Mobile variable station processing system and method

Abstract

The application discloses a mobile variable-station machining system and method. The mobile variable-station machining system comprises a plurality of machining devices and intelligent carrying robot systems, the plurality of machining devices are used for machining fixed workpieces; the intelligent carrying robot system comprises intelligent carrying robots, and each intelligent carrying robot system can be used for carrying any one of the plurality of machining devices; when any one of the plurality of machining devices needs to execute a machining task, the intelligent carrying robot system in a standby state enters a working state, and after the intelligent carrying robot system in the working state carries the machining device needing to execute the machining task to a specified station of the workpiece, the intelligent carrying robot system leaves the machining device needing to execute the machining task and reenters the standby state. The application has the advantages of high adaptability, high flexibility and the like, can improve machining efficiency of large and complex structural parts, and saves machining cost.

Description

Technical Field

[0001] This invention relates to the field of large parts machining technology, and in particular to a mobile variable-station machining system and method. Background Technology

[0002] High-end manufacturing industries, represented by aviation and aerospace, embody a nation's core technological competitiveness and major needs. The core components of equipment such as launch vehicles and spacecraft cabins are all large and complex structural parts. These parts are characterized by their large size, low rigidity, and complex machining features, posing severe challenges to machining equipment in terms of resource allocation, efficiency, and cost.

[0003] In recent years, the machining of large and complex structural components in related technologies has employed large-scale specialized machine tools. Typically, the machining of these large and complex components is performed in a space separate from other operations. Furthermore, due to their high cost, a factory usually only has one large machine tool, necessitating the transfer of these components to different machining sites during the manufacturing process. The time and cost of transporting and scheduling large and complex components are significant, severely impacting the development schedule. Large specialized machine tools, limited by various high-precision components, suffer from poor machining flexibility, occupy a large space, and have poor adaptability to different workspaces and environments. Summary of the Invention

[0004] The present invention aims to at least solve one of the technical problems existing in the prior art. Therefore, one object of the present invention is to propose a mobile variable-station machining system with advantages such as strong adaptability and high flexibility, which can improve the machining efficiency of large and complex structural parts and save on the machining cost of large and complex structural parts.

[0005] A mobile variable-station machining system according to a first aspect embodiment of the present invention includes:

[0006] Multiple processing devices are used to process stationary workpieces.

[0007] An intelligent handling robot system, comprising intelligent handling robots, each of which can be used to handle any one of the multiple processing devices;

[0008] When any one of the processing devices needs to perform a processing task, the intelligent handling robot system, which is in standby mode, enters working mode. After the intelligent handling robot system enters working mode, it moves the processing device that needs to perform the processing task to the designated workstation of the workpiece to be processed, leaves the processing device that needs to perform the processing task, and re-enters standby mode.

[0009] When any one of the processing devices finishes its processing task at the current designated workstation, the intelligent handling robot system, which is in a standby state, enters the working state. After moving the processing device that has finished its processing task away from the current designated workstation, the intelligent handling robot system leaves the processing device and re-enters the standby state.

[0010] The mobile variable workstation system according to embodiments of the present invention has the following advantages: First, by setting up an intelligent handling robot system to transport processing equipment, the position of the processing equipment can be changed to process different positions of the workpiece, or different processing equipment can be located at the same designated workstation of the workpiece to perform different processing operations, thereby avoiding the transportation and scheduling of the workpiece, realizing the integration of the processing process, reducing the processing cost of the workpiece and improving the processing efficiency; Second, the processing equipment in the present invention is small in size compared to large machine tools, thus having good processing flexibility, occupying little space, and being more adaptable to the workspace and environment; Third, each intelligent handling robot system can be used to transport any one of the multiple processing equipment, thus eliminating the need to set up a handling system on each processing equipment. That is, the present invention can use a small number of intelligent handling robot systems to complete the workstation changes that multiple processing equipment may complete during the processing process in the entire processing scenario, thereby further reducing the cost of the entire processing system, and thus reducing the processing cost of the workpiece.

[0011] According to some embodiments of the present invention, the intelligent handling robot includes a base, rollers and a lifting structure, wherein the rollers and the lifting structure are disposed on the base, and the lifting structure is used to lift the processing equipment off the ground.

