-side tool mount 21. The left-side vision inspection component 26 includes a left-side 3D line laser inspection element, a left-side 3D vision camera, and a left-side depth vision camera. The detection directions of the left-side 3D line laser inspection element, the left-side 3D vision camera, and the left-side depth vision camera are all directed towards the workpiece working area corresponding to the electric spindle assembly 22 or the hole depth detection component 23, enabling the left-side vision inspection component 26 to inspect the workpiece surface and hole areas. A left-side terminal box 27 is mounted on the left-side tool mount 21, and the cables for the left-side vision inspection component 26, the displacement detection element, and the workpiece top surface contact detection element 24 are connected to the left-side terminal box 27. A left-side tool clearance space is formed on the side of the left-side tool mount 21 closest to the workpiece, ensuring that the hole depth detection probe, the spindle tool connection end, and the detachable dust extraction hood maintain a clearance relationship when approaching the workpiece.

[0061] The probe telescopic drive is connected to the directional control valve assembly via a pneumatic pipeline. When it is necessary to control the probe's downward pressure, the proportional pressure regulator and pressure sensor cooperate with the air supply channel of the probe telescopic drive. The exhaust throttling speed regulator is located on the exhaust side of the probe telescopic drive and is used to limit the speed at which the depth-detecting probe extends or retracts relative to the probe guide seat. The directional control valve assembly is used to switch the inlet and outlet directions of the probe telescopic drive. The proportional pressure regulator and pressure sensor cooperate to adjust and detect the air supply pressure of the probe telescopic drive, and the exhaust throttling speed regulator is used to create a telescopic speed constraint by limiting the exhaust flow.

[0062] During hole position detection, the left robotic arm 14 drives the left machining and inspection tool set 2 to approach the workpiece. The left 3D line laser inspection component, the left 3D vision camera, and the left depth vision camera inspect the workpiece surface and hole position area. After the left vision inspection component 26 completes the hole position detection, the probe extension drive component drives the hole depth detection probe to extend along the probe guide seat. The hole depth detection probe enters the hole and contacts the bottom of the hole. The displacement detection component detects the extension displacement of the hole depth detection probe.

[0063] During the top surface contact process, the workpiece top surface contact detection element 24 contacts the top surface of the workpiece, providing the top surface contact status. The hole depth probe contacts the bottom of the hole to form hole bottom position information, and the workpiece top surface contact detection element 24 contacts the top surface of the workpiece to form top surface position information. The left tool mounting base 21 maintains a fixed installation relationship between the hole depth probe and the workpiece top surface contact detection element 24, thereby allowing the relative positional relationship between the bottom of the hole and the top surface of the workpiece to be determined within the same left-side machining and inspection tool set 2.

[0064] During hole machining, the electric spindle body drives the tool mounted on the spindle tool connection end to perform hole machining. The electric spindle assembly 22, hole depth detection assembly 23, and workpiece top surface contact detection component 24 are all mounted on the left tool mounting base 21, allowing the machining position of the spindle tool connection end to be determined based on the hole position detection, hole depth detection, and top surface contact results under the same end mounting base. During machining, a detachable dust extraction hood is located near the machining area, and debris or dust is discharged through the detachable dust extraction hood and dust extraction interface. The left tool clearance space creates space clearance when the hole depth detection probe extends, the spindle tool connection end approaches the workpiece, and the detachable dust extraction hood approaches the machining area, allowing multiple functional components in the left machining detection tool set 2 to work around the same hole position without interfering with each other.

[0065] In this embodiment, the left-side machining and inspection tool set 2 can complete hole position visual inspection, hole depth detection, workpiece top surface contact judgment, spindle machining, and dust collection within the same end area of ​​the left robot arm 14. The hole depth detection probe, workpiece top surface contact detection component 24, and electric spindle assembly 22 are all mounted on the left-side tool mounting base 21, ensuring a fixed structural relationship between the detection reference and the machining reference, reducing repetitive positioning caused by tool dispersion. The detachable dust collection hood is arranged near the spindle tool connection end, allowing the machining dust collection assembly 25 to directly correspond to the machining area for dust collection.

