An eccentric adjustment mechanism and eccentric adjustment method suitable for robot milling holes

Abstract

The present invention discloses an eccentricity adjustment mechanism and an eccentricity adjustment method suitable for robot hole milling, wherein the eccentricity adjustment mechanism suitable for robot hole milling comprises a mounting seat, a rotation mechanism, a revolving cylinder, a revolving drive mechanism, a sliding cylinder, a rotating cylinder and a sliding drive mechanism. The eccentricity adjustment mechanism suitable for robot hole milling adjusts the longitudinal position of the sliding cylinder and the rotating cylinder through the sliding drive mechanism, so that the connecting mechanism drives the rotating mechanism to move radially along the revolving cylinder, thereby realizing the adjustment of the eccentricity. At the same time, according to the eccentricity of the rotation mechanism required for the hole to be made, the longitudinal movement distance of the sliding cylinder is calculated in combination with the parameters of the sliding cylinder, the rotating cylinder and the connecting mechanism of the sliding drive mechanism, and the precise adjustment of the eccentricity of the rotating mechanism is realized; by using the rotating cylinder that can move and rotate in time division, the sliding drive mechanism does not need to rotate together with the revolving cylinder, which helps to suppress the cutting vibration induced by the mass eccentricity during the robot spiral hole milling.

Description

Technical Field

[0001] The invention relates to an eccentricity adjustment mechanism, in particular to an eccentricity adjustment mechanism and an eccentricity adjustment method suitable for robot hole milling. Background Art

[0002] The robot spiral milling system has broad application prospects in improving the quality and efficiency of hole making in large workpieces. However, theoretical research and engineering practice show that the spiral milling system based on the weak rigidity and low load-bearing robot body has a particularly prominent influence on the hole processing accuracy due to its machining process stability.

[0003] In order to reduce the impact of the weak rigidity and low load-bearing robot body on hole processing accuracy, domestic and foreign researchers have conducted a lot of research from different angles. The research team of Ke Yinglin of Zhejiang University has achieved remarkable research results by using a pressure foot at the end of the robot to improve the processing stability of the robot's spiral milling system. The team of Qin Xuda of Tianjin University has adopted a serial-parallel hybrid model to enhance the robot's processing performance in different positions.

[0004] The follow-up study of the above research results found that the spiral milling end effector, as a component in direct contact with the workpiece, has not received enough attention for its impact on the stability of the machining process of such systems. Since the spiral milling end effector has a relatively complex structure, it mainly includes the tool rotation mechanism, revolution mechanism, axial feed mechanism and eccentric adjustment mechanism, which leads researchers to pay more attention to how to achieve high-precision eccentric adjustment of the tool.

[0005] At present, the eccentricity adjustment of robot spiral milling tools can be divided into two categories based on the adjustment principle: one adopts the principle of double eccentric sleeves, and the eccentricity adjustment is achieved by changing the relative rotation angle of the inner and outer eccentric sleeves; the other arranges the linear motion device of the spindle through the vertical axis on the revolution mechanism, and adjusts the eccentricity through the linear motion device. However, the existing spiral milling end effectors designed by these two methods have a common shortcoming - the driving device for adjusting the eccentricity mostly rotates with the revolution mechanism, which is obviously very unfavorable for suppressing the cutting vibration of the robot spiral milling. In order to ensure the processing quality of the robot spiral milling, it is necessary to design an eccentricity adjustment mechanism and eccentricity adjustment method suitable for robot milling. Summary of the invention

[0006] Purpose of the invention: To provide an eccentricity adjustment mechanism and an eccentricity adjustment method suitable for robot hole milling, which can realize precise adjustment of the eccentricity of the robot spiral hole milling cutter, and help to suppress the cutting vibration induced by the mass eccentricity during the robot spiral hole milling.