[0012] According to some embodiments of the present invention, the bottom of the processing equipment is provided with a receiving portion for accommodating the intelligent handling robot.

[0013] A second aspect of the present invention also proposes a mobile variable-station machining method.

[0014] According to a second aspect of the present invention, a mobile variable-station machining method, based on a first aspect of the present invention, includes the following steps:

[0015] S1: Any one of the processing devices that needs to perform a processing task sends a signal to summon the intelligent handling robot system that is in a standby state. If the intelligent handling robot system in a standby state responds to the summons of the processing device that needs to perform a processing task and enters the working state, then step S2 is executed.

[0016] S2: After the intelligent handling robot system enters the working state, it moves the processing equipment that needs to perform the processing task to the designated workstation of the workpiece to be processed, leaves the processing equipment that needs to perform the processing task, and re-enters the standby state to wait for the call of other processing equipment.

[0017] S3: The processing equipment located at the designated workstation processes the workpiece;

[0018] S4: When the processing equipment at the designated workstation finishes processing, it sends a signal to summon the intelligent handling robot system in standby mode. If the intelligent handling robot system in standby mode responds to the call of the processing equipment at the designated workstation after processing has finished processing and enters working mode, then step S5 is executed.

[0019] S5: After the intelligent handling robot system enters the working state, it moves the processing equipment that has completed its processing task away from the current designated workstation, leaves the processing equipment that has completed its processing task, and re-enters the standby state to wait for other processing equipment to be called.

[0020] According to some embodiments of the present invention, step S1 further includes the following step: if no intelligent handling robot system in standby state responds to the call of the processing equipment that needs to perform the processing task, the processing equipment that needs to perform the processing task continues to send a signal until an intelligent handling robot system enters standby state from non-standby state and responds to the call of the processing equipment that needs to perform the processing task and enters working state, and then step S2 is executed.

[0021] According to some embodiments of the present invention, step S4 further includes the following step: if no intelligent handling robot system in standby state responds to the call of the processing equipment that has completed the processing task at the designated workstation, the processing equipment that has completed the processing task at the designated workstation continues to send a signal until an intelligent handling robot system enters standby state from non-standby state and responds to the call of the processing equipment that needs to perform the processing task and enters the working state, and then step S5 is executed.

[0022] According to some embodiments of the present invention, in step S2, the intelligent handling robot system, which has entered the working state, transports the processing equipment that needs to perform processing tasks to the designated workstation of the workpiece to be processed, specifically including the following sub-steps:

[0023] S201: The intelligent handling robot system moves to the bottom of the processing equipment that needs to perform the processing task;

[0024] S202: The lifting structure of the intelligent handling robot in the intelligent handling robot system performs an upward movement to lift the processing equipment that needs to perform the processing task off the ground;

[0025] S203: The intelligent handling robot system drives the processing equipment that needs to perform the processing task to move to the designated workstation of the workpiece to be processed;

[0026] S204: In the intelligent handling robot system, the lifting structure of the intelligent handling robot performs a descent motion, placing the processing equipment that needs to perform the processing task on the ground at the designated workstation of the workpiece to be processed.

[0027] According to some embodiments of the present invention, in step S5, the intelligent handling robot system, which has entered the working state, moves the processing equipment that has completed its processing task away from the currently designated workstation, specifically including the following sub-steps:

[0028] S501: The intelligent handling robot system moves to the bottom of the processing equipment after the processing task is completed;

[0029] S502: The lifting structure of the intelligent handling robot in the intelligent handling robot system performs an upward movement to lift the processing equipment that has completed its processing task off the ground;

[0030] S503: The intelligent handling robot system drives the processing equipment that has completed the processing task to leave the current designated workstation;

[0031] S504: In the intelligent handling robot system, the lifting structure of the intelligent handling robot performs a descent motion to place the processing equipment, after the processing task is completed, on the ground away from the current designated workstation.

[0032] According to some embodiments of the present invention, after step S5 is completed, the following steps are further included:

[0033] Determine whether the processing equipment moved from the current designated workstation needs to continue performing processing tasks at the next designated workstation. If yes, then repeat steps S1 to S5. If no, then the intelligent handling robot system will move the processing equipment moved from the current designated workstation to the initial standby position.

