Composite robot machining equipment

Abstract

The invention relates to the technical field of wing manufacturing, and provides composite robot machining equipment which comprises an AGV trolley, a mechanical arm arranged on the AGV trolley, a main shaft arranged at the tail end of the mechanical arm, an abutting assembly connected with the main shaft and a machining tool. The machining tool can move relative to the abutting assembly in the axis direction of the machining tool. It can be understood that the continuous abutting of the abutting assembly can provide stable supporting force for the machining tool, so that vibration or deviation force generated in the machining process can be counteracted, that is, the tight contact of the abutting assembly and the machining face forms a temporary fixed fulcrum, and the shaking space of the machining tool is limited to a certain extent. Therefore, the machining tool can run along the preset track all the time, track deviation caused by external force interference is avoided, and finally the stability and machining precision of machining operation are guaranteed. In this way, the punching effect is guaranteed, and the practicability of the equipment is better.

Description

Technical Field

[0001] The present invention relates to the technical field of wing manufacturing, in particular to a composite robot processing device. Background Art

[0002] During the manufacturing process of existing aircraft wings, the skin needs to be connected to the frame. Among them, punching is a key process for connecting the skin and the wing frame, which can directly affect the safety and aerodynamic performance of the aircraft.

[0003] Currently, the most common drilling method is to use an AGV equipped with a punching tool to perform the operation automatically. However, during the drilling process, the vibration generated by the punching action can cause the punching tool to deviate, thereby affecting the drilling effect and ultimately reducing the practicality of this system. Summary of the Invention

[0004] In view of the above-mentioned shortcomings of the prior art, the present invention provides a composite robot processing equipment.

[0005] To achieve the above object, the present invention provides the following technical solutions: A composite robot processing equipment includes: an AGV trolley, a manipulator arranged on the AGV trolley, a main shaft arranged at the end of the manipulator and an abutment assembly connected to the main shaft, and a processing tool. The main shaft is used to drive the processing tool to rotate, and the processing tool can move relative to the abutment assembly along the axial direction of the processing tool.

[0006] In some embodiments, the abutment assembly includes an abutment sleeve and an elastic member, one end of the elastic member is connected to the abutment sleeve, and the other end is connected to the main shaft.

[0007] In some embodiments, the processing tool is accommodated in the abutting sleeve, and the processing tool is rotatable relative to the abutting sleeve.

[0008] In some embodiments, the abutment assembly further includes a connecting ring, the other end of the elastic member is connected to the main shaft via the connecting ring, and the connecting ring and the processing tool are connected so as to be relatively rotatable.

[0009] In some embodiments, the main shaft is provided with a limiting rod, the connecting ring is provided with a limiting groove cooperating with the limiting rod, and the connecting ring is connected to the main shaft through the limiting groove and the limiting rod.

[0010] In some embodiments, the connecting ring is connected to the main shaft and the processing tool by interference fit.

[0011] In some embodiments, a chip removal hole is provided on the side wall of the abutting sleeve.

[0012] In some embodiments, a tool magazine is further included, which is arranged on the AGV cart. The tool magazine includes at least one processing device fixing part, and the processing device fixing part includes a base and a clamping part connected to the base. The base is used to support the processing tool, and the clamping part is used to clamp the abutment assembly.

[0013] In some embodiments, a 3D vision mechanism is connected to the end of the manipulator.

[0014] In some embodiments, the 3D vision mechanism includes a vision control system and a 3D camera. The vision control system is arranged on the AGV vehicle, the 3D camera is connected to the end of the manipulator, and the vision control system is electrically connected to the 3D camera.