[0066] Example 3:

[0067] Based on the automated machining workstation described in Example 1, the right-side thread fastening tool set 3 is used to handle the continuous operation relationship between screw identification, screw gripping, gripping status detection, hole cleaning with air blowing, and torque tightening. When screw gripping, hole cleaning, and torque tightening are performed by different end tools, the right robot arm 15 needs to switch between the clamping tool, the air blowing tool, and the tightening tool. For multi-specification screws, the opening and closing state of the clamping structure cannot directly prove that the screw has been correctly gripped, nor can it determine whether the screw is in a suitable position for tightening; debris at the hole opening or residue inside the hole may also affect the screw insertion and torque tightening status.

[0068] To ensure that screw gripping, gripping status confirmation, hole cleaning, and torque tightening can be completed continuously within the same end-effector tool set, this embodiment includes a right-side thread-fastening tool set 3 at the end of the right robotic arm 15. The right-side thread-fastening tool set 3 is as follows: Figure 4As shown, the assembly includes a right-side tool mounting base 31, a torque tightening assembly 32, an air-blowing cleaning assembly 33, a multi-specification screw pneumatic clamping assembly 34, a screw status detection assembly, a right-side vision inspection assembly 36, and a right-side terminal box 37. The right-side tool mounting base 31 is connected to the end of the right robot arm 15 and serves as a common mounting base for the torque tightening assembly 32, the air-blowing cleaning assembly 33, the multi-specification screw pneumatic clamping assembly 34, the screw status detection assembly, and the right-side vision inspection assembly 36, thus establishing a fixed relative positional relationship between the clamping, inspection, air-blowing, and tightening components.

[0069] The torque tightening assembly 32 is mounted on the right-side tool mounting base 31. The torque tightening assembly 32 includes a torque wrench body and a tightening output end. The torque wrench body is fixed to the right-side tool mounting base 31, and the tightening output end is located at the working end of the torque wrench body, facing the screw tightening area. The right-side tool mounting base 31 forms a supporting connection between the right robotic arm 15 and the torque wrench body, allowing the torque wrench body to apply rotational torque to the screw or corresponding dedicated wrench through the tightening output end.

[0070] The air-blowing cleaning assembly 33 is positioned on the right-side tool mounting base 31 near the tightening output end. The air-blowing cleaning assembly 33 includes an air-blowing telescopic drive and an air-blowing nozzle. The air-blowing telescopic drive is mounted on the right-side tool mounting base 31, and the air-blowing nozzle is connected to the output end of the air-blowing telescopic drive and faces the workpiece hole area corresponding to the tightening output end. The air-blowing telescopic drive is used to move the air-blowing nozzle closer to or further away from the workpiece hole area, and the air-blowing nozzle is used to output a cleaning airflow to the workpiece hole or orifice area.

[0071] A multi-specification screw pneumatic clamping assembly 34 is positioned on the right-side tool mounting base 31 near the tightening output end. The multi-specification screw pneumatic clamping assembly 34 includes a clamping mounting base, pneumatic jaws, and a jaw extension drive. The clamping mounting base is connected to the right-side tool mounting base 31, and the pneumatic jaws are mounted on the clamping mounting base and capable of opening and closing to clamp screws. The jaw extension drive is connected to the pneumatic jaws and is used to move the pneumatic jaws closer to or further away from the screw gripping position. The clamping mounting base forms a mounting support relationship between the right-side tool mounting base 31 and the pneumatic jaws. The pneumatic jaws, through their opening and closing movements, form clamping contact with screws of different diameters or specifications. The jaw extension drive, through its extension and retraction movements, changes the distance of the pneumatic jaws relative to the screw gripping position.

[0072] A screw status detection component is mounted on the multi-specification screw pneumatic clamping assembly 34. The screw status detection component includes an open / closed state detection switch and a screw position detection switch. The open / closed state detection switch is located at the opening and closing stroke position of the pneumatic gripper to detect the open and closed states of the pneumatic gripper. The screw position detection switch is located in or near the clamping area of ​​the pneumatic gripper to detect whether the screw has been gripped by the pneumatic gripper. Multiple sets of open / closed state detection switches and screw position detection switches can be configured to accommodate the gripping status detection of screws of different diameters. The open / closed state detection switch reflects the mechanical opening and closing position of the pneumatic gripper, while the screw position detection switch reflects the position of the screw relative to the pneumatic gripper, allowing the gripper's movement state and the screw's presence state to be detected separately.