[0034] According to some embodiments of the present invention, the processing equipment includes a processing module, and the end of the processing module is provided with a processing tool that is movable in position and adjustable in posture. Step S3 specifically includes the following steps:

[0035] S301: The machining tool is positioned at a feature to be machined by the feed motion of the machining module;

[0036] S302: Control the processing module to complete the processing of a feature to be processed;

[0037] S303: Control the machining module to retract the tool;

[0038] S304: Repeat steps S301 to S303 until all features to be processed at the current specified workstation are completed.

[0039] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0040] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0041] Figure 1 This is a schematic diagram of the structure of a mobile variable-station machining system according to an embodiment of the present invention.

[0042] Figure 2 This is a schematic diagram of the structure of a mobile variable-station machining system according to another embodiment of the present invention.

[0043] Figure 3 This is a flowchart of a mobile variable-station machining method according to an embodiment of the present invention.

[0044] Figure 4 This is a structural schematic diagram of an intelligent handling robot according to an embodiment of the present invention.

[0045] Figure 5 This is a schematic diagram of another intelligent handling robot in an embodiment of the present invention.

[0046] Figure 6 This is a structural schematic diagram of another intelligent handling robot in an embodiment of the present invention.

[0047] Figure 7 This is a structural schematic diagram of another intelligent handling robot in an embodiment of the present invention.

[0048] Figure 8 This is a schematic diagram of a handling scheme for a smart handling robot system when handling processing equipment, according to an embodiment of the present invention.

[0049] Figure 9 for Figure 8 A schematic diagram of the bottom structure of the processing equipment.

[0050] Figure 10 This is a schematic diagram of a handling scheme for a smart handling robot system when handling processing equipment, according to another embodiment of the present invention.

[0051] Figure 11 for Figure 10 A schematic diagram of the bottom structure of the processing equipment.

[0052] Figure 12 This is a structural schematic diagram of a handling scheme for a smart handling robot system when handling processing equipment, according to another embodiment of the present invention.

[0053] Figure 13 for Figure 12 A schematic diagram of the bottom structure of the processing equipment.

[0054] Figure 14 This is a structural schematic diagram of a handling scheme for a smart handling robot system when handling processing equipment, according to another embodiment of the present invention.

[0055] Figure 15 for Figure 14 A schematic diagram of the bottom structure of the processing equipment.

[0056] Figure 16 This is a schematic diagram of the structure of a processing module in an embodiment of the present invention.

[0057] Figure 17 This is a schematic diagram of the structure of the processing module in this embodiment of the invention, which includes a planar two-degree-of-freedom hybrid robotic arm and a five-axis parallel processing module.

[0058] Figure 18 for Figure 17 A schematic diagram of the structure of a two-degree-of-freedom hybrid robotic arm in the mid-plane.

[0059] Figure 19 for Figure 18 A schematic diagram of the structure of a five-axis parallel machining module.

[0060] Figure 20 This is a schematic diagram of the structure of the machining module in this embodiment of the invention, which includes a five-axis parallel machining module and a three-degree-of-freedom positioning mechanism.

[0061] Figure 21 This is a schematic diagram of a three-degree-of-freedom positioning mechanism.

[0062] Figure label:

[0063] 10 processing equipment;

[0064] Receiving section 110; processing module 120; positioning mechanism 1201; parallel processing module 1202;

[0065] 1203 Planar two-DOF hybrid robotic arm; 1204 Five-axis parallel machining module;

[0066] Three-degree-of-freedom positioning mechanism 1205; fixed platform 130;

[0067] Intelligent handling robot system 20;

[0068] Intelligent handling robot 210; base 2101; rollers 2102; Mecanum wheels 2103;

[0069] 2104 Spoke-type wheel; 2105 Lifting structure; 2106 Vertical lifting cylinder; 2107 Ball-shaped lifting joint;

[0070] Snap-fit ​​structure 2108;

[0071] 30 parts to be processed. Detailed Implementation

[0072] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0073] The following is combined Figures 1 to 21 The present invention describes a mobile variable-station machining system and method.