[0015] Compared with the prior art, the beneficial effect of the present invention is that when the AGV trolley moves to the designated position for processing, the abutment assembly first contacts the wing frame and maintains an abutment relationship, the spindle motor drives the processing tool to rotate, and the manipulator or other driver drives the processing tool and the abutment assembly to move in the direction close to the wing frame, that is, to move forward, so that the processing tool can drill. At this time, the abutment assembly cannot enter the wing frame with the processing tool. Therefore, the abutment part of the abutment assembly will be subjected to a backward thrust. Under the thrust of the wing frame, it retreats along the axis direction of the processing tool and always maintains an abutment state with the processing surface of the wing frame. It can be understood that this continuous abutment can provide a stable support force for the processing tool, thereby offsetting the vibration or offset force generated during the processing process, that is, the close contact between the abutment assembly and the processing surface forms a temporary fixed fulcrum, which limits the shaking space of the processing tool to a certain extent. Therefore, the processing tool can always run along the preset trajectory, avoiding trajectory deviation due to external force interference, and ultimately ensuring the stability and processing accuracy of the processing operation. In this way, the punching effect is guaranteed and the practicability of the equipment is better. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the three-dimensional structure of the composite robot processing equipment of the present invention when it is working; Figure 2 It is a schematic structural diagram of the main shaft, abutment assembly and processing tool of the present invention; Figure 3 It is a schematic diagram of the exploded structure of the main shaft, abutment assembly and processing tool of the present invention; Figure 4 A schematic diagram of the partial structure of the tool magazine of the present invention; Figure 5 It is a schematic diagram of the three-dimensional structure of the composite robot processing equipment of the present invention when it is working in another direction; Figure 6 It is a schematic diagram of the partial structure of the AGV car of the present invention; Figure 7 It is a schematic diagram of the partial structure of the positioning and locking device of the present invention.

[0017] 10. Composite robot processing equipment; 100, AGV car; 110, rack; 120, AGV electronic control system; 130, electric steering wheel; 140, laser radar; 200, processing device; 210, 3D vision mechanism; 211, vision control system; 220, manipulator; 221, manipulator control system; 222, air compressor system; 230, spindle; 231, limit rod; 232, chuck; 240, abutment assembly; 241, connecting ring; 242, connecting cylinder; 243, elastic member; 244, abutment sleeve; 250, processing tool; 300, positioning and locking device; 310, hydraulic mechanism; 320, drive plate; 330, limiting mechanism; 331, positioning sleeve; 332, positioning pin; 400. Strong power supply device; 500, tool magazine; 510, base; 511, clamping part; 520, tool setting assembly; 521, frame; 522, elastic telescopic platform; 523, inductive contact member; 524, guide rail; 600. Wing frame. DETAILED DESCRIPTION

[0018] To make the purpose, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. The described embodiments are only part of the embodiments of the present invention, not all of the embodiments.

[0019] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention as claimed, but rather merely represents selected embodiments of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without creative effort are also within the scope of protection of the present invention.

[0020] like Figures 1 to 3 As shown, a composite robot processing equipment 10 is provided, including: an AGV trolley 100, a manipulator 220 arranged on the AGV trolley 100, a main shaft 230 arranged at the end of the manipulator 220, an abutment assembly 240 connected to the main shaft 230, and a processing tool 250, the main shaft 230 is used to drive the processing tool 250 to rotate, and the processing tool 250 can move relative to the abutment assembly 240 along the axial direction of the processing tool 250.

[0021] Specifically, the AGV trolley 100 serves as a mounting platform for the processing device 200. The processing device 200 includes a manipulator 220, a spindle motor, a spindle 230, a processing tool 250, etc. The manipulator 220 may be, but is not limited to, a six-axis manipulator. The spindle motor is connected to the manipulator 220, and the output end of the spindle motor is connected to the spindle 230. The processing tool 250 is connected to the spindle 230 to be driven by the spindle motor for processing. In addition, the manner in which the manipulator 220, the spindle motor, the spindle 230, and the processing tool 250 cooperate with each other in installation and operation is known to those skilled in the art and is achievable, and is not described in detail in this embodiment. The abutment assembly 240 is used to continuously abut against the part to be processed when the processing tool 250 is processing. In this embodiment, the part to be processed is set as the wing frame 600. The abutment assembly 240 can slide along the axial direction of the processing tool 250 under the action of a certain external force and is in the initial position under normal circumstances; and, the end of the abutment assembly 240 close to the wing frame 600 is protruding from the processing tool 250 in the initial state, or the end of the abutment assembly 240 close to the wing frame 600 and the end of the processing tool 250 close to the wing frame 600 are flush with each other.

[0022] It is worth noting that when the AGV trolley 100 moves to the designated position for processing, the abutment component 240 first contacts the wing frame 600 and maintains an abutment relationship. The spindle motor drives the processing tool 250 to rotate, and the manipulator 220 or other driver drives the processing tool 250 and the abutment component 240 to move toward the direction close to the wing frame 600, that is, forward, so that the processing tool 250 can drill. At this time, the abutment component 240 cannot enter the wing frame 600 with the processing tool 250. Therefore, the abutment part of the abutment component 240 will be subjected to a backward thrust, and it will retreat along the axial direction of the processing tool 250 under the thrust of the wing frame 600, and always maintain an abutment state with the processing surface of the wing frame 600. It is understood that this continuous abutment provides stable support for processing tool 250, thereby offsetting vibration or offset forces generated during the machining process. Specifically, the close contact between abutment assembly 240 and the machining surface forms a temporary fixed fulcrum, which to some extent limits the wiggle space of processing tool 250. Therefore, processing tool 250 can always move along the preset trajectory, avoiding deviation from the trajectory due to external interference, ultimately ensuring the stability and processing accuracy of the machining operation. This ensures the drilling effect and enhances the practicality of the equipment.