[0073] The right-side vision inspection component 36 is positioned at the outer observation position of the right-side tool mounting base 31. The right-side vision inspection component 36 includes a right-side 3D line laser inspection element, a right-side 3D vision camera, and a right-side depth vision camera. The inspection directions of the right-side 3D line laser inspection element, the right-side 3D vision camera, and the right-side depth vision camera are directed towards the screw feeding position or workpiece hole area, enabling the right-side vision inspection component 36 to inspect the screw position, screw feeding area, or workpiece hole area. A right-side terminal box 37 is mounted on the right-side tool mounting base 31, and the cables for the right-side vision inspection component 36 and the screw status detection component are connected to the right-side terminal box 37. A right-side tool clearance space is formed on the side of the right-side tool mounting base 31 closest to the workpiece, ensuring that the air nozzle, pneumatic gripper, and tightening output end maintain a clearance relationship when approaching the hole.

[0074] The air-blowing telescopic actuator, the gripper extension actuator, and the pneumatic gripper are each connected to the directional control valve assembly via pneumatic pipelines. An exhaust throttling speed regulator is located on the exhaust side of the corresponding pneumatic actuator to limit the operating speed of the air-blowing nozzle and the pneumatic gripper. The directional control valve assembly is used to switch the air intake and exhaust directions of the air-blowing telescopic actuator, the gripper extension actuator, and the pneumatic gripper. The exhaust throttling speed regulator is used to constrain the extension or opening / closing speed by limiting the exhaust flow, ensuring controlled movement of the air-blowing nozzle and the pneumatic gripper when approaching workpiece holes or screw gripping positions.

[0075] During screw gripping, the right robotic arm 15 moves the right-side threaded fastening tool set 3 to the screw feeding position. The right-side 3D line laser detector, right-side 3D vision camera, and right-side depth vision camera detect the screw's position. The gripper extension drive moves the pneumatic gripper closer to the screw, opening and clamping it. An open / closed state detection switch detects the open / closed state of the pneumatic gripper, while a screw positioning detection switch detects whether the screw is in the gripping position of the pneumatic gripper. Through the coordination of the open / closed state detection switch and the screw positioning detection switch, the right-side threaded fastening tool set 3 can obtain information on the open / closed state of the pneumatic gripper and the screw positioning status, respectively.

[0076] During the hole cleaning process, the right robotic arm 15 moves the right-side threaded fastening tool set 3, which already holds the screw, to the workpiece hole area. The air-blowing extension drive drives the air-blowing nozzle to approach the hole, and the air-blowing nozzle blows air into the hole or hole opening area. The clearance space on the right side ensures that the air-blowing nozzle does not interfere with the pneumatic gripper and tightening output end when it extends, and the air-blowing nozzle can perform air-blowing cleaning near the workpiece hole area corresponding to the tightening output end.

[0077] During torque tightening, the tightening output end engages with the screw or a corresponding dedicated wrench, and the torque wrench body applies rotational torque to the screw through the tightening output end. The pneumatic gripper can hold the screw in position before it is inserted, or release it after engagement at the tightening output end. The release timing of the pneumatic gripper is set according to the screw structure and tightening conditions. The tool mounting base 31 on the right side maintains a fixed spatial relationship between the air nozzle, the pneumatic gripper, and the tightening output end, allowing hole cleaning, screw position holding, and torque tightening to be completed sequentially within the same end area of ​​the right-side threaded fastening tool set 3.

[0078] In this embodiment, the right-side threaded fastening tool set 3 can complete screw identification, screw gripping, gripping status detection, hole cleaning with air blowing, and torque tightening within the same end area of ​​the right robotic arm 15. The open / closed status detection switch and the screw positioning detection switch correspond to the open / closed state of the pneumatic gripper and the screw positioning state, respectively, reducing the uncertainty of judging the screw gripping result solely by the closure of the pneumatic gripper. The air blowing nozzle is arranged adjacent to the tightening output end, ensuring a fixed spatial fit between hole cleaning and torque tightening.

[0079] Example 4:

[0080] Based on the automated machining workstation described in Example 1, the tool magazine assembly 4 is used to handle the coordination between the storage, supply, loading, unloading, and tool position identification of machining tools, taps, special wrenches, and screws. A typical tool magazine primarily stores tools. When loading and unloading tools rely on the same hole position or the same action path, the locking and releasing states of the spindle-mounted tool holder are not easily distinguishable through mechanical structures. After the spindle-mounted tool holder is released, it may be carried away from the tool magazine due to friction, jamming, or incomplete opening of the locking structure during spindle retraction. For workstations that simultaneously require drills, taps, and special wrenches, relying solely on manual recording of tool position status increases uncertainty during tool retrieval and placement.