[0007] Technical solution: The eccentric adjustment mechanism suitable for robot milling of holes in the present invention comprises a mounting seat, a rotation mechanism, a revolution cylinder, a revolution drive mechanism, a sliding cylinder, a rotating cylinder and a sliding drive mechanism;

[0008] The sliding cylinder is slidably installed longitudinally on the mounting seat; the sliding drive mechanism is used to drive the sliding cylinder to slide longitudinally; the rotating cylinder is rotationally installed in the sliding cylinder; the front end of the revolving cylinder is rotationally installed on the mounting seat, and the revolving cylinder is driven by the revolving drive mechanism to drive the rotating cylinder to rotate synchronously; the self-rotation mechanism is installed on the revolving cylinder and is used to install a spiral milling tool; the rotating cylinder drives the self-rotation mechanism to move radially on the revolving cylinder through the connecting mechanism to complete the eccentric adjustment of the self-rotation mechanism.

[0009] Furthermore, the mounting seat includes a mounting base, a front support seat and a rear support seat; the front support seat and the rear support seat are respectively vertically fixed on the front and rear sides of the mounting base.

[0010] Furthermore, a guide rod is connected between the front support seat and the rear support seat; a guide seat slidably mounted on the guide rod is fixed on the sliding cylinder.

[0011] Furthermore, the sliding drive mechanism includes a sliding drive motor and a sliding drive screw; a sliding drive seat is fixed on the sliding cylinder; the sliding drive screw is used to drive the sliding drive seat to move longitudinally, and the sliding drive motor is used to drive the sliding drive screw to rotate.

[0012] Furthermore, the rotating cylinder includes two branch cylinders and at least three longitudinal connecting beams; the two branch cylinders are rotatably installed in the sliding cylinder; and each longitudinal connecting beam is used to connect the two branch cylinders.

[0013] Furthermore, two guide strips are arranged on the outer circumferential surface of the revolving cylinder; and guide grooves cooperating with the guide strips are longitudinally arranged on the rotating cylinder.

[0014] Furthermore, the connecting mechanism includes two sliders; adjustment grooves intersecting with the rotation center line are arranged on the front and rear side surfaces of the revolving cylinder, and the two adjustment grooves are parallel; the two sliders are respectively slidably installed in the two adjustment grooves, and the two sliders are respectively hinged on the rotating cylinder through two parallel pull rods; an avoidance groove for avoiding the pull rod is arranged on the revolving cylinder; the rotation mechanism is through-installed on the two sliders.

[0015] Furthermore, the revolution drive mechanism includes a revolution drive motor; a special-shaped shaft head is rotatably mounted on the rear side of the mounting seat, and the special-shaped shaft head is connected to the revolution cylinder through an adapter column; the revolution drive motor drives the special-shaped shaft head to rotate through a belt drive.

[0016] The present invention also provides an eccentricity adjustment method for an eccentricity adjustment mechanism of a robot spiral milling hole, comprising the following steps:

[0017] Step 1, before the eccentricity adjustment, the sliding drive mechanism is located at the initial position, and the rotation axis of the self-rotating mechanism and the revolving cylinder are in line, that is, the initial eccentricity of the spiral milling tool installed on the self-rotating mechanism is zero;

[0018] Step 2, according to the processing hole diameter and the spiral milling tool diameter, first calculate the target eccentricity of the rotation mechanism; then, combine the structural parameters and positional relationship of the sliding cylinder, the rotating cylinder, the revolving cylinder and the connecting mechanism to calculate the longitudinal movement distance of the sliding cylinder; finally, combine the structural parameters of the sliding drive mechanism to obtain the rotation angle of the sliding drive mechanism;

[0019] Step 3, when adjusting the eccentricity, according to the obtained rotation angle of the sliding drive mechanism, the sliding drive mechanism is started to drive the sliding cylinder and the rotating cylinder to move together, and the self-rotating mechanism is driven to deviate along the radial direction of the revolving cylinder through the connecting mechanism, thereby completing the eccentricity adjustment operation of the self-rotating mechanism, that is, at this time, the spiral milling tool installed on the self-rotating mechanism reaches the required target eccentricity;

[0020] Step 4: The spiral milling device with eccentricity adjustment is driven by the robot, and the revolution drive mechanism drives the revolution cylinder to drive the rotation mechanism to rotate together, and the rotation mechanism drives the spiral milling tool to realize rotation, thereby completing the spiral milling operation;

[0021] Step 5: After the robot completes the processing of all holes with the same diameter in this round, if it needs to continue processing and adjust the target eccentricity of the rotation mechanism, return to step 2; if no further processing is required, the rotation mechanism and the revolving cylinder can be adjusted back to the initial state through the sliding drive mechanism to facilitate the eccentricity adjustment operation of the robot during the next spiral milling.

