Processing integrated equipment of movable hybrid robot

Abstract

The machining integrated equipment comprises a vehicle body, radar detectors are arranged on the four side faces of the vehicle body correspondingly, a multi-axial mechanical arm is arranged at the top of the vehicle body, and one end of the multi-axial mechanical arm is fixedly connected with a positioning clamping mechanism; the positioning and clamping mechanism comprises a first servo motor, a clamping arm and a second servo motor, and has the beneficial effects that the arranged multi-axial mechanical arm can drive the positioning and clamping mechanism to get close to a to-be-taken machining tool for butt joint and clamping and fixing, then the first servo motor is started to drive the clamped and fixed machining tool to rotate, and the machining tool is clamped and fixed; and the multi-axial mechanical arm is matched to drive the machining cutter to machine the to-be-machined object, and during machining, the machining cutter can be replaced for use, so that the to-be-machined object can be integrally machined, and the machining efficiency can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical manufacturing, and particularly relates to a processing integration device for a mobile hybrid robot. Background Art

[0002] Large and complex structural parts are widely used in fields such as aerospace, energy power, and heavy equipment. Typical large and complex parts include large aerospace structural parts, aerospace integral structural parts, large wind turbine blades, heavy gas turbine blades, etc. However, due to the characteristics of large size, complex structure, and high machining accuracy requirements of large and complex structural parts, great challenges are posed to their machining.

[0003] Due to problems such as unstable process and long cycle in the traditional separate offline machining mode, the inclusive machining mode represented by gantry-type multi-axis CNC machine tools is difficult to meet the requirements of efficient and high-quality machining and manufacturing of large and complex components. Therefore, there is an urgent need for a processing integration device for a mobile hybrid robot to facilitate the integrated machining of the workpiece and improve the machining efficiency. Summary of the Invention

[0004] To solve the above problems, the present invention provides a processing integration device for a mobile hybrid robot, and the present invention is realized through the following technical solutions.

[0005] A processing integration device for a mobile hybrid robot includes a vehicle body. Radar detectors are provided on four sides of the vehicle body. A multi-axis robotic arm is provided on the top of the vehicle body. One end of the multi-axis robotic arm is fixedly connected with a positioning and clamping mechanism. A docking member is fixedly connected to the positioning and clamping mechanism. A processing tool is fixedly connected to the docking member. One end of the top of the vehicle body is fixedly connected with a tool head integration rack. A first monitoring camera is fixedly connected to the top of the tool head integration rack. A PLC controller is fixedly connected to the other end of the top of the vehicle body. The positioning and clamping mechanism includes: A first servo motor. The output shaft of the first servo motor is fixedly connected with a fixed seat. Three fixed rods are fixedly connected to the fixed seat. One ends of the three fixed rods are commonly fixedly connected with a clamping seat. A second monitoring camera is fixedly connected to the inside of the clamping seat; Clamping arms. The clamping arms are rotatably connected to the clamping seat, and there are three clamping arms distributed in a ring shape. A clamping notch is provided at one end of the clamping arm. A rotating arm is rotatably connected to the other end of the clamping arm; A second servo motor. The second servo motor is fixedly connected to the fixed seat. A lead screw fixed to the output shaft of the second servo motor is rotatably connected to the clamping seat. One end of the lead screw is movably connected with a movable plate, and the lead screw is in threaded cooperation with the movable plate. One end of the rotating arm is rotatably connected to the movable plate.

[0006] Further, the docking member includes a conical positioning rod, an annular clamping seat, and a square connecting seat. The conical positioning rod is wedge-connected to the clamping seat. One end of the processing tool is embedded in the square connecting seat, and the square connecting seat is fixedly connected to the processing tool by screws. The clamping arm is clamped on the outer surface of the annular clamping seat through a clamping notch.

[0007] Further, the tool head integrated frame is provided with positioning grooves, and there are six positioning grooves in a rectangular array. Direction holes are provided inside the positioning grooves. An annular magnet is fixedly connected inside the positioning grooves, and the positioning grooves, direction holes, and annular magnets are located on the same axis.

[0008] Further, the square connecting seat is embedded and connected in the direction holes, the annular clamping seat is embedded and connected in the positioning grooves, and the docking member is magnetically connected to the tool head integrated frame through the annular magnet.

