A hybrid robot automated processing line

Abstract

The present invention relates to the field of mechanical processing, and discloses a hybrid robot automated processing line, comprising: a hybrid robot body for processing workpieces and a conveying device for sending the workpiece to / from the hybrid robot body, the conveying device comprising a workpiece table for fixing the workpiece and a driving part for driving the workpiece table to move, a fixture for fixing the workpiece is arranged on the workpiece table, the hybrid robot body comprises a base, a moving platform and an action part for driving the moving platform to move, a swing head assembly for installing a processing tool is arranged on the moving platform, a visual sensor is arranged on the swing head assembly, and a calibration block corresponding to the visual sensor is fixedly arranged on the workpiece table. The hybrid robot automated processing line of the present invention has high processing precision, high automation degree, and high processing efficiency; it has a high processing freedom, and the angle of the workpiece during processing is easy to adjust, so it is easy to process complex workpieces.

Description

Technical Field

[0001] The present invention relates to the field of mechanical processing, and in particular to a hybrid robot automated processing line. Background Art

[0002] The hybrid robot combines the characteristics of serial robots and parallel robots, and has the advantages of high precision, large working space, strong load-bearing capacity, and fast response speed. It provides an effective solution for the high-precision processing and manufacturing of large and complex structural parts. It has been successfully applied in the fields of high-precision drilling and milling processing, space thick plate friction stir welding, and high-precision assembly in aerospace and rail transportation. Some existing processing lines with hybrid robots have low processing precision, low automation, and low processing efficiency. Some existing hybrid robots have limited degrees of freedom, and it is inconvenient to adjust the angle of the workpiece during processing, which makes it inconvenient to process complex workpieces. Summary of the invention

[0003] 1. Technical issues to be resolved

[0004] The problem to be solved by the present invention is to provide a hybrid robot automated processing line with high processing precision, high degree of automation and high processing efficiency; the processing freedom is high, the angle of workpiece processing is easy to adjust, and complex workpieces can be easily processed.

[0005] (II) Technical solution

[0006] In order to solve the technical problem, the present invention provides a hybrid robot automated processing line, comprising: a hybrid robot body for processing workpieces and a conveying device for sending the workpiece to / from the hybrid robot body, the conveying device comprising a workpiece table for fixing the workpiece and a driving part for driving the workpiece table to move, a fixture for fixing the workpiece is arranged on the workpiece table, the hybrid robot body comprises a base, a moving platform and an action part for driving the moving platform to move, a swing head assembly for installing a processing tool is arranged on the moving platform, a visual sensor is arranged on the swing head assembly, a calibration block corresponding to the visual sensor is fixedly arranged on the workpiece table, the visual sensor is used to visually scan the calibration block to calibrate the coordinates, the visual sensor is electrically connected to an external system to transmit the coordinate position signal of the calibration block scanned by the visual sensor to the external system, and the external system determines the spatial position of the workpiece by scanning the spatial position signal of the calibration block. The hybrid robot automated processing line of the present invention has high processing precision, high automation degree and high processing efficiency; it has high processing freedom, and the angle of workpiece processing is easy to adjust, so it is convenient to process complex workpieces.

[0007] Furthermore, the action part includes a first rotating frame, a second rotating frame and a third rotating frame arranged on the base, the first rotating frame is rotatably mounted with a first adjustment device, the second rotating frame is rotatably mounted with a second adjustment device, and the third rotating frame is rotatably mounted with a third adjustment device, the first adjustment device, the second adjustment device and the third adjustment device can be extended and retracted independently, and the ends of the first adjustment device, the second adjustment device and the third adjustment device are respectively hingedly connected to the moving platform.

[0008] Furthermore, the first rotating frame rotates relative to the base and has a first rotation axis, the second rotating frame rotates relative to the base and has a second rotation axis, and the first rotation axis is collinear with the second rotation axis; the third rotating frame rotates relative to the base and has a third rotation axis, and the third rotation axis is perpendicular to the first rotation axis; the first adjustment device rotates relative to the first rotating frame and has a fourth rotation axis, and the fourth rotation axis is perpendicular to the first rotation axis.

[0009] Furthermore, two relative first mounting blocks, two relative second mounting blocks and two relative third mounting blocks are fixedly arranged on the base, the first rotating frame is rotatably connected between the two first mounting blocks, the second rotating frame is rotatably connected between the two second mounting blocks, and the third rotating frame is rotatably connected between the two third mounting blocks.