[0022] Furthermore, the calculation formula for the longitudinal movement distance of the sliding cylinder is: Where dx is the longitudinal movement distance of the sliding cylinder, l is the length of the tie rod in the connecting mechanism, and x 0 is the initial longitudinal position of the upper end of the tie rod; 0 is the initial radial position of the lower end of the pull rod; e is the target eccentricity.

[0023] Compared with the prior art, the beneficial effects of the present invention are as follows: by utilizing the cooperation between the self-rotation mechanism, the revolving cylinder, the sliding cylinder and the rotating cylinder, the longitudinal position of the sliding cylinder and the rotating cylinder is adjusted through the sliding drive mechanism, so that the connecting mechanism drives the self-rotation mechanism to move radially along the revolving cylinder, thereby realizing the adjustment of the eccentricity, and at the same time, the longitudinal movement distance of the sliding cylinder can be calculated according to the parameters of the sliding cylinder, the rotating cylinder and the connecting mechanism of the sliding drive mechanism, and precise adjustment can be achieved through the sliding drive mechanism; by utilizing the rotating cylinder that can rotate and move in time, the self-rotation mechanism of the tool can be realized to revolve together with the revolving cylinder, and the sliding drive mechanism for eccentricity adjustment can be fixedly installed on the mounting seat, so that it does not need to rotate together with the revolving cylinder. The mounting seat installs the sliding drive mechanism, which makes the sliding drive mechanism stably installed, which helps to suppress the cutting vibration induced by mass eccentricity during spiral milling of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a schematic diagram of the internal structure of the present invention without the cover;

[0025] Figure 2 for Figure 1 A cross-sectional view of

[0026] Figure 3 It is an assembly diagram of the revolving cylinder, the transfer column and the special-shaped shaft head of the present invention;

[0027] Figure 4 It is a schematic diagram of the eccentric adjustment of the rotation mechanism of the present invention;

[0028] In the figure: 1. sliding cylinder; 2. rotating cylinder; 201. branch cylinder; 202. longitudinal connecting beam; 3. bearing; 4. pull rod; 5. mounting shaft; 6. slider; 7. cover; 8. rotation mechanism; 9. revolving cylinder; 901. avoidance groove; 10. front support seat; 11. adapter column; 12. rear support seat; 14. guide rod; 15. sliding drive screw; 16. sliding drive motor; 18. mounting base; 19. revolving drive motor; 20. guide strip; 21. sliding drive seat; 22. guide groove; 23. adjustment slide groove. DETAILED DESCRIPTION

[0029] The technical solution of the present invention is described in detail below with reference to the accompanying drawings, but the protection scope of the present invention is not limited to the embodiments.

[0030] Embodiment 1:

[0031] like Figure 1-4 As shown, the eccentric adjustment mechanism for robot milling disclosed in the present invention comprises: a mounting seat, a rotation mechanism 8, a revolution cylinder 9, a revolution drive mechanism, a sliding cylinder 1, a rotating cylinder 2 and a sliding drive mechanism;

[0032] The sliding cylinder 1 is slidably mounted longitudinally on the mounting seat; the sliding drive mechanism is mounted on the mounting seat, and is used to drive the sliding cylinder 1 to slide longitudinally; the rotating cylinder 2 is rotationally mounted in the sliding cylinder 1, and slides following the sliding cylinder 1; the front end of the revolving cylinder 9 is rotationally mounted on the mounting seat, and the revolving cylinder 9 is driven to rotate by the revolving drive mechanism, and the rotating cylinder 2 rotates synchronously with the revolving cylinder 9; the self-rotation mechanism 8 is mounted on the revolving cylinder 9, and the spiral milling tool is mounted on the front end of the self-rotation mechanism 8, and the rotating cylinder 2 drives the self-rotation mechanism 8 to move radially on the moving revolving cylinder through the connecting mechanism.