[0023] To facilitate the use of the abutment assembly 240, as Figure 2 and Figure 3As shown, in some embodiments, the abutment assembly 240 includes an abutment sleeve 244 and an elastic member 243 . One end of the elastic member 243 is connected to the abutment sleeve 244 , and the other end is connected to the main shaft 230 .

[0024] Specifically, the abutment sleeve 244 is used to movably abut the wing skeleton 600, and the abutment sleeve 244 can only slide under the action of a certain external force, and is in the initial position under normal conditions. In addition, the end of the abutment sleeve 244 close to the wing skeleton 600 is protruding from the processing tool 250 in the initial state, or the end of the abutment sleeve 244 close to the wing skeleton 600 and the end of the processing tool 250 close to the wing skeleton 600 are flush with each other. The elastic member 243 is optional but not limited to a spring. When the abutment sleeve 244 is pushed back by the thrust of the wing skeleton 600, the elastic force of the elastic member 243 maintains the abutment relationship with the wing skeleton 600. In this way, the use of the abutment assembly 240 is facilitated.

[0025] In order to improve the practicality of the equipment, such as Figure 2 and Figure 3 As shown, in some embodiments, the processing tool 250 is received in the abutting sleeve 244 , and the processing tool 250 is rotatable relative to the abutting sleeve 244 .

[0026] Specifically, the processing tool 250 is inserted into the abutment sleeve 244 and can rotate within the abutment sleeve 244. In this way, during processing, the abutment sleeve 244 is covered on the peripheral side of the processing tool 250, and the abutment sleeve 244 can further limit the shaking space of the processing tool 250. Therefore, the processing tool 250 can always run along the preset trajectory, avoiding trajectory deviation due to external interference, and ultimately ensuring the stability and processing accuracy of the processing operation, so that the limiting effect is better. On the other hand, it is understandable that the processing tool 250 will generate a large amount of debris during the processing process. When the processing tool 250 is accommodated in the abutment sleeve 244, the debris it generates will be confined in the abutment sleeve 244 and will not freely diffuse outward in large quantities, so as to prevent it from adhering to the surrounding facilities over a large area and causing damage.

[0027] like Figure 2 and Figure 3 As shown, in some embodiments, the abutment assembly 240 further includes a connecting ring 241, through which the other end of the elastic member 243 is connected to the main shaft 230. The connecting ring 241 is connected to the processing tool 250 for relative rotation. It will be appreciated that, compared to the previous embodiment in which the abutment assembly 240 was connected to the main shaft 230 via one end of the elastic member 243 (i.e., a point connection), in this embodiment, the abutment assembly 240 is connected to the main shaft 230 via the connecting ring 241 (i.e., a surface or body connection), resulting in a better connection between the two, thereby enhancing the stability of the abutment assembly 240 and improving the abutment effect of the abutment sleeve 244.

[0028] Furthermore, the connecting ring 241 can be composed of one or more annular bodies with different outer diameters, and the processing tool 250 is rotatably set in the connecting ring 241. The two can be connected by bearings or other conventional connecting parts, which are not limited here. In this way, the abutment assembly 240 is further connected to the processing tool 250 to further enhance the stability of the abutment assembly 240 and improve the abutment effect of the abutment sleeve 244.

[0029] Furthermore, the connecting ring 241 can be configured to be connected to both the processing tool 250 and the spindle 230 by interference fit, i.e., the connection is relatively tight, but under the action of a large external force, the connecting ring 241 can slide along the axis of the processing tool 250. Under normal circumstances, the connecting ring 241 is firmly in its initial position. As a result, when the processing tool 250 is processing, the position of the connecting ring 241 remains stable, and only the displacement of the abutment sleeve 244 and the elastic member 243 changes. When it is necessary to further adjust the processing depth of the processing tool 250, the processing tool 250 with the abutment assembly 240 is removed, and a thrust is applied to the connecting ring 241, so that the displacement of the connecting ring 241 on the processing tool 250 changes, and the connecting ring 241 simultaneously drives the abutment sleeve 244 and the elastic member 243 to move, thereby adjusting the processing depth of the processing tool 250.