[0010] Furthermore, the first adjustment device includes a support arm, a sliding assembly and a driving part for driving the sliding assembly to slide relative to the support arm, one end of the support arm is hinged on the moving platform, the sliding assembly includes a nut and a hanging ear connected to the nut, the nut is rotatably connected to the first rotating frame through the hanging ear, and the driving part includes a first motor and a screw rod connected to the output end of the first motor, the first motor is fixed to the support arm, and the nut is correspondingly sleeved on the screw rod; a guide rail is provided on the support arm, and a slider corresponding to the guide rail is connected to the nut; the first adjustment device, the second adjustment device and the third adjustment device have the same structure, and the first rotating frame, the second rotating frame and the third rotating frame have the same structure; the first rotating frame is provided with a first through groove, and the first adjustment device is placed in the first through groove; the second rotating frame is provided with a second through groove, and the second adjustment device is placed in the second through groove; the third rotating frame is provided with a third through groove, and the third adjustment device is placed in the third through groove.

[0011] Furthermore, the swing head assembly includes a rotating bracket and a rotating block rotatably connected to the rotating bracket, a second motor for driving the rotating bracket to rotate is arranged on the moving platform, an output end of the second motor is connected to the rotating bracket, a third motor for driving the rotating block to rotate is arranged on the rotating bracket, and the output end of the third motor is transmission-connected to the rotating block.

[0012] Furthermore, the processing line also includes a lifting and rotating mechanism for lifting and rotating the workpiece table, the lifting and rotating mechanism includes two relative gantries and a lifting part for driving the workpiece table to lift and lower, the two gantries are respectively provided with a rotating device, the rotating device is provided with a clamping part for movably clamping with the workpiece table, the rotating device is used to drive the workpiece table to rotate after clamping, and the workpiece table is driven by the lifting part to rise to a height for clamping with the clamping part.

[0013] Furthermore, the rotating device includes a rotating table and a first driving part for driving the rotating table to rotate, the clamping part includes a ball-type differential ring arranged on the rotating table, a sleeve for plugging with the ball-type differential ring is arranged on the workpiece table, the ball-type differential ring includes a ball that can expand / contract outward, an inner wall of the sleeve is formed with a clamping groove corresponding to the ball, a first positioning column is arranged on one side of the ball-type differential ring, and a first positioning hole corresponding to the first positioning column is arranged on the sleeve; the clamping part also includes a plug-in column arranged on the rotating table and a cylinder for driving the plug-in column to slide along its own axial direction, the axis of the plug-in column is parallel to the horizontal plane, and a slot corresponding to the plug-in column is arranged on the workpiece table; a plurality of second positioning columns are arranged on the upper side of the lifting part, and a plurality of second positioning holes corresponding to the second positioning columns are arranged on the lower side of the workpiece table.

[0014] Furthermore, the rotating table is provided with a guiding and positioning mechanism, which includes a first positioning block arranged on the rotating table and a second positioning block arranged on the workpiece table, the first positioning block corresponds to the second positioning block, the first positioning block is provided with a first guide bevel and a vertical roller, and the second positioning block is provided with a second guide bevel corresponding to the first guide bevel; the first driving unit includes a fourth motor, and the output end of the fourth motor is connected to the rotating table; the lifting unit includes a lifting platform and a second driving unit for driving the lifting platform to lift and lower, the workpiece table is placed on the upper side of the lifting platform, the second driving unit includes a base, a telescopic frame and an electric cylinder, the telescopic frame is connected between the lifting platform and the base, the electric cylinder is installed on the base, and the output end of the electric cylinder is connected to the telescopic frame and drives the telescopic frame to fold / unfold.

[0015] Furthermore, the conveying device includes a horizontal conveying part for conveying the workpiece platform in a horizontal direction, the horizontal conveying part includes a slide rail laid on the ground and a battery-powered conveying trolley running along the slide rail, a laser area scanner for scanning nearby obstacles is provided on one side of the conveying trolley, an electromagnetic generating cable for wirelessly charging the battery on the conveying trolley is buried underground along the extension path of the slide rail, and a magnetoelectric converter for sensing the magnetic field emitted by the electromagnetic generating cable is provided on the conveying trolley, and the electric energy generated by the conversion is transmitted to the battery of the conveying trolley through a wire for powering the trolley.