[0009] Further, an anti-collision mechanism is provided on the vehicle body. The anti-collision mechanism includes a movable rod. One end of the movable rod is movably connected to the vehicle body, and the other end of the movable rod is fixedly connected to a protective plate. A spring fixed between the vehicle body and the protective plate is sleeved on the movable rod.

[0010] Further, the protective plate is provided with an opening, and the opening is located directly in front of the radar detector.

[0011] Further, a signal transceiver is provided on the top of the PLC controller, and the signal transceiver is used for receiving and transmitting signals to a remote terminal.

[0012] Further, the multi-axis robotic arm, the first monitoring camera, the radar detector, and the second monitoring camera are all electrically connected to the PLC controller through wires.

[0013] The beneficial effects of the present invention are as follows. During the operation of the device, 1. The vehicle body can move, enabling it to approach the object to be processed for integrated processing. The six positioning grooves provided on the tool head integrated frame can respectively accommodate different types of processing tools for positioning, facilitating the replacement and use of different processing tools during integrated processing. The multi-axis robotic arm provided can drive the positioning and clamping mechanism to approach the processing tool to be taken for docking and clamping fixation. Then, by turning on the first servo motor, the clamped and fixed processing tool can be driven to rotate. Then, in cooperation with the multi-axis robotic arm driving the processing tool to process the object to be processed, during processing, the processing tool can be replaced and used, so as to facilitate the integrated processing of the processed object and improve the processing efficiency. 2. The protective plates provided on the four sides of the vehicle body can have a buffering effect, facilitating the rigid collision of the vehicle body, protecting the equipment on the vehicle body, and improving the service life of the device. Description of the Drawings

[0014] To more clearly illustrate the technical solution of the present invention, the following will briefly introduce the drawings required for use in the description of the specific embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0015] Figure 1 : Structural schematic diagram of a processing integration device of a mobile hybrid robot according to the present invention; Figure 2 : Structural schematic diagram of the tool head integration frame of the present invention; Figure 3 : The present invention Figure 2 Enlarged view of A in; Figure 4 : Connection schematic diagram of the multi-axis robotic arm and the first servo motor of the present invention; Figure 5 : Connection schematic diagram of the first servo motor and the processing tool of the present invention; Figure 6 : Connection schematic diagram of the docking part and the clamping seat of the present invention; Figure 7 : Connection schematic diagram of the docking part and the processing tool of the present invention; Figure 8 : Connection schematic diagram of the vehicle body and the protective plate of the present invention.

[0016] The reference numerals are as follows: 100, vehicle body; 110, movable rod; 120, protective plate; 121, opening; 130, spring; 200, PLC controller; 210, signal transceiver; 300, multi-axis robotic arm; 310, first servo motor; 311, fixed seat; 312, fixed rod; 313, clamping seat; 320, clamping arm; 321, rotating arm; 322, clamping notch; 330, second servo motor; 331, lead screw; 332, movable plate; 400, tool head integration frame; 410, positioning groove; 411, direction hole; 412, annular magnet; 500, first monitoring camera; 600, radar detector; 700, docking part; 710, conical positioning rod; 720, annular clamping seat; 730, square connecting seat; 800, second monitoring camera; 900, processing tool. Specific embodiments

[0017] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0018] As Figure 1-8 shown, the present invention has the following specific embodiments.

[0019] Embodiment 1: A processing integration device for a mobile hybrid robot, including a vehicle body 100. Radar detectors 600 are arranged on four sides of the vehicle body 100. A multi-axis robotic arm 300 is arranged on the top of the vehicle body 100. One end of the multi-axis robotic arm 300 is fixedly connected with a positioning and clamping mechanism. A docking member 700 is fixedly connected to the positioning and clamping mechanism. A processing tool 900 is fixedly connected to the docking member 700. One end of the top of the vehicle body 100 is fixedly connected with a tool head integration rack 400. A first monitoring camera 500 is fixedly connected to the top of the tool head integration rack 400. The other end of the top of the vehicle body 100 is fixedly connected with a PLC controller 200. The positioning and clamping mechanism includes: A first servo motor 310. The output shaft of the first servo motor 310 is fixedly connected with a fixed seat 311. Three fixed rods 312 are fixedly connected to the fixed seat 311. One end of the three fixed rods 312 is commonly fixedly connected with a clamping seat 313. A second monitoring camera 800 is fixedly connected inside the clamping seat 313; Clamping arms 320. The clamping arms 320 are rotatably connected to the clamping seat 313, and there are three clamping arms 320 distributed in a ring shape. A clamping notch 322 is arranged at one end of the clamping arm 320. The other end of the clamping arm 320 is rotatably connected with a rotating arm 321; A second servo motor 330. The second servo motor 330 is fixedly connected to the fixed seat 311. A lead screw 331 fixed to the output shaft of the second servo motor 330 is rotatably connected to the clamping seat 313. One end of the lead screw 331 is movably connected with a movable plate 332, and the lead screw 331 is in threaded cooperation with the movable plate 332. One end of the rotating arm 321 is rotatably connected to the movable plate 332.