[0074] like Figure 1 and Figure 2 As shown, the mobile variable-station machining system according to a first aspect embodiment of the present invention includes multiple machining devices 10 and an intelligent handling robot system 20. The multiple machining devices 10 are used to process stationary workpieces 30 (e.g., large and complex structural parts). Here, stationary workpieces 30 means that when different processing steps are performed on the workpieces 30, it is not necessary to transfer the workpieces 30 to different processing spaces. The intelligent handling robot system 20 includes intelligent handling robots 210, and each intelligent handling robot system 20 can be used to handle any one of the multiple machining devices 10.

[0075] When any one of the multiple processing devices 10 needs to perform a processing task, an intelligent handling robot system 20 in standby mode enters working mode. After the intelligent handling robot system 20 enters working mode, it moves the processing device 10 that needs to perform the processing task to the designated workstation of the workpiece 30, leaves the processing device 10 that needs to perform the processing task, and re-enters standby mode. It can be understood that the intelligent handling robot system 20 that re-enters standby mode can move other processing devices 10, as well as the processing device 10 whose processing task has been completed at the current designated workstation.

[0076] When any one of the multiple processing devices 10 finishes its processing task at the current designated workstation, the intelligent handling robot system 20, which is in standby mode, enters working mode. After moving the processing device 10 that has finished its processing task away from the current designated workstation, the intelligent handling robot system 20 leaves the processing device 10 and re-enters standby mode. It can be understood that the intelligent handling robot system 20, which re-enters standby mode, can move any one of the multiple processing devices 10.

[0077] Specifically, there are multiple processing equipment 10s. Here, there are at least two processing equipment 10s. Different processing equipment 10s are equipped with the same or different processing tools for processing large and complex structural parts that are stationary and have high transportation and scheduling costs.

[0078] Specifically, at least one intelligent handling robot system 20 is provided, and the number of intelligent handling robot systems 20 is less than the number of processing devices 10. For example, in a work scenario (such as a factory), there is one intelligent handling robot system 20, while there are multiple processing devices 10. One intelligent handling robot system 20 can handle any processing device 10 in the work scenario that has a handling requirement. More specifically, for example, Figure 1 and Figure 2 In the work scenario shown, there are 6 processing devices 10 and 2 intelligent handling robot systems 20. Each of the 2 intelligent handling robot systems 20 can be used to handle any one of the 6 processing devices 10.

[0079] It should be noted that each intelligent handling robot system 20 includes one or more intelligent handling robots 210. Each time the processing equipment 10 is handled, all the intelligent handling robots 210 in one intelligent handling robot system 20 move synchronously to handle the processing equipment 10.

[0080] The mobile variable workstation system according to embodiments of the present invention has the following advantages: First, by setting up an intelligent handling robot system 20 to handle the processing equipment 10, the position of the processing equipment 10 is changed to process the workpiece 30 at different positions, or different processing equipment 10 can be located at the same designated workstation of the workpiece 30 to perform different processing operations on the workpiece 30, thereby avoiding the transportation and scheduling of the workpiece 30, realizing the integration of the processing process, reducing the processing cost of the workpiece 30 and improving the processing efficiency of the workpiece 30; Second, the processing equipment in the present invention... Because of its small size compared to large machine tools, the equipment 10 has good processing flexibility, occupies little space, and is more adaptable to the workspace and environment. Third, each intelligent handling robot system 20 can be used to handle any one of the multiple processing equipment 10, so it is not necessary to set up a handling system on each processing equipment 10. That is, the present invention can use a small number of intelligent handling robot systems 20 to complete the workstation changes that multiple processing equipment 10 may complete during the processing in the entire processing scenario, thereby further reducing the cost of the entire processing system and thus reducing the processing cost of the workpiece 30.

[0081] According to some embodiments of the present invention, such as Figures 4 to 7 As shown, the intelligent handling robot 210 includes a base 2101, rollers 2102, and a lifting structure 2105. The rollers 2102 and the lifting structure 2105 are mounted on the base 2101. The lifting structure 2105 is used to lift the processing equipment 10 off the ground. After the processing equipment 10 is lifted off the ground by the lifting structure 2105 and moved to a designated position, it is directly installed on the ground. The processing equipment 10 itself does not need to be equipped with rollers 2102, so there is no need to consider fixing the rollers 2102 during the operation of the processing equipment 10, resulting in smaller processing errors and better processing effects.

