Hybrid serial-parallel robot equipment for internal cavity machining of structural parts

Abstract

The present invention provides a hybrid robot equipment for machining the inner cavity of a structural member, comprising a serial working platform, a parallel robot arranged on the serial working platform, and a spindle machining head mounted on the parallel robot; an installation position is configured on the serial working platform, and the installation position is used for installing the structural member; the parallel robot can enter the inner cavity of the structural member through the serial working platform and use the spindle machining head to machine the inner cavity of the structural member. By providing the serial working platform, the parallel robot, and the spindle machining head, the present invention can output five-degree-of-freedom motion, and has remarkable advantages such as a large machining range, a fast response speed, high overall precision / stiffness, good flexibility, strong load capacity, and a compact structure, which helps to achieve efficient machining of the inner cavity of the structural member under different inner diameters.

Description

Technical Field

[0001] The present invention relates to the technical field of robotic drilling, and more particularly, to a hybrid robot equipment for machining the inner cavity of a structural member. Background Art

[0002] Large structural members are important components in core equipment in fields such as energy, national defense, and aerospace. They have characteristics such as complex inner cavity structures, high enclosure, and difficult-to-control machining processes. Based on these characteristics, existing machining equipment, such as traditional multi-axis CNC machine tools and machining robots with serial manipulators as carriers, cannot be used for machining the inner cavities of structural members due to limitations in the body structure or the precision / stiffness of the equipment.

[0003] In response to the above situation, at present, manual processing methods are mainly used to machine the inner cavities of large structural members, but there are problems such as high labor intensity, low machining efficiency, poor product quality, and difficult health protection. Therefore, it is necessary to use appropriate inner cavity machining equipment for structural members for replacement. In addition, since most large parts have special-shaped structures, that is, the inner diameter of the structural member changes with the increase in depth. Therefore, in order to achieve effective whole-piece machining, the inner cavity machining equipment used also needs to adapt to different inner diameters.

[0004] Different from traditional cantilever-type serial robots, parallel robots are composed of a fixed platform, a moving platform, and several moving branches in parallel, and have advantages such as a compact structure, high overall precision / stiffness, etc., and have been widely used in fields such as material sorting and handling, and machining. The existing five-degree-of-freedom hybrid machining equipment has problems such as a large occupied space and cannot penetrate into the cavity of the structural member, and thus cannot achieve inner wall machining. Therefore, in view of the current status of inner cavity machining of large structural members, it is very necessary to propose a five-degree-of-freedom hybrid robot equipment for machining the inner cavity of structural members. Summary of the Invention

[0005] Aiming at the deficiencies in the prior art, the purpose of the present invention is to provide a hybrid robot equipment for machining the inner cavity of a structural member. By setting up a serial working platform, a parallel robot, a spindle machining head, and a workpiece support fixture, a hybrid robot equipment for machining the inner cavity of a structural member is designed, especially for machining the inner cavity of large special-shaped structural members, and the output of five-degree-of-freedom motion is achieved.

[0006] According to a hybrid robot equipment for machining the inner cavity of a structural member provided by the present invention, it includes a serial working platform, a parallel robot arranged on the serial working platform, and a spindle machining head installed on the parallel robot;

[0007] An installation position is configured on the serial working platform, and the installation position is used for installing a structural member;

[0008] The parallel robot can enter the inner cavity of the structural member through the serial working platform and use the main spindle machining head to machine the inner cavity of the structural member.

[0009] Preferably, the serial working platform is provided with a moving device and a rotating device;

[0010] The moving device can enable the parallel robot to perform linear forward and backward movement within the inner cavity of the structural member.

[0011] The rotating device can enable the parallel robot to rotate within the inner cavity of the structural member.

[0012] Preferably, the moving device includes a serial base, a base moving guide rail, a moving trolley, and a crossbeam moving guide rail;

[0013] The base moving guide rail is fixedly installed on the serial base;

[0014] The moving trolley is installed on the base moving guide rail and can perform linear forward and backward movement along the base moving guide rail;

[0015] The rotating device includes an electric control box, an external rotary table, and a rotary support seat;

[0016] The rotary support seat is used to support and clamp the external rotary table, and the rotary support seat can rotate following the external rotary table;

[0017] The electric control box is fixedly installed on the moving trolley to provide electric energy for the external rotary table;

[0018] The external rotary table is installed on the moving trolley;

[0019] The external rotary table is provided with a rotor, and the crossbeam moving guide rail is fixedly installed on the rotor.