[0020] In this embodiment, as Figure 1 shown, first, the vehicle body 100 can move on the ground so that it can approach the object to be processed. During the movement of the vehicle body 100, the provided first monitoring camera 500 can detect the surrounding environment, enabling the vehicle body 100 to slowly approach the object to be processed for movement; Then the set PLC controller 200 can control the operation of the multi-axis robotic arm 300. The multi-axis robotic arm 300 can drive the positioning and clamping mechanism to clamp and pick up the processing tool 900 stored on the tool head integrated rack 400. The six positioning slots 410 provided on the tool head integrated rack 400 can store processing tools 900 of different models, so that the multi-axis robotic arm 300 can pick up different processing tools 900 according to needs for integrated processing; During clamping, the multi-axis robotic arm 300 can drive the first servo motor 310 to move. The first servo motor 310 can drive the positioning and clamping mechanism to move. The second monitoring camera 800 provided on the positioning and clamping mechanism can monitor the storage of the six processing tools 900 on the tool head integrated rack 400 until the positioning and clamping mechanism is docked on the processing tool 900 to be picked up. Then, by turning on the second servo motor 330, the lead screw 331 can be driven to rotate. The lead screw 331 can drive the movable plate 332 in threaded cooperation to move. Since the movable plate 332 is rotatably connected to the swing arm 321, the swing arm 321 is rotatably connected to the clamping arm 320, and the clamping arm 320 rotates on the clamping seat 313. When the movable plate 332 moves towards the front end of the lead screw 331, the movable plate 332 pushes the clamping arm 320 to rotate on the clamping seat 313 through the swing arm 321. The rotating clamping arm 320 can be clamped and fixed to the positioned docking member 700 through the clamping notch 322, so as to clamp and fix the docking member 700; Conversely, when replacing the processing tool 900, first, the multi-axis robotic arm 300 is used to place the clamped processing tool 900 back to its original position, and then the clamping of the docking member 700 is released. The annular magnet 412 fixed in the positioning slot 410 can magnetically fix the docking member 700. At this time, the positioning and clamping mechanism can be disengaged from the first processing tool 900, so as to position, clamp and pick up the next processing tool 900 to be used, which is convenient for replacing different processing tools 900 to perform integrated processing on the object to be processed and can improve the processing efficiency.

[0021] Embodiment 2: The docking member 700 includes a conical positioning rod 710, an annular clamping seat 720 and a square connecting seat 730. The conical positioning rod 710 is wedge-connected to the clamping seat 313. One end of the processing tool 900 is embedded in the square connecting seat 730, and the square connecting seat 730 is fixedly connected to the processing tool 900 by screws. The clamping arm 320 is clamped on the outer surface of the annular clamping seat 720 through the clamping notch 322; The docking part 700 includes a conical positioning rod 710, an annular clamping seat 720 and a square connecting seat 730. The conical positioning rod 710 is wedge-connected to the clamping seat 313. One end of the processing tool 900 is embedded in the square connecting seat 730, and the square connecting seat 730 is fixedly connected to the processing tool 900 by screws. The clamping arm 320 is clamped on the outer surface of the annular clamping seat 720 through the clamping notch 322; The square connecting seat 730 is embedded and connected in the direction hole 411, the annular clamping seat 720 is embedded and connected in the positioning groove 410, and the docking part 700 is magnetically connected to the tool head integrated frame 400 through the annular magnet 412.