[0033] By utilizing the cooperation among the rotation mechanism 8, the revolving cylinder 9, the sliding cylinder 1 and the rotating cylinder 2, the longitudinal positions of the sliding cylinder 1 and the rotating cylinder 2 are adjusted through the sliding drive mechanism, so that the connecting mechanism drives the rotation mechanism 8 to move radially along the revolving cylinder 9, thereby realizing the adjustment of the eccentricity. At the same time, the longitudinal movement distance of the sliding cylinder 1 can be calculated according to the eccentricity of the spiral milling tool required for the hole to be made, combined with the parameters of the sliding cylinder 1, the rotating cylinder 2 and the connecting mechanism of the sliding drive mechanism, and the precise adjustment of the eccentricity of the rotation mechanism can be realized through the sliding drive mechanism; by utilizing the rotating cylinder 2 that can rotate and move in time, the tool rotation mechanism 8 can be realized to revolve together with the revolving cylinder 9, and the sliding drive mechanism for eccentricity adjustment can be fixedly installed on the mounting seat, so that it does not need to rotate together with the revolving cylinder 9, and the installation is stable, which helps to suppress the cutting vibration induced by mass eccentricity during spiral milling of the robot.

[0034] Furthermore, the mounting seat includes a mounting base 18, a front support seat 10 and a rear support seat 12; the front support seat 10 and the rear support seat 12 are respectively fixed vertically on the front and rear sides of the mounting base 18; a cover shell 7 is provided on the mounting seat, and the rotation mechanism 8, the revolution drive mechanism, the sliding cylinder 1, the rotating cylinder 2 and the sliding drive mechanism are all located in the cover shell 7. The mounting seat is constituted by the mounting base 18, the front support seat 10 and the rear support seat 12, which can stably support each component, and by removing the cover shell 7, its internal open structure facilitates the observation of the eccentricity adjustment process and facilitates maintenance.

[0035] Furthermore, a guide rod 14 is connected between the front support seat 10 and the rear support seat 12; a guide seat 25 slidably mounted on the guide rod 14 is fixed on the sliding cylinder 1. The cooperation between the guide rod 14 and the guide seat 25 ensures that the sliding cylinder 1 can move smoothly longitudinally between the front support seat 10 and the rear support seat 12.

[0036] Furthermore, the sliding drive mechanism includes a sliding drive motor 16 and a sliding drive screw 15; the front and rear ends of the sliding drive screw 15 are respectively rotatably mounted on the front support seat 10 and the rear support seat 12; a sliding drive seat 21 with a through-type thread screwed on the sliding drive screw 15 is fixed on the sliding cylinder 1; the sliding drive motor 16 is mounted on the rear support seat 12, and is used to drive the sliding drive screw 15 to rotate.

[0037] The sliding drive motor 16 is used to drive the sliding drive screw 15 to rotate, so that the sliding drive screw 15 drives the sliding drive seat 21 to move longitudinally, thereby realizing the longitudinal adjustment of the sliding cylinder 1, so that the sliding cylinder 1 can drive the rotating cylinder 2 to move longitudinally.

[0038] Furthermore, the rotating cylinder 2 includes two branch cylinders 201 and four longitudinal connecting beams 202; annular grooves are provided on the outer walls of the two branch cylinders 201; four bearings 3 are provided in the two annular grooves, and the outer ring of each bearing 3 is rolling tangent to the groove wall of the annular groove; mounting shafts 5 are fixed at the quarter points on the front and rear sides of the inner wall of the sliding cylinder 1, and the inner rings of each bearing 3 are respectively installed on the ends of each mounting shaft 5; one end of the four longitudinal connecting beams is respectively fixed at the quarter points of the front annular edge of the rear branch cylinder 201, and the other end is respectively fixed at the quarter points of the rear annular edge of the front branch cylinder 201. The rotating cylinder 2 and the sliding cylinder 1 are connected by bearings 3 and mounting shafts 5, so that the rotating cylinder 2 can rotate along with the revolving cylinder 9 while being stably installed, thereby improving the stability of rotation; the rotating cylinder 2 is formed by two branch cylinders 201 and four longitudinal connecting beams 202, which reduces the dead weight of the rotating cylinder 2, reduces the load, and facilitates the observation or disassembly and maintenance of the interior of the rotating cylinder 2.