[0016] (III) Beneficial effects

[0017] The hybrid robot automated processing line of the present invention has high processing accuracy; high processing freedom, the angle of the workpiece during processing is easy to adjust, and it is convenient to process complex workpieces; the three adjustment devices are correspondingly installed on the three rotating frames, which improves the structural rigidity, and the processing difficulty and assembly difficulty of the rotating frames are low; the three rotating frames can rotate independently relative to the base, and the processing freedom is high; the first rotating frame, the second rotating frame and the third rotating frame are rotatably arranged on the base, the three rotating frames are short in length, the processing difficulty is low, and the rigidity is good; the support arm is provided with a guide rail, and the nut is connected with a slider corresponding to the guide rail, which makes the sliding more stable and improves the processing accuracy; the lifting and rotating mechanism can automatically lift the workpiece table to mid-air for rotation and positioning, and the rotation range is large, which is convenient for rotating the workpiece on the workpiece table to the inclination required for processing. The bevel angle is used to facilitate processing and improve processing efficiency. When the rotating frame is connected to the workpiece table, the cylinder drives the plug-in column to extend and insert into the slot. The plug-in column is connected to the slot of the workpiece table to improve the ability of the rotating frame to bear the weight of the workpiece table, thereby avoiding serious wear of the ball due to excessive load-bearing, and the structure is reliable. A guiding and positioning mechanism is provided on the rotating frame. During the process of lifting the workpiece table, the roller is guided into and abutted against the second positioning block, so that the workpiece table is clamped and positioned between the rollers of the rotating frames on both sides, thereby avoiding horizontal deviation of the workpiece table when the subsequent clamping part is clamped, thereby improving the accuracy of the clamping. The conveying device includes a horizontal conveying part for conveying the workpiece table in a horizontal direction, and the workpiece is transported to the required position through the horizontal conveying part to form a processing line, which has a high degree of automation and high processing efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a structural schematic diagram of the hybrid robot automated processing line of the present invention;

[0019] Figure 2 A three-dimensional diagram of a hybrid robot body of a hybrid robot automated processing line of the present invention;

[0020] Figure 3It is a structural schematic diagram of a hybrid robot body of a hybrid robot automated processing assembly line of the present invention;

[0021] Figure 4 It is an exploded view of the sliding component part of the hybrid robot automated processing line of the present invention;

[0022] Figure 5 It is a structural schematic diagram of the first rotation axis of the hybrid robot automated processing line of the present invention;

[0023] Figure 6 It is a structural schematic diagram of the fifth rotation axis of the hybrid robot automated processing line of the present invention;

[0024] Figure 7 for Figure 6 Enlarged view of part A in the middle;

[0025] Figure 8 It is a structural schematic diagram of the workpiece table after being lifted on the hybrid robot automated processing line of the present invention;

[0026] Fig. 9 for Figure 8 Enlarged view of middle part B;

[0027] Fig.10 This is a schematic diagram of the structure of the transport trolley of the hybrid robot automated processing line of the present invention;

[0028] Fig.11 for Fig.10 Enlarged view of the middle C part;

[0029] Fig.12 It is a structural schematic diagram of the lifting part of the hybrid robot automated processing line of the present invention;

[0030] Fig.13 This is a schematic diagram of the structure of the bottom of the workpiece table of the hybrid robot automated processing line of the present invention;

[0031] Fig.14 for Figure 8 The structural diagram of the middle D part;

[0032] The names of the components corresponding to the various figure marks in the figure are: 100 is the robot body, 20 is the conveying device, 30 is the workpiece table, 40 is the calibration block, 1 is the base, 2 is the first rotating frame, 201 is the first through-groove, 3 is the second rotating frame, 301 is the second through-groove, 4 is the third rotating frame, 401 is the third through-groove, 5 is the first adjustment device, 51 is the support arm, 52 is the sliding assembly, 521 is the nut, 522 is the hanging ear, 523 is the slider, 53 is the guide rail, 6 is the second adjustment device, 7 is the third adjustment device, 8 is the moving platform, 9 is the first mounting block, 90 is the swing head assembly, 91 is the rotating bracket, 92 is the rotating block, 921 is the mounting part, 93 is the second motor, 94 is the third motor, L is the first rotation axis, M is the second rotation axis, N is the third rotation axis, P is the fourth rotation axis, 10 is the second mounting block, and 11 is the third mounting block , 12 is the first motor, 13 is the bolt, 14 is the first bearing, 15 is the second bearing, 16 is the transmission belt, 17 is the screw rod, 18 is the visual sensor, 19 is the fixture, 21 is the gantry, 22 is the rotating device, 23 is the rotating table, 231 is the plug-in column, 232 is the cylinder, 233 is the slot, 24 is the ball-type differential slip ring, 241 is the first positioning column, 25 is the plug sleeve, 251 is the first positioning hole, 26 is the roller 1 is a ball, 27 is a slot, 28 is a second positioning column, 29 is a second positioning hole, 31 is a first positioning block, 311 is a first guide slope, 312 is a roller, 32 is a second positioning block, 321 is a second guide slope, 33 is a fourth motor, 34 is a lifting platform, 35 is a base, 36 is a telescopic frame, 37 is an electric cylinder, 38 is a slide rail, 39 is a transport trolley, 41 is a laser area scanner, 42 is a raised block, and Z is the fifth rotation axis. DETAILED DESCRIPTION