[0030] like Figure 2 and Figure 3 As shown, in some embodiments, the main shaft 230 is provided with a limiting rod 231, and the connecting ring 241 is provided with a limiting groove that cooperates with the limiting rod 231. The connecting ring 241 is connected to the main shaft 230 through the limiting groove and the limiting rod 231 to limit the circumferential rotation of the connecting ring 241.

[0031] Specifically, a limiting rod 231 is provided at one end of the spindle 230, proximate to the wing frame 600, and is positioned along the axis of the processing tool 250. A limiting groove is defined on the outer periphery of the connecting ring 241, and the limiting rod 231 engages with the sidewall of the limiting groove, thereby limiting the rotational tendency of the connecting ring 241 and preventing the connecting ring 241 from rotating when driven by the processing tool 250 via bearings or other conventional connecting components. Thus, when the processing tool 250 rotates within the connecting ring 241, the limiting rod 231 on the spindle 230 limits the connecting ring 241, keeping it stationary relative to the spindle 230 and preventing wear at the connection between the connecting ring 241 and the spindle 230. Furthermore, the abutment sleeve 244 connected to the connecting ring 241 also remains stationary relative to the processing tool 250, preventing wear between the abutment sleeve 244 and the component being processed. In addition, two limiting rods 231 can be provided, and the two limiting rods 231 are arranged opposite each other, so that the limiting effect on the connecting ring 241 is better. The number and specific arrangement of the limiting rods 231 are not limited here, as long as they can ensure that the rotation tendency of the connecting ring 241 can be limited.

[0032] To facilitate the use of the abutment sleeve 244, as Figure 2 and Figure 3 As shown, in some embodiments, the connecting ring 241 is connected to the connecting cylinder 242 , the connecting cylinder 242 passes through the elastic member 243 and is slidably connected to the abutting sleeve 244 , and the processing tool 250 can rotate relative to the connecting cylinder 242 .

[0033] Specifically, a connecting tube 242 is provided at one end of the connecting ring 241 close to the wing frame 600. The connecting tube 242 is passed through the elastic member 243 and the abutment sleeve 244, and the outer surface of the connecting tube 242 is slidably connected to the inner surface of the abutment sleeve 244. In this way, the connecting tube 242 can play a certain supporting role on the abutment sleeve 244, thereby limiting the sliding direction of the abutment sleeve 244 to avoid the abutment sleeve 244 from shaking during the sliding process, thereby better limiting the shaking of the processing tool 250.

[0034] It is understood that in other embodiments, the connecting tube 242 can also be provided on the abutting sleeve 244, or the abutting sleeve 244 and the connecting ring 241 can be provided with a first connecting tube and a second connecting tube, respectively, and the first connecting tube and the second connecting tube are provided in relative sliding connection. The working principles of the two aforementioned connecting tube arrangements are exactly the same as those of the aforementioned embodiment and will not be further described here.

[0035] In order to further limit the sliding of the abutment sleeve 244, as shown in FIG. Figure 2 As shown, in some embodiments, a sliding groove is provided on the connecting tube 242, and a sliding block that matches the sliding groove is provided on the abutting sleeve 244, and the sliding block is slidably provided in the sliding groove.

[0036] Specifically, a sliding groove is formed on the outer side surface of the connecting cylinder 242, and a sliding block is arranged on the inner side surface of the abutting sleeve 244. When the abutting sleeve 244 slides on the connecting cylinder 242, the sliding block slides in the sliding groove, so as to limit the rotation trend of the abutting sleeve 244 through the structure of the sliding groove and the sliding block, and further prevent the abutting sleeve 244 from shaking during the sliding process. In addition, two sliding blocks can be arranged, and the sliding grooves are correspondingly arranged. In this way, the limiting effect of the abutting sleeve 244 is better, and the sliding process of the abutting sleeve 244 is more stable.

[0037] As shown in Figure 2 and Figure 3 , in some embodiments, a chip removal hole is arranged on the side wall of the abutting sleeve 244.