[0039] Furthermore, the front end of the revolution cylinder 9 is rotatably mounted on the front support seat 10; two guide bars 20 are arranged on the outer circumferential surface of the revolution cylinder 9; and guide grooves 22 that match the guide bars 20 are arranged on the two opposite longitudinal connecting beams 202 of the rotating cylinder 2. The synchronization of the revolution cylinder 9 and the rotating cylinder 2 is achieved by the cooperation between the two guide bars 20 and the two guide grooves 22.

[0040] Furthermore, the connecting mechanism includes two sliders 6 and two pull rods 4; adjustment grooves 23 intersecting with the rotation center line are arranged on the front and rear side surfaces of the revolving cylinder 9, and the two adjustment grooves 23 are parallel; the two sliders 6 are respectively slidably installed in the two adjustment grooves 23; one end of the two pull rods 4 is respectively hinged on the two sliders 6, and the other end is hinged on another longitudinal connecting beam 202 of the rotating cylinder 2, and the two pull rods 4 are parallel; an avoidance groove 901 for avoiding the front side pull rod 4 is arranged on the revolving cylinder 9; the rotation mechanism 8 is fixed on the two sliders 6 in a through-type manner.

[0041] By utilizing the cooperation between the two sliders 6 and the two pull rods 4, while the longitudinal position of the revolving cylinder 9 remains unchanged, the sliding cylinder 1 drives the rotating cylinder 2 to move longitudinally, and the two pull rods 4 pull the two sliders 6. The two sliders 6 are longitudinally limited by the two adjusting grooves 23. Therefore, the two sliders 6 can only move along the adjusting grooves 23, that is, the two sliders 6 move radially on the revolving cylinder 9, thereby driving the axis of the rotation mechanism 8 to deviate from the axis of the revolving cylinder 9, thereby realizing the eccentricity adjustment of the spiral milling tool; the avoidance groove 901 is utilized to enable the pull rod 4 to move freely without being limited by the revolving cylinder 9.

[0042] Furthermore, the revolution drive mechanism includes a revolution drive motor 19, a special-shaped shaft head 13 and four adapter columns 11; the power input shaft of the special-shaped shaft head 13 is installed in a through-type rotation on the rear support seat 12; the revolution drive motor 19 is installed on the rear support seat 12, and the output shaft of the revolution drive motor 19 drives the power input shaft of the special-shaped shaft head 13 to rotate through the belt drive; the special-shaped shaft head 13 is longitudinally connected to the rear side of the revolution cylinder 9 through the four adapter columns 11; the sliding cylinder 1, the rotating cylinder 2, the special-shaped shaft head 13 and the revolution cylinder 9 are in line. The revolution drive motor 19 is used to drive through the belt drive, so that the special-shaped shaft head 13 drives the revolution cylinder 9 to rotate through the four adapter columns 11, thereby driving the rotation mechanism 8 to revolve, so that the spiral milling tool can perform milling.

[0043] like Figure 4 As shown, the present invention also provides an eccentricity adjustment method for an eccentricity adjustment mechanism of a robot spiral milling hole, comprising the following steps:

[0044] Step 1: Before eccentricity adjustment, the sliding drive motor 16 is located at the initial position, and the rotation axis of the self-rotating mechanism 8 and the revolving cylinder 9 are collinear, that is, the initial eccentricity of the spiral milling tool installed on the self-rotating mechanism 8 is e 0 is zero, the sliding cylinder 1 and the sliding block 6 are located at positions I-1 and II-1;

[0045] Step 2: According to the processing hole diameter D H and spiral milling tool diameter d tFirst, calculate the target eccentricity e of the rotation mechanism 8, that is, e = (D H -d t ) / 2, the target eccentricity of the spiral milling tool installed on the rotation mechanism 8 is e; then, combining the structural parameters and positional relationship of the sliding cylinder 1, the rotating cylinder 2, the revolving cylinder 9 and the two tie rods 4, the longitudinal movement distance dx of the sliding cylinder 1 is calculated, that is, Where l is the length of the tie rod 4, x 0 is the initial longitudinal position of the upper end of the tie rod 4, y 0 is the initial position of the lower end of the pull rod 4 in the radial direction; finally, combined with the pitch of the sliding drive mechanism, the rotation angle θe required by the sliding drive motor 16 is obtained;