[0033] The specific implementation of the present invention is further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0034] See also Figure 1-Figure 14The present invention provides a hybrid robot automated processing line, comprising: a hybrid robot body 100 for processing a workpiece and a conveying device 20 for sending the workpiece to / from the hybrid robot body 100, the conveying device 20 comprising a workpiece table 30 for fixing the workpiece and a driving unit for driving the workpiece table 30 to move, a fixture 19 for fixing the workpiece is arranged on the workpiece table 30, the hybrid robot body 100 comprises a base 1, a moving platform 8 and an action unit for driving the moving platform 8 to move, a swing head assembly 90 for installing a processing tool is arranged on the moving platform 8, a visual sensor 18 is arranged on the swing head assembly 90, and the visual sensor 18 scans toward one side of the processing tool; a calibration block 40 corresponding to the visual sensor 18 is fixedly arranged on the workpiece table 30, and the visual sensor 18 is fixedly arranged on the workpiece table 30. The visual sensor 18 is used to visually scan the calibration block 40 to calibrate the coordinates. There are four calibration blocks 40, which are respectively located at the four corners of the workpiece table 30. The upper end of the calibration block 40 is provided with a triangular protrusion 42 so that the visual sensor 18 can calculate the coordinates. In this embodiment, the visual sensor 18 is a 3D laser visual sensor; the visual sensor 18 is electrically connected to the external system to transmit the coordinate position signal of the calibration block 40 scanned by the visual sensor 18 to the external system, and by scanning the spatial position signal of the calibration block 40, the external system determines the spatial position of the workpiece through program calculation, and then controls the hybrid robot body 100 through the program to process the workpiece after position calibration, so as to avoid a large deviation between the workpiece position and the processing program, and improve the accuracy of workpiece processing. The hybrid robot automated processing line of the present invention has high processing accuracy, high automation, and high processing efficiency; it has a high degree of processing freedom, and the angle of the workpiece during processing is easy to adjust, which is convenient for processing complex workpieces.

[0035] See also Figure 1-Figure 5 The action part includes a first rotating frame 2, a second rotating frame 3 and a third rotating frame 4 arranged on a base 1. The three rotating frames are short in length, have low processing difficulty and good rigidity. A first adjusting device 5 is rotatably installed on the first rotating frame 2, a second adjusting device 6 is rotatably installed on the second rotating frame 3, and a third adjusting device 7 is rotatably installed on the third rotating frame 4. The first adjusting device 5, the second adjusting device 6 and the third adjusting device 7 can be extended and retracted separately, and the ends of the first adjusting device 5, the second adjusting device 6 and the third adjusting device 7 are respectively hingedly connected to the moving platform 8; during processing, the swing head assembly 90 is transported to the required processing position through the respective extension and retraction adjustment of the three adjusting devices for processing, and the extension and retraction amounts of the three adjusting devices are calculated by the program; the three adjusting devices are correspondingly installed on the three rotating frames to improve the structural rigidity, and the rotating frames have low processing difficulty and low assembly difficulty; the three rotating frames can be rotated independently relative to the base, with high processing freedom, which is convenient for processing complex workpieces.

[0036] See also Figure 1, the first rotating frame 2 rotates relative to the base 1 and has a first rotation axis L, the second rotating frame 3 rotates relative to the base 1 and has a second rotation axis M, the first rotation axis L and the second rotation axis M are collinear; the third rotating frame 4 rotates relative to the base 1 and has a third rotation axis N, the third rotation axis N is perpendicular to the first rotation axis L; the first adjustment device 5 rotates relative to the first rotating frame 2 and has a fourth rotation axis P, the fourth rotation axis P is perpendicular to the first rotation axis L, the processing freedom is high, and the processing is flexible; two relative first mounting blocks 9, two relative second mounting blocks 10 and two relative third mounting blocks 11 are fixedly arranged on the base 1, the first rotating frame 2 is rotatably connected between the two first mounting blocks 9, the second rotating frame 3 is rotatably connected between the two second mounting blocks 10, and the third rotating frame 4 is rotatably connected between the two third mounting blocks 11; the first mounting block 9, the second mounting block 10 and the third mounting block 11 are fixed to the base 1 by a plurality of bolts 13, which are easy to install and have low assembly cost; a first bearing 14 is arranged between the mounting block and the corresponding rotating frame, the rotation is more stable, and the processing accuracy is improved.