[0038] Specifically, the chip removal hole is arranged as an arc-shaped hole body, which is used to remove the chips generated during the machining process, so as to avoid the accumulation of the chips in the abutting sleeve 244 and affect the subsequent machining effect. The chip removal hole can be connected with a chip removal component (such as a vacuum cleaner) to perform the chip removal treatment. In addition, two chip removal holes can be arranged, and the two chip removal holes are arranged oppositely, so as to achieve a better dust removal effect. In addition, the number of chip removal holes can also be three or other, which is not limited here, and is subject to the actual production demand.

[0039] In order to facilitate the machining of the composite robot machining equipment 10, as shown in Figure 4 and Figure 5 , in some embodiments, the composite robot machining equipment 10 further comprises a tool magazine 500, which is arranged on the AGV trolley 100. The tool magazine 500 comprises at least one machining device fixing part, and the machining device fixing part comprises a base 510 and a clamping part 511 connected with the base 510. The base 510 is used to support the machining tool 250, and the clamping part 511 is used to clamp the abutting assembly 240.

[0040] Specifically, the machining device fixing part can be arranged as multiple groups to increase the types of the machining tool 250. The base 510 is arranged on one side of the top end of the AGV trolley 100 and is arranged adjacent to the mechanical hand 220. A plurality of mounting holes are formed on the base 510. As shown in Figure 2 and Figure 3 , each mounting hole is used to position and install the machining tool 250 connected with the connecting ring 241, the connecting cylinder 242, the elastic member 243 and the abutting sleeve 244, so as to be taken away by the main shaft 230. The clamping part 511 is arranged on the base 510, and the clamping part 511 is arranged as a clamping rod which is embedded in the base 510 and limits the abutting connecting ring 241, so as to prevent the machining tool 250 from shaking during the movement of the AGV trolley 100.

[0041] In order to facilitate the work of the composite robot machining equipment 10, as shown in Figure 3 , Figure 4 and Figure 5 As shown in FIGS. 1 and 2, in some embodiments, the chuck 232 is arranged on the spindle 230 and is movable to the tool magazine 500 to load the tool.

[0042] Specifically, the chuck 232 is connected to the spindle 230 and firmly installs the machining tool 250 on the spindle 230 by a mechanical structure or a threaded locking manner. The mechanical structure can be a spring chuck, a hydraulic chuck, etc., which is not limited here. The chuck 232 can not only avoid the machining tool 250 from falling off during high-speed rotation or cutting, but also can transmit the rotation torque of the spindle motor to the machining tool 250. The chuck 232 cooperates with the machining tool 250 in the tool magazine 500 to movably clamp the tail end of the machining tool 250, so that the machining tool 250 connected with the connecting ring 241, the connecting barrel 242, the elastic member 243, and the abutting sleeve 244 in the mounting hole can be taken away, thereby completing the tool loading.

[0043] In order to facilitate machining, as shown in FIGS. 1 and 2, in some embodiments, the tool magazine 500 is provided with a tool setting assembly 520, and the manipulator 220 is arranged in cooperation with the tool setting assembly 520 to set the tool in the tool setting assembly 520. Figure 1 Figure 4 Specifically, the tool setting assembly 520 is arranged on one side of the base 510 and quickly and accurately acquires the geometric parameters such as the length, diameter, and radius of the tool, as well as the installation position deviation of the tool on the spindle 230 by an automatic or semi-automatic manner, thereby providing accurate tool compensation data for the numerical control machine tool and ensuring that different tools can still maintain the consistency of the coordinate system after tool changing. The maximum depth value that the machining tool 250 can feed is also measured.

[0044] In order to facilitate tool setting, as shown in FIGS. 1 and 2, in some embodiments, the tool setting assembly 520 includes a frame body 521, an elastic telescopic table 522, and a sensing abutting piece 523. The frame body 521 is arranged on the base 510, the sensing abutting piece 523 is arranged on the frame body 521, and the elastic telescopic table 522 is arranged on the frame body 521 in a liftable manner. The top surface of the elastic telescopic table 522 in a normal state is higher than the top surface of the sensing abutting piece 523. The elastic telescopic table 522 is provided with a plug-in hole. When the machining tool 250 moves downward in the plug-in hole, the abutting sleeve 244 abuts against the elastic telescopic table 522 until the abutting sleeve 244 abuts against the sensing abutting piece 523.