[0020] Preferably, the parallel robot is installed on the crossbeam moving guide rail;

[0021] The moving trolley transports the crossbeam moving guide rail and the parallel robot to the inner cavity of the structural member through linear forward and backward movement on the base moving guide rail.

[0022] Preferably, the parallel robot includes a frame fixed platform, an output moving platform, two first branches, and a second branch;

[0023] The two first branches and the second branch are arranged between the frame fixed platform and the output moving platform;

[0024] The first branches are respectively arranged on both sides of the second branch.

[0025] The first branch includes a first bearing block, a second bearing block, a first revolute pair, a first connecting rod, a second revolute pair, a second connecting rod, and a first Hooke joint;

[0026] The first bearing block and the second bearing block are fixedly installed on the fixed platform of the frame. The first bearing block and the second bearing block are rotationally matched with the first connecting rod through the first revolute pair. The first connecting rod is rotationally matched with the second connecting rod through the second revolute pair. The second connecting rod is rotationally matched with the first Hooke joint through the first rotation axis of the first Hooke joint. The first Hooke joint is rotationally matched with the output moving platform through the second rotation axis of the first Hooke joint;

[0027] The second branch includes a third bearing block, a fourth bearing block, a third revolute pair, a third connecting rod, a fourth revolute pair, a fourth connecting rod, and a first spherical joint; The third bearing block and the fourth bearing block are fixedly installed on the fixed platform of the frame. The third bearing block and the fourth bearing block are rotationally matched with the third connecting rod through the third revolute pair. The third connecting rod is rotationally matched with the fourth connecting rod through the fourth revolute pair. The fourth connecting rod is rotationally matched with the output moving platform through the first spherical joint;

[0028] In the two first branches, the rotation axes of the first revolute pair and the second revolute pair are parallel to the axis of the first rotation axis of the first Hooke joint, and the axis of the second rotation axis of the first Hooke joint coincides; In the second branch, the rotation axis of the third revolute pair is parallel to the rotation axis of the fourth revolute pair.

[0029] Preferably, the first revolute pair and the third revolute pair are driving pairs, and the driving mechanism of the driving pair includes a motor and a gear driver;

[0030] When the driving pair is driven by the motor to generate electricity to drive the gear driver, the parallel robot can realize a three-degree-of-freedom spatial motion of two rotations and one translation;

[0031] Combined with the series working platform, the hybrid robot equipment can realize a five-degree-of-freedom motion, so that the tool axis of the spindle machining head can be along the normal direction of different machining areas in the inner cavity of the structural member, realizing high-speed and high-precision milling machining.

[0032] Preferably, the hybrid robot equipment further includes a workpiece support fixture; The workpiece support fixture is used to support the structural member and is placed on the series working platform. Further, the workpiece support fixture is installed on the series base.

[0033] Compared with the prior art, the present invention has the following beneficial effects:

[0034] 1. The present invention designs a hybrid robot equipment for machining the inner cavity of structural parts by setting up a series working platform, a parallel robot, a spindle machining head and a workpiece support fixture, which can output five-degree-of-freedom motion.

[0035] 2. The present invention has remarkable advantages such as a large machining range, a fast response speed, high overall accuracy / stiffness, good flexibility, strong load capacity, and a compact structure, which helps to achieve efficient machining of the inner cavity of structural parts under different inner diameters.

[0036] 3. The present invention realizes the 360° rotation of the parallel robot in the inner cavity of the structural part through the mutual cooperation of the rotating device and the moving device, so that the spindle machining head installed on the parallel robot can complete multi-region machining in the inner cavity. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Other features, objects and advantages of the present invention will become more apparent by reading the detailed description of the non-limiting embodiments with reference to the following drawings:

[0038] Figure 1 is a three-dimensional structural schematic diagram of the hybrid robot equipment for machining the inner cavity of structural parts of the present invention;

[0039] Figure 2 is a three-dimensional structural schematic diagram of the machining situation of the inner cavity of the structural part of the present invention;

[0040] Figure 3 is a three-dimensional structural schematic diagram of the series working platform of the present invention;

[0041] Figure 4 is a three-dimensional structural schematic diagram of the parallel robot and the spindle machining head of the present invention;

[0042] Figure 5 is a three-dimensional structural schematic diagram of the first branch of the present invention;

[0043] Figure 6 is a three-dimensional structural schematic diagram of the second branch of the present invention.