[0082] Optionally, such as Figures 4 to 7 As shown, the roller 2102 can be a Mecanum wheel 2103 or a spoked wheel 2104. The movement of the Mecanum wheel 2103 enables the intelligent handling robot 210 to move in all directions.

[0083] Optionally, such as Figures 4 to 7 As shown, four rollers 2102 are symmetrically arranged on the base 2101.

[0084] Optionally, such as Figures 4 to 7As shown, the lifting structure 2105 is either a vertical lifting cylinder 2106 or a spherical lifting joint 2107. One or more lifting structures 2105 can be installed on the base 2101. It is understood that both the vertical lifting cylinder 2106 and the spherical lifting joint 2107 can achieve vertical extension and retraction, with the spherical lifting joint 2107 also having rotational freedom.

[0085] According to some embodiments of the present invention, such as Figures 8 to 15 The bottom of the processing equipment 10 is provided with a receiving part 110 for accommodating the intelligent handling robot 210. For example, such as Figure 8 and Figure 9 As shown, when the bottom of the processing equipment 10 is rectangular and the intelligent handling robot system 20 includes four intelligent handling robots 210, the four sides of the bottom of the processing equipment 10 are respectively provided with receiving portions 110 for accommodating the intelligent handling robots 210, or, as... Figure 10 and Figure 11 The processing equipment 10 has four corresponding receiving parts 110 at the bottom corners for accommodating the intelligent handling robot 210. It can be understood that by providing the receiving parts 110, the intelligent handling robot 210 can move directly to the bottom of the processing equipment 10 to lift the processing equipment 10.

[0086] Optionally, such as Figure 13 As shown, the bottom of the processing equipment 10 is provided with a snap-fit ​​structure 2108 that engages with the intelligent handling robot 210. For example, as Figure 12 and Figure 13 As shown, when the intelligent handling robot system 20 includes two intelligent handling robots 210, both intelligent handling robots 210 are snapped into the bottom of the processing equipment 10 to ensure a more compact connection between the processing equipment 10 and the intelligent handling robots 210. More specifically, the bottom of the processing equipment 10 is provided with an elongated protrusion, the two ends of which are respectively engaged with the intelligent handling robots 210, and the protrusion and the intelligent handling robots 210 are interlocked by a snap-fit ​​structure 2108.

[0087] Optionally, such as Figure 14 and Figure 15 As shown, the bottom of the processing equipment 10 can also be equipped with only one intelligent handling robot 210.

[0088] A second aspect of the present invention also proposes a mobile variable-station machining method.

[0089] like Figure 3 As shown, the mobile variable-station machining method according to a second aspect embodiment of the present invention, based on the mobile variable-station machining system according to a first aspect embodiment of the present invention, includes the following steps:

[0090] S1: Any one of the multiple processing devices 10 that needs to perform a processing task sends a signal to summon the intelligent handling robot system 20 that is in a standby state. If the intelligent handling robot system 20 in a standby state responds to the summons of the processing device 10 that needs to perform a processing task and enters the working state, then step S2 is executed.

[0091] S2: After the intelligent handling robot system 20 enters the working state, it moves the processing equipment 10 that needs to perform the processing task to the designated workstation of the workpiece 30, leaves the processing equipment 10 that needs to perform the processing task and re-enters the standby state to wait for the call of any processing equipment 10 in the work scene.

[0092] S3: The processing equipment 10 located at the designated workstation processes the workpiece 30;

[0093] S4: When the processing equipment 10 located at the designated workstation finishes processing, it sends a signal to summon the intelligent handling robot system 20 which is in standby mode. If the intelligent handling robot system 20 in standby mode responds to the call of the processing equipment 10 located at the designated workstation after the processing task has ended and enters the working state, then step S5 is executed.

[0094] S5: After the intelligent handling robot system 20 enters the working state, it moves the processing equipment 10 that has completed its processing task away from the current designated workstation, leaves the processing equipment 10 that has completed its processing task, and re-enters the standby state to wait for the call of any processing equipment 10 in the work scene.