[0046] Step 3, during eccentricity adjustment, according to the obtained rotation angle θe of the sliding drive motor 16, the sliding drive motor 16 is started, and the sliding cylinder 1, the rotating cylinder 2, the two pull rods 4 and the two sliders 6 are driven to move forward and backward together through the sliding drive screw 15. While the two sliders 6 are pulled by the two pull rods 4 and constrained by the revolving cylinder 9, they drive the rotation mechanism 8 to deviate along the radial direction of the revolving cylinder 9, thereby completing the eccentricity adjustment operation of the rotation mechanism 8, that is, at this time, the spiral milling tool installed on the rotation mechanism reaches the required target eccentricity e, and the sliding cylinder 1 and the slider 6 are distributed at the positions I-2 and II-2;

[0047] Step 4, the spiral milling device with eccentric adjustment is driven by the robot, and the revolution drive motor 19 drives the revolution cylinder 9 to rotate through the belt transmission, the special-shaped shaft head 13 and the adapter column 11, thereby driving the rotation mechanism 8 to revolve together, completing the spiral milling operation;

[0048] Step 5, after the robot completes the processing of all holes with the same diameter in this round, if it needs to continue processing and adjust the target eccentricity of the rotation mechanism 8, return to step 2; if no further processing is required, the rotation mechanism 8 and the revolving cylinder 9 can be adjusted back to the initial state through the sliding drive motor 16 to facilitate the eccentricity adjustment operation of the robot during the next spiral milling of the hole.

[0049] In the eccentric adjustment mechanism suitable for robot hole milling provided by the present invention, both the sliding drive motor 16 and the revolution drive motor 19 adopt existing stepping motors.

[0050] As described above, although the present invention has been shown and described with reference to specific preferred embodiments, it should not be construed as limiting the present invention itself. Various changes may be made to it in form and detail without departing from the spirit and scope of the present invention as defined in the appended claims.

Claims

1. An eccentric adjustment mechanism suitable for robot milling. Features: It comprises a mounting seat, a rotation mechanism (8), a revolution cylinder (9), a revolution drive mechanism, a sliding cylinder (1), a rotating cylinder (2) and a sliding drive mechanism; The sliding cylinder (1) is longitudinally mounted on the mounting seat in a sliding manner; the sliding drive mechanism is used to drive the sliding cylinder (1) to slide longitudinally; the rotating cylinder (2) is rotationally mounted in the sliding cylinder (1); the front end of the revolving cylinder (9) is rotationally mounted on the mounting seat, and the revolving cylinder (9) is driven by the revolving drive mechanism to drive the rotating cylinder (2) to rotate synchronously; the self-rotation mechanism (8) is mounted on the revolving cylinder (9) and is used to install a spiral milling tool; the rotating cylinder (2) drives the self-rotation mechanism (8) to move radially on the revolving cylinder (9) through the connecting mechanism to complete the eccentric adjustment of the self-rotation mechanism (8); The connecting mechanism comprises two sliders (6); adjustment grooves (23) intersecting with the rotation center line are arranged on the front and rear side surfaces of the revolving cylinder (9), and the two adjustment grooves (23) are parallel to each other; the two sliders (6) are respectively slidably installed in the two adjustment grooves (23), and the two sliders (6) are respectively hinged on the rotating cylinder (2) through two parallel pull rods (4); an avoidance groove (901) for avoiding the pull rod (4) is arranged on the revolving cylinder (9); and the rotation mechanism (8) is through-mounted on the two sliders (6).

2. The eccentric adjustment mechanism suitable for robot milling according to claim 1, Features: The mounting seat comprises a mounting base (18), a front support seat (10) and a rear support seat (12); the front support seat (10) and the rear support seat (12) are respectively vertically fixed on the front and rear sides of the mounting base (18).