[0044] The figure shows:

[0045] Series working platform 1, Frame fixed platform 21

[0046] Parallel robot 2, Output moving platform 22

[0047] Spindle machining head 3, First bearing seat 23

[0048] Workpiece support fixture 4, Second bearing seat 24

[0049] Structural part 5, First rotating pair 25

[0050] Series base 11, First connecting rod 26

[0051] Base moving guide rail 12, second rotating pair 27

[0052] Moving trolley 13, second connecting rod 28

[0053] Electric control box 14, first Hooke's joint 29

[0054] External rotary table 15, first rotating shaft 210

[0055] Crossbeam moving guide rail 16, second rotating shaft 211

[0056] Slewing support seat 17, third bearing seat 212

[0057] Fourth bearing seat 213

[0058] Third rotating pair 214

[0059] Third connecting rod 215

[0060] Fourth rotating pair 216

[0061] Fourth connecting rod 217

[0062] First ball joint 218 Detailed implementation mode

[0063] The present invention will be described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several changes and improvements can still be made. These all belong to the protection scope of the present invention.

[0064] The present invention provides a hybrid robot equipment for machining the inner cavity of a structural member, including a serial working platform 1, a parallel robot 2, a spindle machining head 3, a workpiece support fixture 4, and a structural member 5; the parallel robot 2 enters the inner cavity of the structural member 5 through the serial working platform 1, and the inner cavity of the structural member 5 is machined by using the spindle machining head 3 installed on the parallel robot 2. The hybrid robot equipment of the present invention further includes a workpiece support fixture 4; the installation position is located on the workpiece support fixture 4 and is used to support the structural member 5, and is placed on the serial working platform 1 to improve the machining accuracy.

[0065] In particular, the present invention can be applied to structural members of different shapes and sizes, and perform intelligent machining on their inner cavities from multiple angles; especially for large structural members that are several meters long, the effect is particularly prominent. Generally speaking, large structural members are the core equipment in the fields of energy, national defense, and aerospace. Often, such large structural members are also special-shaped structural members because their inner diameters change with the increase in depth. Therefore, the structural member 5 can be a conventional structural member or a large special-shaped structural member.

[0066] Among them, the serial working platform 1 is provided with a moving device and a rotating device; the moving device enables the parallel robot 2 to perform linear motion back and forth within the inner cavity of the structural member 5. The rotating device enables the parallel robot 2 to rotate within the inner cavity of the structural member 5.

[0067] Specifically, the moving device includes a serial base 11, a base moving guide rail 12, a moving trolley 13, and a crossbeam moving guide rail 16; the base moving guide rail 12 is fixedly installed on the serial base 11; the moving trolley 13 is installed on the base moving guide rail 12 and can perform linear motion back and forth along the base moving guide rail 12. The motion stroke can cover the length range of the machining area required in the inner cavity of the structural member 5. Combined with the external rotary table 15, the serial working platform 1 can realize the large-range spatial positioning of the parallel robot 2.

[0068] The moving trolley 13 transports the crossbeam moving guide rail 16 and the parallel robot 2 into the inner cavity of the structural member 5 through the linear motion back and forth on the base moving guide rail 12. After the machining is completed, the crossbeam moving guide rail 16 and the parallel robot 2 can be transported out of the inner cavity of the structural member 5.

[0069] The rotating device includes an electric control box 14, an external rotary table 15, and a rotary support seat 17; the rotary support seat 17 is used to support and clamp the external rotary table 15. During inner cavity machining, the rotary support seat 17 rotates with the external rotary table 15, which can improve the rotary accuracy and structural stiffness of the equipment during operation.