[0081] To ensure that the tool magazine assembly 4 simultaneously meets the requirements of tool storage, screw feeding, tool loading, tool loosening, and retention after release, this embodiment includes a tool magazine assembly 4. The tool magazine assembly 4 is as follows: Figure 2As shown, the system includes a tool magazine base 41, a tool magazine top plate 42, a multi-specification tool storage section 43, a screw feeding section 44, a tool loading mating section 45, a tool release section 46, an anti-slip clamping section, and a tool position status recognition section. The tool magazine base 41 is mounted on the main unit base 11 and is located within the reach of the left robot arm 14 and the right robot arm 15. The tool magazine top plate 42 is disposed on the tool magazine base 41 and serves to support the multi-specification tool storage section 43, the screw feeding section 44, the tool loading mating section 45, and the tool release section 46, ensuring that each storage position, feeding position, tool loading position, and tool release position forms a fixed spatial relationship with respect to the tool magazine base 41.

[0082] A multi-specification tool storage section 43 is located on the top plate 42 of the tool magazine. The multi-specification tool storage section 43 includes a drill bit holder, a spindle-mounted tool holder, drill tools, a tap holder, tap tools, a wrench holder, and a special wrench. The drill bit holder is used to position the spindle-mounted tool holder, and the drill tools are connected to the spindle-mounted tool holder, allowing the drill tools to be assembled with the spindle tool connection end via the spindle-mounted tool holder. The tap holder is used to store tap tools, allowing them to be retrieved from the left-side machining and inspection tool set 2 when tapping is required. The wrench holder is used to store special wrenches, allowing them to be retrieved from the right-side threaded fastening tool set 3 when a suitable screw specification is needed.

[0083] The screw feeding unit 44 is located in the central area of ​​the tool magazine top plate 42 or the feeding area of ​​the tool magazine base 41. The screw feeding unit 44 includes a screw tray and multiple screw positioning holes. The screw positioning holes are located on the screw tray and are used to position and place screws, allowing the right-side threaded fastening tool set 3 to grab screws at a defined position on the screw tray. The screw tray and the multi-specification tool storage unit 43 are jointly located within the tool magazine assembly 4, enabling the tool magazine assembly 4 to simultaneously provide machining tools to the left-side machining and inspection tool set 2 and provide screw feeding conditions to the right-side threaded fastening tool set 3.

[0084] A tool mounting engagement part 45 is disposed on the tool magazine top plate 42. The tool mounting engagement part 45 includes a tool mounting station hole. The tool mounting station hole is used for aligning the spindle tool connecting end with the spindle matching tool holder to form a tool mounting engagement. The tool mounting station hole forms a positioning channel on the tool magazine top plate 42 for the spindle tool connecting end to approach the spindle matching tool holder, so that the electric spindle assembly 22 can approach the spindle matching tool holder at a predetermined position and put the spindle matching tool holder into the locking position of the spindle tool connecting end.

[0085] A tool release unit 46 is disposed on the top plate 42 of the tool magazine and spaced apart from the tool loading mating part 45. The tool release unit 46 includes a tool release station hole, a sleeve connecting seat, and a release sleeve. The diameter or mating size of the tool release station hole differs from that of the tool loading station hole, resulting in different hole positions on the top plate 42 for the tool loading and tool release actions. The sleeve connecting seat is disposed at the corresponding position of the tool release station hole, and the release sleeve is slidably fitted onto the sleeve connecting seat. The release sleeve can move vertically relative to the sleeve connecting seat, causing the spindle-mounted tool holder to be subjected to vertical pushing action by the release sleeve at the corresponding position of the tool release station hole, thereby triggering the release action of the spindle-mounted tool holder.