[0045] In order to facilitate tool setting, as shown in FIGS. 1 and 2, in some embodiments, the tool setting assembly 520 includes a frame body 521, an elastic telescopic table 522, and a sensing abutting piece 523. The frame body 521 is arranged on the base 510, the sensing abutting piece 523 is arranged on the frame body 521, and the elastic telescopic table 522 is arranged on the frame body 521 in a liftable manner. The top surface of the elastic telescopic table 522 in a normal state is higher than the top surface of the sensing abutting piece 523. The elastic telescopic table 522 is provided with a plug-in hole. When the machining tool 250 moves downward in the plug-in hole, the abutting sleeve 244 abuts against the elastic telescopic table 522 until the abutting sleeve 244 abuts against the sensing abutting piece 523. Figure 4

[0046] ​​Specifically, the rack body 521 is arranged at one side of the base 510, and the elastic telescopic table 522 is arranged on the rack body 521 in a liftable manner, which remains stable at a certain height in a normal state and can be lowered when subjected to pressure. The elastic telescopic table 522 is provided with a plug-in hole in a vertical direction, and the rack body 521 is provided with a sensing abutting piece 523 at a side close to the plug-in hole, and the sensing abutting piece 523 is arranged in partial overlap with the plug-in hole. In this way, when the tool is measured, the abutting sleeve 244 abuts against the elastic telescopic table 522, the machining tool 250 is inserted above the plug-in hole, and is lowered in a vertical direction, at the same time, the abutting sleeve 244 presses the elastic telescopic table 522 downward, and the machining tool 250 continuously descends under the driving action until the abutting sleeve 244 abuts against the sensing abutting piece 523, at this time, the maximum machining depth of the machining tool 250 can be measured through the sensing abutting piece 523.

[0047] In order to facilitate the use of the elastic telescopic table 522, as shown in Figure 4 , in some embodiments, the rack body 521 is provided with a guide rail 524, and the elastic telescopic table 522 is arranged on the guide rail 524 in a sliding manner to ascend and descend along the guide rail 524.

[0048] Specifically, the guide rail 524 is arranged at one side of the rack body 521 and is arranged in a vertical direction. The elastic telescopic table 522 is connected with a sliding block, and the sliding block is arranged on the guide rail 524 in a sliding manner. In this way, when the elastic telescopic table 522 is subjected to pressure and descends, the elastic telescopic table 522 can descend along the guide rail 524 through the sliding block.

[0049] In order to facilitate the AGV trolley 100 to punch holes, as shown in Figure 1 , in some embodiments, the mechanical arm 220 is connected with a 3D vision mechanism 210 at the end.

[0050] Specifically, the 3D vision mechanism 210 is used for scanning a scene to assist the AGV trolley 100 to plan a path. The 3D vision mechanism 210 includes a vision control system 211 and a 3D camera, etc. The vision control system 211 is arranged on the AGV trolley 100, the 3D camera is installed at the end of the mechanical arm 220, and the vision control system 211 and the 3D camera are electrically connected. The manner in which the vision control system 211 and the 3D camera cooperate with each other to work is a technology known to those skilled in the art and can be implemented, and is not described in detail in this embodiment.

[0051] As shown in Figure 1 , Figure 5 , and Figure 6As shown, in some embodiments, the AGV trolley 100 mainly includes a frame 110, an AGV electronic control system 120, a battery system, an electric steering wheel 130 and a laser radar 140, etc. The AGV electronic control system 120, the battery system and the laser radar 140 are arranged in the frame 110, and the electric steering wheel 130 is arranged at the bottom end of the frame 110 to drive the AGV trolley 100 to move. The AGV electronic control system 120, the battery system and the laser radar 140 drive the electric steering wheel 130 to move, so that the AGV trolley 100 can use the laser SLAM navigation system for automatic displacement. In this way, after the composite robot processing equipment 10 receives the instruction, if the working conditions permit, the composite robot processing equipment 10 autonomously navigates and moves to the designated workstation. Among them, the connection method of the above-mentioned structures of the AGV trolley 100 and the way of cooperating with each other to work are technologies that can be known to those skilled in the art and are achievable, and are not described in detail in this embodiment.

[0052] In order to facilitate the use of the AGV trolley 100, Figure 5 and Figure 6 As shown, in some embodiments, the compound robot processing equipment 10 further includes a positioning locking device 300 for fixing the AGV trolley on the ground, and the positioning locking device 300 is provided on the AGV trolley.

[0053] Specifically, the positioning and locking device 300 is provided at the bottom end of the AGV trolley and is used to prevent the AGV trolley from shifting during the drilling process.