[0070] The external rotary table 15 is installed on the moving trolley 13; the external rotary table 15 is provided with a rotor, and the crossbeam moving guide rail 16 is fixedly installed on the rotor. The parallel robot 2 is installed on the crossbeam moving guide rail 16. In addition, the electric control box 14 is fixedly installed on the moving trolley 13 to provide electrical energy for the external rotary table 15. The external rotary table 15 can realize the 360° rotation of the crossbeam moving guide rail 16 and the parallel robot 2 within the inner cavity of the structural member 5, facilitating the spindle machining head 3 installed on the parallel robot 2 to complete multi-region machining in the inner cavity.

[0071] The parallel robot 2 includes a fixed platform of the frame, a moving platform of the output, two first branches, and a second branch; specifically, the two first branches and the second branch are arranged between the fixed platform 21 of the frame and the moving platform 22 of the output; the first branches are respectively arranged on both sides of the second branch.

[0072] The first branch includes a first bearing block 23, a second bearing block 24, a first rotating pair 25, a first connecting rod 26, a second rotating pair 27, a second connecting rod 28, and a first Hooke joint 29;

[0073] The first bearing block 23 and the second bearing block 24 are fixedly installed on the fixed platform 21 of the frame. The first bearing block 23 and the second bearing block 24 are rotationally matched with the first connecting rod 26 through the first rotating pair 25. The first connecting rod 26 is rotationally matched with the second connecting rod 28 through the second rotating pair 27. The second connecting rod 28 is rotationally matched with the first Hooke joint 29 through the first rotating shaft 210 of the first Hooke joint 29. The first Hooke joint 29 is rotationally matched with the moving platform 22 of the output through the second rotating shaft 211 of the first Hooke joint 29.

[0074] The second branch includes a third bearing block 212, a fourth bearing block 213, a third rotating pair 214, a third connecting rod 215, a fourth rotating pair 216, a fourth connecting rod 217, and a first spherical joint 218; the third bearing block 212 and the fourth bearing block 213 are fixedly installed on the fixed platform 21 of the frame. The third bearing block 212 and the fourth bearing block 213 are rotationally matched with the third connecting rod 215 through the third rotating pair 214. The third connecting rod 215 is rotationally matched with the fourth connecting rod 217 through the fourth rotating pair 216. The fourth connecting rod 217 is rotationally matched with the moving platform 22 of the output through the first spherical joint 218.

[0075] In the two first branches, the rotation axes of the first rotating pair 25 and the second rotating pair 27 are parallel to the axis of the first rotating shaft 210 of the first Hooke joint 29, and the axis of the second rotating shaft 211 of the first Hooke joint 29 coincides; in the second branch, the rotation axis of the third rotating pair 214 is parallel to the rotation axis of the fourth rotating pair 216.

[0076] The first rotating pair 25 and the third rotating pair 214 are driving pairs. The driving mechanism of the driving pair includes a motor and a gear driver; when the driving pair moves by driving the gear driver through the power generation of the motor, the parallel robot 2 can achieve a three-degree-of-freedom spatial motion of two rotations and one translation; at the same time, combined with the series working platform 1, the hybrid robot equipment can achieve a five-degree-of-freedom motion, so that the tool axis of the spindle machining head 3 can be along the normal direction of different machining areas in the inner cavity of the structural member 5 to achieve high-speed and high-precision milling machining.

[0077] The working principle of the present invention is as follows:

[0078] As Figure 1-2As shown in the figure, a hybrid robot equipment for machining the inner cavity of a structural member provided by the present invention includes a serial working platform 1, a parallel robot 2, a spindle machining head 3, a workpiece support fixture 4, and a structural member 5.

[0079] As Figure 3 shown, the moving device of the serial working platform 1 includes a serial base 11, a base moving guide rail 12, a moving trolley 13, and a crossbeam moving guide rail 16; the rotating device includes an electric control box 14, an external rotary table 15, and a rotary support seat 17; the base moving guide rail 12 is fixedly installed on the serial base 11, the moving trolley 13 is installed on the base moving guide rail 12, the electric control box 14 is fixedly installed on the moving trolley 13, the external rotary table 15 is installed on the moving trolley 13, and the crossbeam moving guide rail 16 is fixedly installed on the rotor of the external rotary table 15. The workpiece support fixture 4 is installed on the serial base 11. The parallel robot 2 is installed on the crossbeam moving guide rail 16 and the spindle machining head 3 is installed.