[0037] See also Figure 2-Figure 5 The first adjustment device 5 includes a support arm 51, a sliding assembly 52 and a driving part for driving the sliding assembly 52 to slide relative to the support arm 51. One end of the support arm 51 is hinged on the moving platform 8. The sliding assembly 52 includes a nut 521 and a hanging ear 522 connected to the nut 521. A second bearing 15 is provided between the hanging ear 522 and the nut 521. The nut 521 is rotatably connected to the first rotating frame 2 through the hanging ear 522. The driving part includes a first motor 12 and a screw rod 17 connected to the output end of the first motor 12. The first motor 12 is fixed on the support arm 51, and the nut 521 is correspondingly sleeved on the screw rod 17; through the first The forward or reverse rotation of the motor 12 drives the screw rod 17 to rotate accordingly, so that the nut 521 moves axially along the screw rod 17, thereby driving the ear 522 to move closer to or away from the hinged part of the support arm 51 and the movable platform 8; a guide rail 53 is provided on the support arm 51, and a slider 523 corresponding to the guide rail 53 is connected to the nut 521, so that the sliding is smoother and the processing accuracy is improved; the first adjustment device 5, the second adjustment device 6 and the third adjustment device 7 have the same structure, and the first rotating frame 2, the second rotating frame 3 and the third rotating frame 4 have the same structure; by controlling the feed amount of each motor of the three adjustment devices respectively, the movable platform 8 can be transported to the desired position.

[0038] See 2- Figure 5The first rotating frame 2 is provided with a first through slot 201, and the first adjusting device 5 is placed in the first through slot 201; the second rotating frame 3 is provided with a second through slot 301, and the second adjusting device 6 is placed in the second through slot 301; the third rotating frame 4 is provided with a third through slot 401, and the third adjusting device 7 is placed in the third through slot 401. The three rotating frames are all hollow, light in weight, and easy to assemble; the swing head assembly 90 includes a rotating bracket 91 and a rotating block 92 rotatably connected to the rotating bracket 91, and a movable platform 8 is provided on the movable platform 8 for driving the rotating bracket 9 The second motor 93 is connected to the rotating bracket 91, and the rotation direction of the motor shaft of the second motor 93 is consistent with the rotation direction of the rotating bracket 91; the output end of the second motor 93 is connected to the rotating bracket 91, and the rotating bracket 91 is provided with a third motor 94 for driving the rotating block 92 to rotate, and the output end of the third motor 94 is connected to the rotating block 92 through the transmission belt 16. The second motor 93 and the third motor 93 are used to realize the rotation of the rotating block 92 in two degrees of freedom, so as to further improve the degree of freedom of processing; the rotating block 92 is provided with a mounting portion 921 for mounting a tool fixture.

[0039] See also Figure 1 , Figure 6 , Figure 7 , Figure 8 and Fig. 9 The present processing line also includes a lifting and rotating mechanism for lifting and rotating the workpiece table 30. The lifting and rotating mechanism includes two opposite gantries 21 and a lifting part for driving the workpiece table 30 to lift and lower. The two gantries 21 are respectively provided with a rotating device 22. The rotating device 22 is provided with a clamping part for movably clamping with the workpiece table 30. The rotating device 22 is used to drive the clamped workpiece table 30 to rotate, and the lifting part drives the workpiece table 30 to rise to a height where it is clamped with the clamping part; the lifting and rotating mechanism can automatically lift the workpiece table to mid-air for rotation and positioning, and can The large rotation range makes it easy to rotate the workpiece on the worktable to the inclination angle required for processing, so as to facilitate processing and improve processing efficiency; before processing the workpiece, the worktable is driven to rise to a height that can be clamped with the clamping part through the lifting part, and the height requirement of the worktable when clamping is to allow the worktable to complete one rotation, that is, degree rotation; then the clamping part is clamped with the worktable, and after the clamping is completed, the lifting part descends to the initial height, and then the worktable is driven to rotate to the inclination angle required for processing through the rotating device for positioning, so as to facilitate processing by the hybrid robot body equipped with processing tools on both sides of the gantry.

[0040] See also Figure 6-Figure 14The rotating device 22 includes a rotating table 23 and a first driving part for driving the rotating table 23 to rotate. The rotating table 23 has a fifth rotation axis Z when rotating; the clamping part includes a ball differential ring 24 arranged on the rotating table 23, and a plug sleeve 25 for plugging with the ball differential ring 24 is arranged on the workpiece table 30. The ball differential ring 24 includes a ball 26 that can expand / contract outwardly and outwardly, and the ball expands / contracts outwardly and outwardly through program control; the inner side wall of the plug sleeve 25 is formed with a clamping groove 27 corresponding to the ball 26, and one side of the ball differential ring 24 is provided with a first The positioning column 241, the plug sleeve 25 is provided with a first positioning hole 251 corresponding to the first positioning column 241; the clamping part also includes a plug-in column 231 arranged on the rotating table 23 and a cylinder 232 for driving the plug-in column 231 to slide along its own axis direction, the axis of the plug-in column 231 is parallel to the horizontal plane, and the workpiece table 30 is provided with a slot 233 corresponding to the plug-in column 231; a plurality of second positioning columns 28 are arranged on the upper side of the lifting part, and a plurality of second positioning holes 29 corresponding to the second positioning columns 28 are arranged on the lower side of the workpiece table 30; when the lifting part is provided with When the movable worktable rises to a height where it can be engaged with the engaging portion, the sleeve and the ball differential ring are engaged with each other, and at this time, the ball is controlled to bulge outward so that the ball falls into the engaging groove; the first positioning column is correspondingly introduced into the first positioning hole for positioning, and the lower end of the first positioning column is provided with a chamfer that is convenient for introducing into the first positioning hole to ensure that the ball differential ring and the sleeve are accurately plugged in; when the rotating table and the worktable are engaged, the cylinder drives the plug-in column to extend to be inserted into the slot, and the plug-in column is engaged with the slot of the worktable, so as to improve the ability of the rotating table to bear the weight of the worktable, and avoid the ball bearing due to the load-bearing The workpiece table is placed on the upper side of the lifting part and is positioned by the second positioning column and the second positioning hole, so it is not easy to move. After the workpiece is processed, the workpiece table is driven to rotate to the horizontal state before processing through the rotating device, and the lifting part is lifted up to the height at the time of clamping, so that the second positioning column is clamped into the second positioning hole for positioning, and the clamping part is reset to the state before clamping, that is, the ball is retracted, and the plug-in column slides out of the slot. At this time, the workpiece table is driven to descend to the preset height through the lifting part, so that the processed workpiece can be taken away or transported later.