[0054] In order to facilitate the use of the positioning locking device 300, as shown in FIG. Figure 5 and Figure 6 As shown, in some embodiments, the positioning and locking device 300 further includes a hydraulic mechanism 310 , which is connected to the AGV trolley 100 , and the output end of the hydraulic mechanism 310 is movably extended to movably abut against the ground to lift the AGV trolley 100 .

[0055] Specifically, the hydraulic mechanism 310 includes a hydraulic cylinder, which is disposed within the frame 110. After the AGV 100 reaches the designated position, the hydraulic cylinder drives the output end to extend, thereby lifting the AGV 100 until the bottom end of the electric steering wheel 130 is suspended in the air, thereby preventing the AGV 100 from rolling and thus securing the AGV 100.

[0056] In order to facilitate the hydraulic mechanism 310 to lift the AGV trolley 100, as shown in FIG. Figure 6 and Figure 7 As shown, in some embodiments, the positioning and locking device 300 also includes a driving plate 320 and a limiting mechanism 330. The output end of the hydraulic mechanism 310 is connected to the driving plate 320, and the driving plate 320 is connected to the limiting mechanism 330 to be limitedly connected to the AGV trolley 100.

[0057] Specifically, the output end of the hydraulic cylinder passes through the frame 110 and is connected to the drive plate 320, and the drive plate 320 is arranged below the frame 110. The hydraulic cylinder drives the drive plate 320 to move downward, thereby lifting the AGV trolley 100 until the bottom end of the electric steering wheel 130 is suspended in the air, thereby preventing the AGV trolley 100 from rolling. The limiting mechanism 330 includes a driver, a positioning sleeve 331 and a positioning pin 332. The driver is installed in the frame 110, and the driver can be set as a motor. The positioning sleeve 331 is provided on the output end of the driver, and the positioning pin 332 is provided on the top surface of the lifting plate. The positioning sleeve 331 and the positioning pin 332 are movably connected, that is, the driver drives the positioning sleeve 331 to plug the positioning pin 332, thereby further completing the locking and fixing of the frame 110 and the lifting plate to avoid displacement and other phenomena. The manner in which the AGV 100, the drive plate 320, and the limiting mechanism 330 cooperate to achieve positioning and locking is well known to those skilled in the art. The manner in which the hydraulic cylinder and the actuator operate is well known to those skilled in the art and is therefore not described in detail in this embodiment. Furthermore, multiple limiting mechanisms 330 may be provided to achieve a more effective limiting effect, such as two on the left and right sides.

[0058] like Figure 1 and Figure 6 As shown, in some embodiments, the processing device 200 also includes a manipulator control system 221, an inverter, a battery system and an air compressor system 222, etc. The manipulator 220 is installed on the frame 110, and the inverter, battery system and air compressor system 222 are installed in the frame 110. The manipulator control system 221 is used to drive the manipulator 220 to move.

[0059] like Figure 1 As shown, in some embodiments, the composite robot processing equipment 10 further includes a high-voltage power supply device 400, which is arranged on one side of the AGV trolley 100 and is electrically connected to the AGV trolley 100 and the processing device 200. After the AGV positioning is completed, the high-voltage power supply device 400 begins to dock. After the docking is completed, the power supply to the manipulator control system 221 of the AGV trolley 100 and the processing device 200 is started through the inverter, with a voltage of 380V, and then the end of the manipulator 220 is linked to carry the main shaft 230, the abutment assembly 240 and the processing tool 250 to perform processing operations. In addition, the AGV trolley 100 uses a two-stage floating device to automatically dock with the high-voltage power supply device 400.