[0086] An anti-slip clamping part is located on the side or bottom of the tool release part 46. The anti-slip clamping part includes a finger cylinder and a tool holder clamping finger. The finger cylinder is installed in a mounting position below the tool magazine base 41 or the tool magazine top plate 42. The tool holder clamping finger is connected to the output end of the finger cylinder and can clamp the spindle-mounted tool holder from the radial side. The finger cylinder drives the tool holder clamping finger to open and close. When the tool holder clamping finger is closed, it forms a radial clamping force on the spindle-mounted tool holder, ensuring that the spindle-mounted tool holder is held in the corresponding area of ​​the tool release part 46 after release.

[0087] A tool position status identification unit is installed in the corresponding tool position area of ​​the multi-specification tool storage section 43. The tool position status identification unit includes a tool position number identifier and a tool position sensor switch. The tool position number identifier is set for each drill bit position, tap position, and wrench position, enabling different tool positions to have a corresponding numbering relationship. The tool position sensor switch is installed at at least some or key tool positions to detect the presence status of the tool at the corresponding tool position. The tool position number identifier is used to establish the correspondence between tool position and tool type, and the tool position sensor switch is used to generate detection information indicating whether the tool is in place.

[0088] The finger cylinder is connected to the directional control valve assembly via pneumatic tubing. When the clamping speed needs to be controlled, an exhaust throttling speed regulator is located on the exhaust side of the finger cylinder. The directional control valve assembly is used to switch the intake and exhaust directions of the finger cylinder, allowing the tool holder clamping finger to open or close. The exhaust throttling speed regulator limits the exhaust flow of the finger cylinder, creating a clamping speed constraint that allows the tool holder clamping finger to approach and clamp the spindle-mounted tool holder at a controlled speed.

[0089] During the tool loading process, the left robot arm 14 moves the electric spindle assembly 22 to the corresponding area of ​​the tool loading station hole, aligning the spindle tool connection end with the spindle tool holder. The electric spindle assembly 22 performs a vertical approach motion relative to the spindle tool holder, causing the spindle tool holder to enter the spindle tool connection end and form a locking fit. The tool loading station hole is used to define the alignment position between the spindle tool connection end and the spindle tool holder, allowing the spindle tool holder to enter the spindle tool connection end along a predetermined tool loading path.

[0090] During the tool release process, the left robotic arm 14 moves the electric spindle assembly 22, which is equipped with the spindle tool holder, to the corresponding area of ​​the tool release station hole. The spindle tool holder aligns with the release sleeve, and a vertical relative movement occurs between the electric spindle assembly 22 and the tool release part 46. The release sleeve moves upward along the sleeve connecting seat and triggers the release of the spindle tool holder. When the spindle tool holder is in the released state, the finger cylinder drives the tool holder clamping fingers to close, clamping the spindle tool holder from the radial side. When the spindle tool connection end disengages from the spindle tool holder, the tool holder clamping fingers retain the spindle tool holder within the tool magazine assembly 4.

[0091] During tool status identification, tool position numbers establish a correspondence between each tool position, and tool position sensors detect the presence of tools in some or critical tool positions. The controller unit can combine the tool position information corresponding to the tool position number and the detection information from the tool position sensors to record or display the tool position status of the tool magazine component 4, enabling the storage status of drills, taps, and special wrenches to establish a correspondence with their tool positions.

[0092] In this embodiment, the tool loading and unloading positions are structurally distinguished by their different locations, enabling the tool loading and unloading actions. The vertical sliding fit between the release sleeve and the sleeve connecting seat allows the spindle tool holder to be mechanically released at the corresponding position in the unloading position. The anti-lift clamping part radially clamps the spindle tool holder after its release, ensuring that the spindle tool holder remains within the tool magazine assembly 4 when the spindle tool connection end is withdrawn. Tool position numbering and tool position sensing switches assist in identifying the tool status of some or critical tool positions in the tool magazine assembly 4.

[0093] Example 5:

[0094] Based on the automated machining workstations described in Examples 1 to 4, the left-side machining and inspection tool set 2, the right-side thread fastening tool set 3, and the tool magazine assembly 4 need to form a spatial and sequential coordination around the same workpiece hole position. When the left-side machining and inspection tool set 2, the right-side thread fastening tool set 3, and the tool magazine assembly 4 only have independent functions and lack mutual reachability and sequential connection relationships, problems such as discontinuous tool supply, unsmooth thread fastening connection after machining, mismatch between special wrenches and screw specifications, and uncertain status of released tools are likely to occur. The left-side machining and inspection tool set 2, the right-side thread fastening tool set 3, and the tool magazine assembly 4 need to form a collaborative working relationship centered on the same workpiece hole position.