[0041] See also Figure 6 , Figure 7 , Fig.10 and Fig.11The rotating table 23 is provided with a guiding and positioning mechanism, which includes a first positioning block 31 provided on the rotating table 23 and a second positioning block 32 provided on the workpiece table 30, the first positioning block 31 corresponds to the second positioning block 32, the first positioning block 31 is provided with a first guide bevel 311 and a vertical roller 312, and the second positioning block 32 is provided with a second guide bevel 321 corresponding to the first guide bevel 311; the first driving unit includes a fourth motor 33, and the output end of the fourth motor 33 is connected to the rotating table 23; the lifting unit includes a lifting platform 34 and a second driving unit for driving the lifting platform 34 to lift and lower, the workpiece table 30 is placed on the upper side of the lifting platform 34, the second driving unit includes a base 35, a telescopic frame 36 and an electric cylinder 37, and the telescopic frame 36 is connected to the lifting platform 34 Between the base 35, the electric cylinder 37 is installed on the base 35, and the output end of the electric cylinder 37 is connected to the telescopic frame 36 and drives the telescopic frame 36 to fold / unfold; in the process of lifting the workpiece table, the rollers are introduced and abutted against the second positioning block, so that the workpiece table is clamped and positioned between the rollers of the rotating tables on both sides, avoiding the horizontal displacement of the workpiece table when the subsequent clamping part is clamped, thereby improving the accuracy of the clamping; the first driving part includes a fourth motor, the output end of the fourth motor is connected to the rotating table, and the fourth motors on the two gantries rotate synchronously. In this embodiment, the fourth motor is a servo motor; the electric cylinder is installed on the base, and the output end of the electric cylinder is connected to the telescopic frame and drives the telescopic frame to fold / unfold. When the telescopic frame is unfolded, it drives the lifting platform to rise; when the telescopic frame is folded, it drives the lifting platform to descend, and lifting is convenient.

[0042] See also Figure 1 and Fig.10 The conveying device 20 includes a horizontal conveying part for conveying the workpiece platform 30 in a horizontal direction. The horizontal conveying part includes a slide rail 38 laid on the ground and a battery-powered conveying trolley 39 running along the slide rail 38. Multiple groups of hybrid robot bodies are arranged along the extension direction of the slide rail 38, and each group of hybrid robot bodies can complete different processing procedures; the wheels of the conveying trolley 39 are correspondingly installed on the slide rail to roll, and the base is fixed on the upper side of the conveying trolley. The workpiece is transported to the required position through the horizontal conveying part to form a processing line with a high degree of automation and high processing efficiency; a laser area scanner for scanning nearby obstacles is arranged on one side of the conveying trolley 39 Instrument 41, when there is an obstacle in front of the scan, the trolley stops transporting, and when there is no obstacle in front of the scan, the trolley continues transporting, with a high degree of automation and intelligence; an electromagnetic generating cable for wirelessly charging the battery on the conveying trolley 39 is buried underground along the extension path of the slide rail 38, and the conveying trolley 39 is provided with a magnetoelectric converter for sensing the magnetic field emitted by the electromagnetic generating cable. The magnetoelectric converter transmits the converted electric energy to the battery of the conveying trolley 39 through a wire for power supply, saving the charging time of the trolley and improving the processing efficiency; the magnetoelectric converter cuts the magnetic flux lines and converts them into electric energy. Electromagnetic induction is a prior art and will not be described in detail here.