[0022] In this embodiment, as Figure 3 , 6 and shown in 7, the notch provided on the clamping seat 313 can be embedded and matched with the conical positioning rod 710, which can center the clamping seat 313 and the first servo motor 310. The provided square connecting seat 730 can allow the processing tool 900 to be inserted, and the processing tool 900 is fixed on the square connecting seat 730 by the provided screws. The provided annular clamping seat 720 can position and clamp the clamping notch 322 opened on the clamping arm 320, so that the docking part 700 can be quickly positioned and stably fixed with the clamping seat 313. The positioning groove 410 opened on the tool head integrated frame 400 can allow the docking part 700 to be embedded, and the annular magnet 412 can perform magnetic connection with the docking part 700, which is convenient for the docking part 700 to be fixed and detached from the tool head integrated frame 400. At the same time, the direction hole 411 can be limit-embedded with the square connecting seat 730.

[0023] Embodiment 3: An anti-collision mechanism is provided on the vehicle body 100. The anti-collision mechanism includes a movable rod 110. One end of the movable rod 110 is movably connected to the vehicle body 100, and a protective plate 120 is fixedly connected to the other end of the movable rod 110. A spring 130 fixed between the vehicle body 100 and the protective plate 120 is sleeved on the movable rod 110; An opening 121 is provided on the protective plate 120, and the opening 121 is located directly in front of the radar detector 600.

[0024] In this embodiment, as Figure 1 and 8As shown in the figure, protective plates 120 are provided on all four sides of the vehicle body 100. The movable rods 110 fixed on the protective plates 120 can interact with limited positions on the vehicle body 100, and the springs 130 sleeved on the movable rods 110 can be supported between the protective plates 120 and the vehicle body 100. When the protective plates 120 are subjected to impact forces, the protective plates 120 can exert pressure on the springs 130, and the compressed springs 130 can generate reaction forces, thereby being able to offset part of the impact force generated during the impact of the protective plates 120, and then being able to prevent the vehicle body 100 from rigid impacts, being able to protect the equipment on the vehicle body 100, and being able to improve the service life of the device.

[0025] Embodiment 4: A signal transceiver 210 is provided on the top of the PLC controller 200, and the signal transceiver 210 is used for receiving and transmitting signals to and from a remote terminal; The multi-axial robotic arm 300, the first monitoring camera 500, the radar detector 600, and the second monitoring camera 800 are all electrically connected to the PLC controller 200 through wires.

[0026] In this embodiment, as Figure 1 shown, the provided PLC controller 200 can respectively control the operation of the multi-axial robotic arm 300, the first monitoring camera 500, the radar detector 600, and the second monitoring camera 800. The provided first monitoring camera 500 can scan and monitor the surrounding environment so that the vehicle body 100 can position and move. The provided multi-axial robotic arm 300 can move in multiple axes, so that the positioning and clamping mechanism drives the clamped processing tool 900 to process the object to be processed. The provided radar detector 600 can position the object to be processed, and the provided second monitoring camera 800 can enable the positioning and clamping mechanism to scan and detect the positions of the six processing tools 900, so that the positioning and clamping mechanism can perform positioning docking with the processing tool 900 to be retrieved.

[0027] The specific working principle of the present invention: As Figure 1 shown, first, the vehicle body 100 can move so that it can approach the object to be processed for integrated processing; As Figure 2 shown, the six positioning slots 410 opened on the tool head integrated rack 400 can respectively hold different types of processing tools 900 for positioning, which is convenient for replacing and using different processing tools 900 during integrated processing; As Figure 1 and 4As shown, the multi-axis robotic arm 300 can drive the positioning and clamping mechanism to approach the processing tool 900 to be picked up for docking and clamping and fixing. Then, by turning on the first servo motor 310, the clamped and fixed processing tool 900 can be driven to rotate. Then, in cooperation with the multi-axis robotic arm 300, the processing tool 900 is driven to process the object to be processed. During processing, the processing tool 900 can be replaced for use, so as to be able to perform integrated processing on the processed object and improve the processing efficiency. As Figure 1 and 8 As shown, the protective plates 120 provided on the four sides of the vehicle body 100 can have a buffering effect, facilitate the rigid collision of the vehicle body 100, protect the equipment on the vehicle body 100, and improve the service life of the device.

[0028] The preferred embodiments of the present invention disclosed above are only used to help explain the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the present invention to the specific implementation manners. Obviously, many modifications and changes can be made according to the content of this specification. These embodiments are selected and specifically described in this specification to better explain the principle and practical application of the present invention, so that those skilled in the relevant technical fields can well understand and utilize the present invention. The present invention is only limited by the claims and their full scope and equivalents.