[0095] This embodiment, based on embodiments 1 to 4, defines the cooperative working relationship between the left-side machining and inspection tool set 2, the right-side thread fastening tool set 3, and the tool magazine assembly 4. For example... Figures 1 to 4As shown, the tool magazine assembly 4 is located within the common reach of the left robot arm 14 and the right robot arm 15. The left machining and inspection tool set 2 changes drill bits or taps through the tool magazine assembly 4, while the right thread fastening tool set 3 obtains screws or corresponding special wrenches through the tool magazine assembly 4. After the left machining and inspection tool set 2 completes the hole machining-related actions, the right thread fastening tool set 3 performs air cleaning and torque tightening on the corresponding hole.

[0096] The tool magazine assembly 4 is located in a common accessible area relative to the left robot arm 14 and the right robot arm 15. The left machining and inspection tool set 2 is mounted at the end of the left robot arm 14, and the right thread-fastening tool set 3 is mounted at the end of the right robot arm 15. The multi-specification tool storage section 43 in the tool magazine assembly 4 is located within the reach of the left machining and inspection tool set 2, allowing the left machining and inspection tool set 2 to retrieve drill bits or taps from the multi-specification tool storage section 43. The screw feeder 44 and the dedicated wrench in the tool magazine assembly 4 are located within the reach of the right thread-fastening tool set 3, allowing the right thread-fastening tool set 3 to pick up screws from the screw feeder 44 and to engage with the dedicated wrench according to the screw specifications.

[0097] Both the tool mounting engagement part 45 and the tool release part 46 are located within the reach of the left-side machining and inspection tool set 2. The tool mounting engagement part 45 is used to form a tool mounting engagement between the spindle tool connection end and the spindle-mounted tool holder, and the tool release part 46 is used to release the spindle-mounted tool holder from the spindle tool connection end. An anti-slip clamping part is provided in the corresponding area of ​​the tool release part 46. The anti-slip clamping part is used to clamp the spindle-mounted tool holder after it is released, so that the spindle-mounted tool holder is kept in the tool magazine assembly 4. The tool mounting engagement part 45, the tool release part 46, and the anti-slip clamping part together define the mechanical engagement path of the left-side machining and inspection tool set 2 relative to the tool magazine assembly 4 for tool picking, tool release, and subsequent retention.

[0098] The controller unit in the control and wiring assembly 6 connects to the detection components in the left-side machining and inspection tool set 2, the right-side threaded fastening tool set 3, and the tool magazine assembly 4. The cable bundle 62 and the cable chain provide follow-up wiring paths for the left-side machining and inspection tool set 2 and the right-side threaded fastening tool set 3, respectively, ensuring that the cable connections remain intact as they move relative to the workpiece hole area or the tool magazine assembly 4. The pneumatic actuation assembly 5 provides pneumatic actuation conditions to the hole depth detection assembly 23, the multi-specification screw pneumatic clamping assembly 34, the air blowing cleaning assembly 33, and the anti-lift clamping unit via pneumatic lines, enabling hole depth detection, screw clamping, air blowing cleaning, and tool holder clamping to be completed under the same control and air supply conditions at the same workstation.

[0099] During the machining preparation process, the left robot arm 14 moves the left machining inspection tool set 2 to the tool mounting mating part 45 of the tool magazine assembly 4, and the spindle tool connection end completes the tool mounting mating with the corresponding spindle tool holder. After the tool is mounted, the left robot arm 14 moves the left machining inspection tool set 2 to the workpiece hole area. The left vision inspection component 26 identifies the hole position, the hole depth detection component 23 confirms the hole bottom position, the workpiece top surface contact detection component 24 confirms the workpiece top surface position, the electric spindle assembly 22 performs hole machining, and the machining dust collection component 25 performs dust collection on the machining area. The left machining inspection tool set 2 completes hole position detection, hole depth detection, top surface contact judgment, hole machining, and machining dust collection through the same end tool set, so that the machining preparation and hole machining processes can be continuously connected with the tool supply process provided by the tool magazine assembly 4.