3. The eccentric adjustment mechanism suitable for robot milling according to claim 2, Features: A guide rod (14) is connected between the front support seat (10) and the rear support seat (12); a guide seat (25) slidably mounted on the guide rod (14) is fixed on the sliding cylinder (1).

4. The eccentric adjustment mechanism suitable for robot milling according to claim 1, Features: The sliding drive mechanism comprises a sliding drive motor (16) and a sliding drive screw (15); a sliding drive seat (21) is fixed on the sliding cylinder (1); the sliding drive screw (15) is used to drive the sliding drive seat (21) to move longitudinally, and the sliding drive motor (16) is used to drive the sliding drive screw (15) to rotate.

5. The eccentric adjustment mechanism suitable for robot milling according to claim 1, Features: The rotating cylinder (2) comprises two branch cylinders (201) and at least three longitudinal connecting beams (202); the two branch cylinders (201) are both rotatably mounted in the sliding cylinder (1); and each longitudinal connecting beam (202) is used to connect the two branch cylinders (201).

6. The eccentric adjustment mechanism suitable for robot milling according to claim 1, Features: Two guide strips (20) are arranged on the outer circumferential surface of the revolving cylinder (9); and guide grooves (22) matching with the guide strips (20) are longitudinally arranged on the rotating cylinder (2).

7. The eccentric adjustment mechanism suitable for robot milling according to claim 1, Features: The revolution drive mechanism comprises a revolution drive motor (19); a special-shaped shaft head (13) is rotatably mounted on the rear side of the mounting seat, and the special-shaped shaft head (13) is connected to the revolution cylinder (9) via a transfer column (11); the revolution drive motor (19) drives the special-shaped shaft head (13) to rotate via a belt drive.

8. The adjustment method of the eccentric adjustment mechanism suitable for robot milling according to claim 1, Features: The steps include: Step 1, before the eccentricity adjustment, the sliding drive mechanism is located at the initial position, and the rotation axis of the rotation mechanism (8) and the revolving cylinder (9) are collinear, that is, at this time, the initial eccentricity of the spiral milling tool installed on the rotation mechanism (8) is zero; Step 2, firstly calculate the target eccentricity of the rotation mechanism (8) according to the processing hole diameter and the spiral milling tool diameter; then, calculate the longitudinal movement distance of the sliding cylinder (1) in combination with the structural parameters and positional relationship of the sliding cylinder (1), the rotating cylinder (2), the revolving cylinder (9) and the connecting mechanism; finally, calculate the rotation angle of the sliding drive mechanism in combination with the structural parameters of the sliding drive mechanism; Step 3, when adjusting the eccentricity, according to the rotation angle of the sliding drive mechanism, the sliding drive mechanism is started to drive the sliding cylinder (1) and the rotating cylinder (2) to move together, and the self-rotating mechanism (8) is driven to deviate along the radial direction of the revolving cylinder (9) through the connecting mechanism, thereby completing the eccentricity adjustment operation of the self-rotating mechanism (8), that is, at this time, the spiral milling tool installed on the self-rotating mechanism (8) reaches the required target eccentricity; Step 4, the spiral milling device with eccentricity adjusted is driven by the robot, and the revolution drive mechanism drives the revolution cylinder (9) to drive the rotation mechanism (8) to rotate together, and the rotation mechanism (8) drives the spiral milling tool to rotate, thereby completing the spiral milling operation; Step 5, after the robot completes the processing of all holes with the same diameter in this round, if it is necessary to continue processing and adjust the target eccentricity of the rotation mechanism (8), return to step 2; if no further processing is required, the rotation mechanism (8) and the revolving cylinder (9) can be adjusted back to the initial state through the sliding drive mechanism to facilitate the eccentricity adjustment operation of the robot during the next spiral milling of the hole.

9. The adjustment method of the eccentric adjustment mechanism suitable for robot milling according to claim 8, Features: The calculation formula for the longitudinal movement distance of the sliding cylinder (1) is: Where dx is the longitudinal movement distance of the sliding cylinder (1), l is the length of the tie rod (4) in the connecting mechanism, and x 0 y is the initial position of the upper end of the pull rod (4) in the longitudinal direction; 0 is the initial radial position of the lower end of the pull rod (4); and e is the target eccentricity.

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