[0095] According to the second aspect of the present invention, the mobile variable workstation processing method uses a small number of intelligent handling robot systems 20 to complete the workstation changes that multiple processing equipment 10 may complete during the processing of the entire processing scene, thereby further reducing the cost of the entire processing system and thus reducing the processing cost of the workpiece 30 to be processed.

[0096] According to some embodiments of the present invention, step S1 further includes the following step: if no intelligent handling robot system 20 in the standby state responds to the call of the processing equipment 10 that needs to perform the processing task, the processing equipment 10 that needs to perform the processing task continues to send a signal until an intelligent handling robot system 20 enters the standby state from the non-standby state and responds to the call of the processing equipment 10 that needs to perform the processing task and enters the working state, and then step S2 is executed.

[0097] According to some embodiments of the present invention, step S4 further includes the following step: if no intelligent handling robot system 20 in the standby state responds to the call of the processing equipment 10 that has completed the processing task at the designated workstation, the processing equipment 10 that has completed the processing task at the designated workstation continues to send a signal until an intelligent handling robot system 20 enters the standby state from the non-standby state and responds to the call of the processing equipment 10 that needs to perform the processing task and enters the working state, and then step S5 is executed.

[0098] According to some embodiments of the present invention, in step S2, the intelligent handling robot system 20, which has entered the working state, transports the processing equipment 10 that needs to perform processing tasks to the designated workstation of the workpiece 30, specifically including the following sub-steps:

[0099] S201: The intelligent handling robot system 20 moves to the bottom of the processing equipment 10 that needs to perform the processing task;

[0100] S202: The lifting structure 2105 of the intelligent handling robot 210 in the intelligent handling robot system 20 performs an upward movement to lift the processing equipment 10 that needs to perform processing tasks off the ground;

[0101] S203: The intelligent handling robot system 20 drives the processing equipment 10 that needs to perform processing tasks to the designated workstation of the workpiece 30 to be processed;

[0102] S204: In the intelligent handling robot system 20, the lifting structure 2105 of the intelligent handling robot 210 performs a downward movement, placing the processing equipment 10, which needs to perform processing tasks, on the ground at the designated workstation of the workpiece 30. By using the intelligent handling robot 210 to move to the bottom of the processing equipment 10, the handling process is more flexible, the structure of the intelligent handling robot 210 is simpler, and the cost is lower.

[0103] According to some embodiments of the present invention, in step S5, the intelligent handling robot system 20, which has entered the working state, moves the processing equipment 10, whose processing task has been completed, away from the currently designated workstation, specifically including the following sub-steps:

[0104] S501: The intelligent handling robot system 20 moves to the bottom of the processing equipment 10 after the processing task is completed;

[0105] S502: The lifting structure 2105 of the intelligent handling robot 210 in the intelligent handling robot system 20 performs an upward movement to lift the processing equipment 10, which has completed its processing task, off the ground.

[0106] S503: The intelligent handling robot system 20 drives the processing equipment 10, whose processing task has been completed, to leave the current designated workstation;

[0107] S504: In the intelligent handling robot system 20, the lifting structure 2105 of the intelligent handling robot 210 performs a downward movement to place the processing equipment 10, after the processing task is completed, on the ground away from the currently designated workstation. By using the intelligent handling robot 210 to move to the bottom of the processing equipment 10, the handling process is more flexible, the structure of the intelligent handling robot 210 is simpler, and the cost is lower.

[0108] According to some embodiments of the present invention, after step S5 is completed, the following steps are further included:

[0109] The system determines whether the processing equipment 10, which has been moved from the current designated workstation, needs to continue performing processing tasks at the next designated workstation. If yes, steps S1 to S5 are executed repeatedly. If no, the intelligent handling robot system 20 moves the processing equipment 10 from the current designated workstation to the initial standby position. In other words, when a processing equipment 10 needs to perform processing tasks at different workstations, the intelligent handling robot system 20 is summoned after the processing task at the current designated workstation is completed, so that the intelligent handling robot system 20 can move the processing equipment 10 to the next workstation. When the processing tasks at different workstations are completed, the intelligent handling robot system 20 will move the processing equipment 10 to the initial standby position to reduce interference with the movement of other objects.