[0100] During the thread tightening process, the right robotic arm 15 moves the right-side thread tightening tool set 3 to the screw feeding section 44. A pneumatic gripper picks up the screw from the screw positioning hole, and the screw status detection component confirms the screw gripping status. The right robotic arm 15 then moves the right-side thread tightening tool set 3 to the machined or untightened hole position. The air cleaning component 33 cleans the hole position with air, and the torque tightening component 32 tightens the screw with torque. When a special wrench is required for the right-side thread tightening tool set 3, the right robotic arm 15 moves the right-side thread tightening tool set 3 to the wrench position, so that the tightening output end engages with the corresponding special wrench, and then the screw of the corresponding specification is tightened using the special wrench.

[0101] During tool change, the left-side machining inspection tool set 2, carrying the spindle-mounted tool holder, moves to the tool release unit 46. The release sleeve triggers the release of the spindle-mounted tool holder, and the anti-lift clamping part clamps the tool holder, ensuring it remains within the tool magazine assembly 4 when the spindle tool connection end is removed. The left-side machining inspection tool set 2 can move to the corresponding area of ​​another tool mounting hole according to the new machining specifications and form a tool mounting engagement with another spindle-mounted tool holder. Through the sequential engagement of the tool release unit 46 and the anti-lift clamping part, the released spindle-mounted tool holder can remain in the corresponding position within the tool magazine assembly 4 during tool change.

[0102] In this embodiment, the left-side machining and inspection tool set 2, the right-side thread fastening tool set 3, and the tool magazine assembly 4 together form a continuous work chain around the same workpiece hole position. The tool magazine assembly 4 provides drill tools, tap tools, and tool changer retention for the left-side machining and inspection tool set 2, and provides screws and special wrenches for the right-side thread fastening tool set 3. The left-side machining and inspection tool set 2 completes hole position detection, hole depth detection, top surface contact judgment, spindle machining, and dust removal, while the right-side thread fastening tool set 3 completes screw gripping, gripping status confirmation, air cleaning, and torque tightening. The spatial accessibility and sequential coordination among the left-side machining and inspection tool set 2, the right-side thread fastening tool set 3, and the tool magazine assembly 4 enable the machining end, fastening end, and tool supply end to work collaboratively within the same automated machining workstation.

[0103] Based on the preferred embodiments of the present invention described above, those skilled in the art can make various changes and modifications without departing from the inventive concept. The technical scope of this invention is not limited to the contents of the specification, but must be determined according to the scope of the claims.

Claims

1. An automated machining workstation for collaborative machining and thread fastening using dual robotic arms, characterized in that, Includes load-bearing support components, left-side machining and inspection toolset, right-side thread fastening toolset, tool magazine assembly, pneumatic actuator assembly, and control and wiring assembly; The load-bearing support assembly includes a main unit base, a lifting column, a support frame, a left robotic arm, and a right robotic arm. The lifting column is installed on the main unit base, the support frame is installed on the lifting end of the lifting column, and the left robotic arm and the right robotic arm are respectively installed on both sides of the support frame. The left-side machining and inspection tool set is installed at the end of the left robot and can move with the left robot to the workpiece hole area or the corresponding area of ​​the tool magazine assembly; The right-side threaded fastening tool set is installed at the end of the right robot and can move with the right robot to the screw feeding position, the workpiece hole area, or the corresponding area of ​​the tool magazine assembly; The tool magazine assembly is installed in the upper working area of ​​the main unit base and is within the reach of the left and right robotic arms, enabling the left machining and inspection tool set to engage with the tool magazine assembly for tool picking and placing, and enabling the right thread fastening tool set to engage with the tool magazine assembly for screw feeding or special wrench retrieval. The pneumatic actuator is connected to the left machining and inspection tool set, the right thread fastening tool set, and the tool magazine assembly via pneumatic pipelines. The control and wiring components are located within the host base and the support frame, and form a control, signal transmission and wiring relationship with the left-side machining and testing tool set and the right-side thread fastening tool set.

2. The workstation according to claim 1, characterized in that, The load-bearing support assembly also includes a mobile docking trolley and a main unit base. The main unit base is located at the lower part of the main unit base, and the mobile docking trolley and the main unit base form a separable support and transfer relationship.