[0060] Therefore, reference Figure 1 、 Figure 5 and Figure 6The specific working steps of the composite robot processing equipment 10 are as follows: start the equipment, after the AGV trolley 100 receives the moving instruction, it sends the moving instruction to the AGV electronic control system 120, completes the positioning and map construction based on the laser radar 140, drives the electric steering wheel 130 to rotate, and moves the AGV trolley 100 to the designated position. During the movement of the AGV trolley 100, the laser SLAM navigation system is used, combined with the 3D vision mechanism 210, to monitor the surrounding environmental changes in real time, realize autonomous navigation, and actively avoid people or facilities that move in the factory at any time. After the AGV trolley 100 reaches the designated position, refer to Figure 6 and Figure 7 The main control system controls the hydraulic mechanism 310 to start, and the hydraulic cylinder pushes the drive plate 320 to lift the entire AGV trolley 100 off the ground. Then the motor pushes the positioning sleeve 331 to fit the positioning pin 332 to complete the positioning of the AGV trolley 100 and the drive plate 320, so as to fix the AGV trolley on the ground and prevent the AGV trolley 100 from moving during operation and affecting the processing accuracy. After positioning is completed, refer to Figure 2 、 Figure 3 and Figure 4 , that is, the robot 220 moves to the tool magazine 500 for cutting, and after the cutting is completed, the tool is set in the tool setting component 520. After the tool setting is completed, the robot 220 moves the processing tool 250 to the processing position, refer to Figure 1 and Figure 2 The abutment sleeve 244 first abuts against the wing frame 600, the spindle motor drives the processing tool 250 to rotate, and the other drivers or manipulators 220 drive the abutment sleeve 244 and the processing tool 250 to move forward for processing. During the processing, the abutment sleeve 244 always abuts against the processing surface through elastic action to maintain the stability of the processing.

[0061] In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "connect," "fixed," etc. should be understood broadly. For example, they may refer to fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0062] In the description of the application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship commonly used when the product of the application is used, and are only for the convenience of describing the application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the application. In addition, the terms "first", "second", "third" and the like are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0063] In addition, the terms "horizontal", "vertical", "overhang" and the like do not mean that the component must be absolutely horizontal or overhanging, but can be slightly inclined. For example, "horizontal" only means that its direction is more horizontal relative to "vertical", and does not mean that the structure must be completely horizontal, but can be slightly inclined.

[0064] In the present application, unless otherwise explicitly specified and limited, the first feature above or below the second feature can include that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact through another feature therebetween. Moreover, the first feature above, above and above the second feature includes that the first feature is directly above and obliquely above the second feature, or only means that the horizontal height of the first feature is higher than that of the second feature. The first feature below, below and below the second feature includes that the first feature is directly below and obliquely below the second feature, or only means that the horizontal height of the first feature is less than that of the second feature.

[0065] Although the description of the application is made in combination with the above specific embodiments, it is obvious that those skilled in the art can make many substitutions, modifications and changes based on the above content. Therefore, all such alternatives, improvements and changes are included in the spirit and scope of the appended claims.

Claims

1. A composite robot processing equipment, characterized in that, include: An AGV trolley, a manipulator arranged on the AGV trolley, a spindle arranged at the end of the manipulator, an abutment assembly connected to the spindle, and a processing tool. The spindle is used to drive the processing tool to rotate, and the processing tool can move relative to the abutment assembly along the axial direction of the processing tool.

2. A composite robot processing equipment according to claim 1, characterized in that: The abutting assembly includes an abutting sleeve and an elastic member. One end of the elastic member is connected to the abutting sleeve, and the other end is connected to the main shaft.

3. A composite robot processing equipment according to claim 2, characterized in that: The processing tool is accommodated in the abutting sleeve, and the processing tool can rotate relative to the abutting sleeve.

4. A composite robot processing equipment according to claim 3, characterized in that: The abutment assembly further includes a connecting ring, through which the other end of the elastic member is connected to the main shaft, and the connecting ring is connected to the processing tool in a relatively rotatable manner.

5. The composite robot processing equipment according to claim 4, characterized in that: The main shaft is provided with a limiting rod, the connecting ring is provided with a limiting groove matched with the limiting rod, and the connecting ring is connected to the main shaft through the limiting groove and the limiting rod.

6. The composite robot processing equipment according to claim 4, characterized in that: The connecting ring is connected to the main shaft and the processing tool through interference fit.

7. A composite robot processing equipment according to any one of claims 2 to 6, characterized in that: A chip removal hole is provided on the side wall of the abutting sleeve.

8. A composite robot processing equipment according to any one of claims 2 to 6, characterized in that: It also includes a tool magazine, which is arranged on the AGV cart. The tool magazine includes at least one processing device fixing part, and the processing device fixing part includes a base and a clamping part connected to the base. The base is used to support the processing tool, and the clamping part is used to clamp the abutment assembly.

9. The composite robot processing equipment according to any one of claims 2 to 6, characterized in that: The end of the manipulator is connected to a 3D vision mechanism.

10. The composite robot processing equipment according to claim 9, characterized in that: The 3D vision mechanism includes a vision control system and a 3D camera. The vision control system is arranged on the AGV vehicle. The 3D camera is connected to the end of the manipulator. The vision control system is electrically connected to the 3D camera.

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