Claims

1. A processing integration device for a mobile hybrid robot, including a vehicle body (100), characterized in that, Radar detectors (600) are provided on all four sides of the vehicle body (100). A multi-axial robotic arm (300) is provided on the top of the vehicle body (100). One end of the multi-axial robotic arm (300) is fixedly connected with a positioning and clamping mechanism. A docking part (700) is fixedly connected to the positioning and clamping mechanism. A processing tool (900) is fixedly connected to the docking part (700). One end of the top of the vehicle body (100) is fixedly connected with a tool head integrated rack (400). A first monitoring camera (500) is fixedly connected to the top of the tool head integrated rack (400). The other end of the top of the vehicle body (100) is fixedly connected with a PLC controller (200). The positioning and clamping mechanism includes: A first servo motor (310), the output shaft of the first servo motor (310) is fixedly connected with a fixed seat (311). Three fixed rods (312) are fixedly connected to the fixed seat (311). One ends of the three fixed rods (312) are commonly fixedly connected with a clamping seat (313). A second monitoring camera (800) is fixedly connected to the inside of the clamping seat (313); Clamping arms (320), the clamping arms (320) are rotatably connected to the clamping seat (313), and there are three clamping arms (320) distributed in a ring shape. One end of the clamping arm (320) is provided with a clamping notch (322). The other end of the clamping arm (320) is rotatably connected with a swing arm (321); A second servo motor (330), the second servo motor (330) is fixedly connected to the fixed seat (311). A lead screw (331) fixed to the output shaft of the second servo motor (330) is rotatably connected to the clamping seat (313). One end of the lead screw (331) is movably connected with a movable plate (332), and the lead screw (331) is in threaded cooperation with the movable plate (332). One end of the swing arm (321) is rotatably connected to the movable plate (332).

2. The processing integration device of a mobile hybrid robot according to claim 1, characterized in that: The docking part (700) includes a conical positioning rod (710), an annular clamping seat (720) and a square connecting seat (730). The conical positioning rod (710) is in wedge connection with the clamping seat (313). One end of the processing tool (900) is embedded in the square connecting seat (730), and the square connecting seat (730) is fixedly connected with the processing tool (900) by screws. The clamping arm (320) is clamped on the outer surface of the annular clamping seat (720) through the clamping notch (322).

3. The processing integration device of a mobile hybrid robot according to claim 2, characterized in that: Positioning grooves (410) are formed on the tool head integrated rack (400), and there are six positioning grooves (410) in a rectangular array. A direction hole (411) is formed inside the positioning groove (410). An annular magnet (412) is fixedly connected to the inside of the positioning groove (410), and the positioning groove (410), the direction hole (411) and the annular magnet (412) are located on the same axis.

4. The processing integration device of a mobile hybrid robot according to claim 3, characterized in that: The square connecting seat (730) is embedded and connected in the direction hole (411), the annular clamping seat (720) is embedded and connected in the positioning groove (410), and the docking member (700) is magnetically connected to the cutter head integrated frame (400) through the annular magnet (412).

5. The processing integration device of a mobile hybrid robot according to claim 1, characterized in that: An anti-collision mechanism is provided on the vehicle body (100). The anti-collision mechanism includes a movable rod (110). One end of the movable rod (110) is movably connected to the vehicle body (100), and a protective plate (120) is fixedly connected to the other end of the movable rod (110). A spring (130) fixed between the vehicle body (100) and the protective plate (120) is sleeved on the movable rod (110).

6. The processing integration device of a mobile hybrid robot according to claim 5, characterized in that: An opening (121) is formed in the protective plate (120), and the opening (121) is located directly in front of the radar detector (600).

7. The processing integration device of a mobile hybrid robot according to claim 1, characterized in that: A signal transceiver (210) is provided on the top of the PLC controller (200), and the signal transceiver (210) is used for receiving and transmitting signals to a remote terminal.

8. The processing integration device of a mobile hybrid robot according to claim 1, characterized in that: The multi-axial robotic arm (300), the first monitoring camera (500), the radar detector (600), and the second monitoring camera (800) are all electrically connected to the PLC controller (200) through wires.

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