[0043] The hybrid robot automated processing line of the present invention has a conveying device including a horizontal conveying part for conveying the workpiece table in a horizontal direction, and the workpiece is transported to a desired position by the horizontal conveying part to form a processing line, which has a high degree of automation and high processing efficiency; high processing accuracy; high processing freedom, and the angle of the workpiece during processing is easy to adjust, which is convenient for processing complex workpieces; three adjustment devices are correspondingly installed on three rotating frames to improve structural rigidity, and the processing and assembly difficulties of the rotating frames are low; the three rotating frames can rotate independently relative to the base, and the processing freedom is high; the first rotating frame, the second rotating frame and the third rotating frame are rotatably arranged on the base, and the three rotating frames are short in length, with low processing difficulty and good rigidity; a guide rail is arranged on the support arm, and a slider corresponding to the guide rail is connected to the nut, The sliding is smoother, and the processing accuracy is improved; the lifting and rotating mechanism can automatically lift the workpiece table to mid-air for rotation and positioning, and the rotation range is large, which is convenient for rotating the workpiece on the workpiece table to the inclination angle required for processing, so as to facilitate processing and improve processing efficiency; when the rotating frame is clamped with the workpiece table, the cylinder drives the plug-in column to extend and insert into the slot, and the plug-in column is plugged into the slot of the workpiece table, so as to improve the ability of the rotating frame to bear the weight of the workpiece table, avoid serious wear of the ball due to excessive load-bearing, and have a reliable structure; a guide positioning mechanism is provided on the rotating frame. During the process of lifting the workpiece table, the roller is guided into and abutted against the second positioning block, so that the workpiece table is clamped and positioned between the rollers of the rotating frames on both sides, so as to avoid horizontal displacement of the workpiece table when the subsequent clamping part is clamped, thereby improving the accuracy of the clamping.

[0044] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A hybrid robot automated processing line, characterized in that: include: A hybrid robot body (100) for processing a workpiece and a conveying device (20) for conveying the workpiece to / from the hybrid robot body (100), the conveying device (20) comprising a workpiece table (30) for fixing the workpiece and a driving unit for driving the workpiece table (30) to move, the workpiece table (30) being provided with a fixture (19) for fixing the workpiece, the hybrid robot body (100) comprising a base (1), a moving platform (8) and an action unit for driving the moving platform (8) to move, a swing head assembly (90) for installing a processing tool being provided on the moving platform (8), a visual sensor (18) being provided on the swing head assembly (90), a calibration block (40) corresponding to the visual sensor (18) being fixedly provided on the workpiece table (30), and the visual sensor (18) being used to The calibration block (40) performs visual scanning to calibrate the coordinates, and the visual sensor (18) is electrically connected to an external system to transmit the coordinate position signal of the calibration block (40) scanned by the visual sensor (18) to the external system; the hybrid robot automated processing line also includes a lifting and rotating mechanism for lifting and rotating the workpiece table (30), and the lifting and rotating mechanism includes two relative gantries (21) and a lifting part for driving the workpiece table (30) to lift and lower, and the two gantries (21) are respectively provided with a rotating device (22), and the rotating device (22) is provided with a clamping part for movably clamping with the workpiece table (30), and the rotating device (22) is used to drive the clamped workpiece table (30) to rotate, and drive the workpiece table (30) to rise to a height clamped with the clamping part through the lifting part.

2. The hybrid robot automated processing line according to claim 1, characterized in that: The action part comprises a first rotating frame (2), a second rotating frame (3) and a third rotating frame (4) which are arranged on the base (1); a first adjusting device (5) is rotatably mounted on the first rotating frame (2); a second adjusting device (6) is rotatably mounted on the second rotating frame (3); and a third adjusting device (7) is rotatably mounted on the third rotating frame (4); the first adjusting device (5), the second adjusting device (6) and the third adjusting device (7) can be extended and retracted separately; and ends of the first adjusting device (5), the second adjusting device (6) and the third adjusting device (7) are respectively hingedly connected to the moving platform (8).

3. The hybrid robot automated processing line as claimed in claim 2, characterized in that: The first rotating frame (2) rotates relative to the base (1) and has a first rotating axis (L); the second rotating frame (3) rotates relative to the base (1) and has a second rotating axis (M); the first rotating axis (L) and the second rotating axis (M) are collinear; the third rotating frame (4) rotates relative to the base (1) and has a third rotating axis (N); the third rotating axis (N) is perpendicular to the first rotating axis (L); the first adjusting device (5) rotates relative to the first rotating frame (2) and has a fourth rotating axis (P); the fourth rotating axis (P) is perpendicular to the first rotating axis (L).

4. The hybrid robot automated processing line as claimed in claim 2, characterized in that: Two opposite first mounting blocks (9), two opposite second mounting blocks (10) and two opposite third mounting blocks (11) are fixedly arranged on the base (1); the first rotating frame (2) is rotatably connected between the two first mounting blocks (9); the second rotating frame (3) is rotatably connected between the two second mounting blocks (10); and the third rotating frame (4) is rotatably connected between the two third mounting blocks (11).