[0110] According to some embodiments of the present invention, the processing equipment 10 includes a processing module 120, and a processing tool with movable position and adjustable posture is provided at the end of the processing module 120. Step S3 specifically includes the following steps:

[0111] S301: The machining tool is positioned at a feature to be machined by the feed motion of the machining module 120;

[0112] S302: Control the processing module 120 to complete the processing of a feature to be processed;

[0113] S303: Controls machining module 120 retraction;

[0114] S304: Repeat steps S301 to S303 until all features to be processed at the current specified workstation are completed.

[0115] According to some embodiments of the present invention, such as Figure 10 , Figure 12 and Figure 14 As shown, the processing equipment 10 includes a processing module 120 and a fixed platform 130, as... Figure 16As shown, the machining module 120 includes a positioning mechanism 1201 and a parallel machining module 1202. The positioning mechanism 1201 can drive the parallel machining module 1202 to achieve large-range positioning, and the parallel machining module 1202 can achieve local finishing of the features to be machined. The parallel machining module 1202 includes a spindle.

[0116] like Figure 16 As shown, the positioning mechanism 1201 can be a serial robotic arm.

[0117] Optionally, such as Figures 17 to 19 As shown, the positioning mechanism 1201 can be a planar two-degree-of-freedom hybrid robotic arm 1203, and the parallel processing module 1202 can be a five-axis parallel processing module 1204.

[0118] Optionally, such as Figure 20 and Figure 21 As shown, the positioning mechanism 1201 can be a three-degree-of-freedom positioning mechanism 1205, and the parallel machining module 1202 can be a five-axis parallel machining module 1204.

[0119] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0120] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A mobile variable-station processing system, characterized by, include: Multiple processing devices are used to process stationary workpieces. An intelligent handling robot system, comprising intelligent handling robots, each of which can be used to handle any one of the multiple processing devices; When any one of the processing devices needs to perform a processing task, the intelligent handling robot system, which is in standby mode, enters working mode. After the intelligent handling robot system enters working mode, it moves the processing device that needs to perform the processing task to the designated workstation of the workpiece to be processed, leaves the processing device that needs to perform the processing task, and re-enters standby mode. When any one of the processing devices finishes its processing task at the current designated workstation, the intelligent handling robot system, which is in a standby state, enters the working state. After the intelligent handling robot system enters the working state, it moves the processing device that has finished its processing task away from the current designated workstation, leaves the processing device that has finished its processing task, and re-enters the standby state. The intelligent handling robot includes a base, rollers, and a lifting structure. The rollers and the lifting structure are mounted on the base, and the lifting structure is used to lift the processing equipment off the ground. The bottom of the processing equipment is provided with a housing for accommodating the intelligent handling robot; When the bottom of the processing equipment is rectangular and the intelligent handling robot system includes four intelligent handling robots, the four sides of the bottom of the processing equipment are respectively provided with receiving parts for accommodating the intelligent handling robots. When the processing equipment that needs to perform the processing task is moved to the designated workstation of the workpiece to be processed, the intelligent handling robot system moves to the bottom of the processing equipment that needs to perform the processing task. The lifting structure of the intelligent handling robot system performs an upward movement to lift the processing equipment that needs to perform the processing task off the ground. The intelligent handling robot system moves the processing equipment that needs to perform the processing task to the designated workstation of the workpiece to be processed. The lifting structure of the intelligent handling robot system performs a downward movement to place the processing equipment that needs to perform the processing task on the ground of the designated workstation of the workpiece to be processed. The processing equipment is lifted off the ground by a lifting structure and moved to a designated position. Then, the processing equipment is directly installed on the ground. The processing equipment itself does not need to be equipped with rollers. When the processing equipment that has completed its processing task is moved away from the current designated workstation, the intelligent handling robot system moves to the bottom of the processing equipment. The lifting structure of the intelligent handling robot system performs an upward movement, lifting the processing equipment off the ground. The intelligent handling robot system then moves the processing equipment away from the current designated workstation. Finally, the lifting structure of the intelligent handling robot system performs a downward movement, placing the processing equipment on the ground away from the current designated workstation.