[0080] The moving trolley 13 can perform linear motion back and forth along the base moving guide rail 12, and can be used to transport the crossbeam moving guide rail 16 and the parallel robot 2 into the inner cavity of the structural member 5, and can transport the crossbeam moving guide rail 16 and the parallel robot 2 out of the inner cavity of the structural member 5 after the machining is completed.

[0081] The external rotary table 15 can realize 360° rotation of the crossbeam moving guide rail 16 and the parallel robot 2 in the inner cavity of the structural member 5, so that the spindle machining head 3 installed on the parallel robot 2 can reach any angle in the inner cavity.

[0082] The rotary support seat 17 can be used to support and clamp the external rotary table 15 and rotate together with it, which can improve the rotary accuracy and structural stiffness of the equipment during operation.

[0083] The parallel robot 2 can perform linear motion back and forth along the crossbeam moving guide rail 16, and the motion stroke covers the length range of the machining area required in the inner cavity of the structural member 5. Combined with the external rotary table 15, large-range spatial positioning of the parallel robot 2 can be realized.

[0084] The workpiece support fixture 4 can be used to support the structural member 5 to be machined and improve the machining accuracy.

[0085] As Figures 4-6 shown, the parallel robot 2 includes a frame fixed platform 21, an output moving platform 22, two first branches, and one second branch; the two first branches and one second branch are connected and arranged between the frame fixed platform 21 and the output moving platform 22.

[0086] The first branch includes a first bearing block 23, a second bearing block 24, a first revolute pair 25, a first connecting rod 26, a second revolute pair 27, a second connecting rod 28, and a first Hooke's joint 29. The first bearing block 23 and the second bearing block 24 are fixedly installed on the fixed platform 21 of the frame. The first bearing block 23 and the second bearing block 24 are rotationally matched with the first connecting rod 26 through the first revolute pair 25. The first connecting rod 26 is rotationally matched with the second connecting rod 28 through the second revolute pair 27. The second connecting rod 28 is rotationally matched with the first Hooke's joint 29 through the first rotating shaft 210 of the first Hooke's joint 29. The first Hooke's joint 29 is rotationally matched with the output moving platform 22 through the second rotating shaft 211 of the first Hooke's joint 29.

[0087] The second branch includes a third bearing block 212, a fourth bearing block 213, a third revolute pair 214, a third connecting rod 215, a fourth revolute pair 216, a fourth connecting rod 217, and a first spherical joint 218. The third bearing block 212 and the fourth bearing block 213 are fixedly installed on the fixed platform 21 of the frame. The third bearing block 212 and the fourth bearing block 213 are rotationally matched with the third connecting rod 215 through the third revolute pair 214. The third connecting rod 215 is rotationally matched with the fourth connecting rod 217 through the fourth revolute pair 216. The fourth connecting rod 217 is rotationally matched with the output moving platform 22 through the first spherical joint 218.

[0088] The two first branches are symmetrically arranged with respect to the second branch; in the two first branches, the axes of rotation of the first revolute pair 25 and the second revolute pair 27 are parallel to the axis of the first rotating shaft 210 of the first Hooke's joint 29, and the axis of the second rotating shaft 211 of the first Hooke's joint 29 coincides; in the second branch, the axis of rotation of the third revolute pair 214 is parallel to the axis of rotation of the fourth revolute pair 216.

[0089] Among the three branches, the first revolute pair 25 and the third revolute pair 214 are driving pairs, and the driving mechanism of the driving pairs includes a motor and a gear driver. When the driving pairs move, the parallel robot 2 can achieve a three-degree-of-freedom spatial motion of two rotations and one translation. By combining with the serial working platform 1, the hybrid robot equipment can achieve a five-degree-of-freedom motion, enabling the tool axis of the spindle machining head 3 to be along the normal direction of different machining areas to be processed in the inner cavity of the structural member 5, realizing high-speed and high-precision milling machining.

[0090] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present application.