5. The hybrid robot automated processing line as claimed in claim 2, characterized in that: The first adjustment device (5) comprises a support arm (51), a sliding assembly (52) and a driving unit for driving the sliding assembly (52) to slide relative to the support arm (51); one end of the support arm (51) is hinged on the movable platform (8); the sliding assembly (52) comprises a nut (521) and a hanging ear (522) connected to the nut (521); the nut (521) is rotatably connected to the first rotating frame (2) via the hanging ear (522); the driving unit comprises a first motor (12) and a ) output end, the first motor (12) is fixed on the support arm (51), and the nut (521) is correspondingly sleeved on the screw rod (17); a guide rail (53) is arranged on the support arm (51), and a slider (523) corresponding to the guide rail (53) is connected to the nut (521); the first adjustment device (5), the second adjustment device (6) and the third adjustment device (7) have the same structure, and the first rotating frame (2), the second rotating frame (3) and the third rotating frame (4) have the same structure.

6. The hybrid robot automated processing line as claimed in claim 2, characterized in that: The swing head assembly (90) comprises a rotating bracket (91) and a rotating block (92) rotatably connected to the rotating bracket (91); a second motor (93) for driving the rotating bracket (91) to rotate is arranged on the moving platform (8); an output end of the second motor (93) is connected to the rotating bracket (91); a third motor (94) for driving the rotating block (92) to rotate is arranged on the rotating bracket (91); an output end of the third motor (94) is transmission-connected to the rotating block (92).

7. The hybrid robot automated processing line according to claim 1, characterized in that: The rotating device (22) comprises a rotating table (23) and a first driving part for driving the rotating table (23) to rotate; the clamping part comprises a ball differential ring (24) arranged on the rotating table (23); a sleeve (25) for plugging with the ball differential ring (24) is arranged on the workpiece table (30); the ball differential ring (24) comprises a ball (26) that can expand / contract; a clamping groove (27) corresponding to the ball (26) is formed on the inner side wall of the sleeve (25); a first positioning column (241) is arranged on one side of the ball differential ring (24); A first positioning hole (251) corresponding to the first positioning column (241) is provided; the clamping part also includes a plug-in column (231) arranged on the rotating table (23) and a cylinder (232) for driving the plug-in column (231) to slide along its own axial direction, the axis of the plug-in column (231) is parallel to the horizontal plane, and a slot (233) corresponding to the plug-in column (231) is provided on the workpiece table (30); a plurality of second positioning columns (28) are provided on the upper side of the lifting part, and a plurality of second positioning holes (29) corresponding to the second positioning columns (28) are provided on the lower side of the workpiece table (30).

8. The hybrid robot automated processing line as claimed in claim 7, characterized in that: The rotating table (23) is provided with a guiding and positioning mechanism, the guiding and positioning mechanism comprising a first positioning block (31) provided on the rotating table (23) and a second positioning block (32) provided on the workpiece table (30), the first positioning block (31) corresponding to the second positioning block (32), the first positioning block (31) being provided with a first guiding inclined surface (311) and a vertically arranged roller (312), the second positioning block (32) being provided with a second guiding inclined surface (321) corresponding to the first guiding inclined surface (311); the first driving unit comprising a fourth motor (33), the fourth motor (33 ) is connected to the rotating table (23); the lifting part includes a lifting platform (34) and a second driving part for driving the lifting platform (34) to lift and lower; the workpiece platform (30) is placed on the upper side of the lifting platform (34); the second driving part includes a base (35), a telescopic frame (36) and an electric cylinder (37); the telescopic frame (36) is connected between the lifting platform (34) and the base (35); the electric cylinder (37) is installed on the base (35); the output end of the electric cylinder (37) is connected to the telescopic frame (36) and drives the telescopic frame (36) to fold / unfold.

9. The hybrid robot automated processing line according to any one of claims 1 to 8, characterized in that: The conveying device (20) includes a horizontal conveying part for conveying the workpiece platform (30) in a horizontal direction, the horizontal conveying part includes a slide rail (38) laid on the ground and a battery-powered conveying trolley (39) running along the slide rail (38), a laser area scanner (41) for scanning nearby obstacles is arranged on one side of the conveying trolley (39), an electromagnetic generating cable for wirelessly charging the battery on the conveying trolley (39) is buried underground along the extension path of the slide rail (38), and a magnetoelectric converter for sensing the magnetic field emitted by the electromagnetic generating cable is arranged on the conveying trolley (39), and the electric energy generated by the conversion is transmitted to the battery of the conveying trolley (39) through a wire for powering.

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