2. A mobile variable-station processing method, characterized by, The mobile variable-station machining system according to claim 1 includes the following steps: S1: Any one of the processing devices that needs to perform a processing task sends a signal to summon the intelligent handling robot system that is in a standby state. If the intelligent handling robot system in a standby state responds to the summons of the processing device that needs to perform a processing task and enters the working state, then step S2 is executed. S2: After the intelligent handling robot system enters the working state, it moves the processing equipment that needs to perform the processing task to the designated workstation of the workpiece to be processed, leaves the processing equipment that needs to perform the processing task, and re-enters the standby state. S3: The processing equipment located at the designated workstation processes the workpiece; S4: When the processing equipment at the designated workstation finishes processing, it sends a signal to summon the intelligent handling robot system in standby mode. If the intelligent handling robot system in standby mode responds to the call of the processing equipment at the designated workstation after processing has finished processing and enters working mode, then step S5 is executed. S5: After the intelligent handling robot system enters the working state, it moves the processing equipment that has completed the processing task away from the current designated workstation, leaves the processing equipment that has completed the processing task, and re-enters the standby state.

3. The mobile variable station machining method according to claim 2, characterized in that, Step S1 further includes the following step: if no intelligent handling robot system in standby state responds to the call of the processing equipment that needs to perform the processing task, the processing equipment that needs to perform the processing task continues to send a signal until an intelligent handling robot system enters standby state from non-standby state and responds to the call of the processing equipment that needs to perform the processing task and enters working state, and then step S2 is executed.

4. The mobile variable station processing method of claim 2, wherein, Step S4 further includes the following step: if no intelligent handling robot system in standby state responds to the call of the processing equipment that has completed its processing task at the designated workstation, the processing equipment that has completed its processing task at the designated workstation continues to send a signal until an intelligent handling robot system enters standby state from non-standby state and responds to the call of the processing equipment that needs to perform the processing task and enters working state, and then step S5 is executed.

5. The mobile variable station processing method of claim 2, wherein, In step S2, the intelligent handling robot system, now in working condition, moves the processing equipment that needs to perform the processing task to the designated workstation of the workpiece to be processed. This specifically includes the following sub-steps: S201: The intelligent handling robot system moves to the bottom of the processing equipment that needs to perform the processing task; S202: The lifting structure of the intelligent handling robot in the intelligent handling robot system performs an upward movement to lift the processing equipment that needs to perform the processing task off the ground; S203: The intelligent handling robot system drives the processing equipment that needs to perform the processing task to move to the designated workstation of the workpiece to be processed; S204: In the intelligent handling robot system, the lifting structure of the intelligent handling robot performs a descent motion, placing the processing equipment that needs to perform the processing task on the ground at the designated workstation of the workpiece to be processed.

6. The mobile variable station processing method of claim 2, wherein, In step S5, the intelligent handling robot system, now in working condition, moves the processing equipment that has completed its processing task away from the currently designated workstation. This specifically includes the following sub-steps: S501: The intelligent handling robot system moves to the bottom of the processing equipment after the processing task is completed; S502: The lifting structure of the intelligent handling robot in the intelligent handling robot system performs an upward movement to lift the processing equipment that has completed its processing task off the ground; S503: The intelligent handling robot system drives the processing equipment that has completed the processing task to leave the current designated workstation; S504: In the intelligent handling robot system, the lifting structure of the intelligent handling robot performs a descent motion to place the processing equipment, after the processing task is completed, on the ground away from the current designated workstation.

7. The mobile variable station processing method of claim 2, wherein, After step S5 is completed, the following steps are also included: Determine whether the processing equipment moved from the current designated workstation needs to continue performing processing tasks at the next designated workstation. If yes, then repeat steps S1 to S5. If no, then the intelligent handling robot system will move the processing equipment moved from the current designated workstation to the initial standby position.

8. The mobile variable station machining method according to claim 7, characterized in that, The processing equipment includes a processing module, and the processing module has a movable and adjustable processing tool at its end. Step S3 specifically includes the following steps: S301: The machining tool is positioned at a feature to be machined by the feed motion of the machining module; S302: Control the processing module to complete the processing of a feature to be processed; S303: Control the machining module to retract the tool; S304: Repeat steps S301 to S303 until all features to be processed at the current specified workstation are completed.

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