[0091] The specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Without conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims

1. A hybrid serial-parallel robot equipment for internal cavity machining of structural parts, characterized in that It includes a serial working platform, a parallel robot arranged on the serial working platform, and a spindle machining head installed on the parallel robot; An installation position is configured on the serial working platform, and the installation position is used for installing a structural member; The parallel robot can enter the inner cavity of the structural member through the serial working platform and use the spindle machining head to machine the inner cavity of the structural member; The parallel robot includes a fixed platform of the frame, a moving platform of the output, two first branches, and a second branch; The first branches are respectively arranged on both sides of the second branch; The two first branches and one second branch are arranged between the fixed platform of the frame and the moving platform of the output; The first branch includes a first bearing seat, a second bearing seat, a first rotating pair, a first connecting rod, a second rotating pair, a second connecting rod, and a first Hooke's joint; The first bearing seat and the second bearing seat are fixedly installed on the fixed platform of the frame. The first bearing seat and the second bearing seat are rotationally matched with the first connecting rod through the first rotating pair. The first connecting rod is rotationally matched with the second connecting rod through the second rotating pair. The second connecting rod is rotationally matched with the first Hooke's joint through the first rotating shaft of the first Hooke's joint. The first Hooke's joint is rotationally matched with the moving platform of the output through the second rotating shaft of the first Hooke's joint; The second branch includes a third bearing seat, a fourth bearing seat, a third rotating pair, a third connecting rod, a fourth rotating pair, a fourth connecting rod, and a first spherical joint; The third bearing seat and the fourth bearing seat are fixedly installed on the fixed platform of the frame. The third bearing seat and the fourth bearing seat are rotationally matched with the third connecting rod through the third rotating pair. The third connecting rod is rotationally matched with the fourth connecting rod through the fourth rotating pair. The fourth connecting rod is rotationally matched with the moving platform of the output through the first spherical joint; In the two first branches, the rotation axes of the first rotating pair and the second rotating pair are parallel to the axis of the first rotating shaft of the first Hooke's joint, and the axes of the second rotating shafts of the first Hooke's joints coincide; In the second branch, the rotation axis of the third rotating pair is parallel to the rotation axis of the fourth rotating pair; The first rotating pair and the third rotating pair are driving pairs, and the driving mechanism of the driving pair includes a motor and a gear driver; The driving pair is driven by the motor to drive the gear driver to move, so that the parallel robot can realize a three-degree-of-freedom spatial movement of two rotations and one translation; Combined with the serial working platform, the hybrid robot equipment can realize a five-degree-of-freedom movement, so that the tool axis of the spindle machining head can be along the normal direction of different machining areas in the inner cavity of the structural member, realizing high-speed and high-precision milling machining.

2. The hybrid serial-parallel robot equipment for machining the inner cavity of a structural member according to claim 1, wherein, The serial working platform is provided with a moving device and a rotating device; The moving device can enable the parallel robot to perform a linear forward and backward movement in the inner cavity of the structural member; The rotating device can enable the parallel robot to rotate in the inner cavity of the structural member; 3. The hybrid serial-parallel robot equipment for machining the inner cavity of a structural member according to claim 2, characterized in that, The moving device includes a serial base, a base moving guide rail, a moving trolley, and a cross beam moving guide rail; The base moving guide rail is fixedly installed on the serial base; The mobile trolley is installed on the base moving guide rail and can perform linear motion back and forth along the base moving guide rail.

4. The hybrid serial-parallel robot equipment for internal cavity machining of structural parts according to claim 3, characterized in that, The rotating device includes an electric control box, an external rotary table, and a rotary support base; The rotary support base is used to support and clamp the external rotary table, and the rotary support base can rotate following the external rotary table; The electric control box is firmly installed on the mobile trolley to provide electrical energy for the external rotary table; The external rotary table is installed on the mobile trolley; The external rotary table is provided with a rotor, and the crossbeam moving guide rail is firmly installed on the rotor.

5. The hybrid serial-parallel robot equipment for machining the inner cavity of a structural member according to claim 3, wherein The parallel robot is installed on the crossbeam moving guide rail; The mobile trolley transports the crossbeam moving guide rail and the parallel robot to the inner cavity of the structural member through linear motion back and forth on the base moving guide rail.

6. The hybrid serial-parallel robot equipment for internal cavity machining of structural parts according to claim 1, characterized in that The hybrid robot equipment further includes a workpiece support fixture; The workpiece support fixture is placed on the serial working platform.

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