3. The workstation according to claim 1, characterized in that, The left-side machining and inspection tool set includes a left-side tool mount, an electric spindle assembly, a hole depth detection assembly, a workpiece top surface contact detection component, a machining dust extraction assembly, and a left-side vision inspection assembly. The left-side tool mount is connected to the end of the left robot and serves as the common mounting base for the electric spindle assembly, the hole depth detection assembly, the workpiece top surface contact detection component, the machining dust extraction assembly, and the left-side vision inspection assembly.

4. The workstation according to claim 3, characterized in that, The electric spindle assembly includes a spindle mounting bracket, an electric spindle body, and a spindle tool connection end. The spindle mounting bracket is fixed to the left tool mounting seat, the electric spindle body is fixed to the spindle mounting bracket, and the spindle tool connection end is located at the machining end of the electric spindle body and faces the workpiece machining area.

5. The workstation according to claim 3, characterized in that, The hole depth detection assembly includes a probe guide seat, a hole depth detection probe, a probe telescopic drive, and a displacement detection component. The probe guide seat is connected to the left tool mounting seat. The hole depth detection probe is slidably disposed on the probe guide seat in a direction close to or away from the bottom of the workpiece hole. The probe telescopic drive is drivenly connected to the hole depth detection probe. The displacement detection component cooperates with the hole depth detection probe. The workpiece top surface contact detection component is located on the left tool mounting base near the top surface of the workpiece, and corresponds to the hole depth detection component in the vertical detection direction.

6. The workstation according to claim 3, characterized in that, The machining dust collection assembly includes a detachable dust collection hood and a dust collection interface. The detachable dust collection hood is located in the vicinity of the spindle tool connection end, and the dust collection interface is connected to the detachable dust collection hood.

7. The workstation according to claim 1, characterized in that, The right-side threaded fastening tool set includes a right-side tool mounting base, a torque tightening assembly, an air-blowing cleaning assembly, a multi-specification screw pneumatic clamping assembly, a screw status detection assembly, and a right-side vision inspection assembly. The right-side tool mounting base is connected to the end of the right robotic arm and serves as the common mounting base for the torque tightening assembly, the air-blowing cleaning assembly, the multi-specification screw pneumatic clamping assembly, the screw status detection assembly, and the right-side vision inspection assembly.

8. The workstation according to claim 7, characterized in that, The torque tightening assembly includes a torque wrench body and a tightening output end. The torque wrench body is fixed to the right tool mounting base, and the tightening output end is located at the working end of the torque wrench body. The air-blowing cleaning assembly includes an air-blowing telescopic drive and an air-blowing nozzle. The air-blowing telescopic drive is mounted on the right-side tool mounting base, and the air-blowing nozzle is connected to the output end of the air-blowing telescopic drive and faces the workpiece hole area corresponding to the tightening output end.

9. The workstation according to claim 7, characterized in that, The multi-specification screw pneumatic clamping assembly includes a clamping mounting base, a pneumatic gripper, and a gripper extension drive. The clamping mounting base is connected to the right-side tool mounting base. The pneumatic gripper is mounted on the clamping mounting base and can open and close to clamp the screw. The gripper extension drive is connected to the pneumatic gripper. The screw status detection component includes an open / closed status detection switch and a screw position detection switch. The open / closed status detection switch is located at the open / closed stroke position of the pneumatic gripper, and the screw position detection switch is located in or near the gripping area of ​​the pneumatic gripper.

10. The workstation according to claim 1, characterized in that, The tool magazine assembly includes a tool magazine base, a tool magazine top plate, a multi-specification tool storage section, a screw feeding section, a tool loading and mating section, a tool releasing section, an anti-slip clamping section, and a tool position status recognition section. The tool magazine base is installed on the main unit base, and the tool magazine top plate is disposed on the tool magazine base. The multi-specification tool storage section includes a drill bit slot, a spindle-mounted tool holder, drill tools, a tap slot, tap tools, a wrench slot, and a special wrench; The screw feeding section includes a screw tray and multiple screw positioning holes; The tool mounting part includes a tool mounting station hole, and the tool releasing part includes a tool releasing station hole, a sleeve connecting seat and a release sleeve. The tool releasing station hole and the tool mounting station hole are arranged at intervals. The anti-slip clamping part includes a finger cylinder and a tool handle for clamping fingers. The tool handle for clamping fingers is connected to the output end of the finger cylinder and can clamp the main spindle tool handle from the radial side of the main spindle tool handle. The tool position status identification unit includes a tool position number identifier and a tool position sensor switch.

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