Integrated die casting robot processing production line

Abstract

The present invention discloses an integrated die-casting robot processing production line, including: a transmission tooling, having a plurality of stations; a workpiece fixing tooling, which is installed on the transmission tooling and movable between a plurality of stations; each station is provided with a hybrid processing mechanism correspondingly, and the hybrid processing mechanism is used to process integrated die-castings. The hybrid processing mechanism includes: a three-degree-of-freedom parallel module including a frame, a moving platform and a plurality of branches connected between the frame and the moving platform and having two rotational degrees of freedom and one mobile degree of freedom, which can drive the moving platform to move in three degrees of freedom in space relative to the frame; a two-degree-of-freedom series module is installed on the moving platform and includes a main shaft and has two rotational degrees of freedom intersecting with the rotation axis; or, the two-degree-of-freedom series module is connected to the frame and has two mobile degrees of freedom intersecting with the moving direction, and the moving platform is provided with a main shaft. The integrated die-casting robot processing production line according to the embodiment of the present invention is conducive to realizing multi-station processing.

Description

Technical Field

[0001] The present invention relates to the field of processing technology, and more specifically, to an integrated die-casting robot processing production line. Background Art

[0002] Lightweighting of automotive structural parts is to reduce the weight of the entire vehicle as much as possible on the basis of ensuring the safety and other performance of the vehicle, so as to achieve the effect of energy saving and consumption reduction and improving endurance. Integrated die-casting simplifies the traditional "stamping + welding" process into a one-step process, that is, the process of stamping raw materials into small structural components and then welding them into large body structural parts, to the process of directly die-casting raw materials into large body structural parts in one step, which greatly improves production efficiency, reduces production costs, and leads to a new revolution in new energy vehicle manufacturing technology.

[0003] However, integrated die-casting technology has greatly increased the size, complexity and production rhythm of parts, posing severe challenges to the process capability and efficiency of processing equipment. In related technologies, integrated die-casting processing is achieved through large-scale processing machine tools with large volumes, which has high requirements for workspace. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, one object of the present invention is to provide an integrated die casting robot processing production line, which has a low requirement for the working space.

[0005] According to an embodiment of the present invention, an integrated die-casting robot processing production line includes: a transmission tool, the transmission tool has a plurality of workstations; a workpiece fixing tool, the workpiece fixing tool is used to fix the integrated die-casting and is installed on the transmission tool, and the workpiece fixing tool is movable between the plurality of workstations; each of the workstations is correspondingly provided with a hybrid processing mechanism, the hybrid processing mechanism is used to process the integrated die-casting located at the corresponding workstation, the hybrid processing mechanism includes a three-degree-of-freedom parallel module and a two-degree-of-freedom series module, the three-degree-of-freedom parallel module includes a frame, a moving platform and a plurality of branches connected between the frame and the moving platform, the three-degree-of-freedom parallel module has two rotational degrees of freedom and one mobile degree of freedom, and can drive the moving platform to move in three degrees of freedom in space relative to the frame; the two-degree-of-freedom series module is installed on the moving platform, the two-degree-of-freedom series module includes a spindle and has two rotational degrees of freedom whose rotation axes intersect; or, the two-degree-of-freedom series module is connected to the frame and has two mobile degrees of freedom whose movement directions intersect, and the moving platform is provided with the spindle.

[0006] According to the integrated die-casting robot processing production line according to the embodiment of the present invention, it is possible to synchronously or sequentially process integrated die-castings at multiple stations through multiple hybrid processing mechanisms, realize multi-machine collaborative work, and increase the processing range of the integrated die-casting robot processing production line. The hybrid processing mechanism is composed of a three-degree-of-freedom parallel module and a two-degree-of-freedom series module, which is conducive to realizing a larger range of processing position and processing angle adjustment of the main axis in three-dimensional space, and reducing the overall volume and weight of the hybrid processing mechanism, achieving lightweight, accelerating dynamic response speed, and facilitating improving processing accuracy and processing efficiency, thereby realizing efficient and high-quality multi-station processing of integrated die-castings.

[0007] In addition, the integrated die casting robot processing production line according to the above embodiment of the present invention may also have the following additional technical features:

[0008] According to some embodiments of the present invention, there are a plurality of workpiece fixing fixtures, and the plurality of workpiece fixing fixtures are arranged on the transport fixture at intervals along the transport direction.

[0009] According to some embodiments of the present invention, two of the hybrid processing mechanisms are provided at at least one of the workstations, and the two hybrid processing mechanisms are respectively provided on two sides of the transmission tooling perpendicular to the transmission direction.

[0010] According to some embodiments of the present invention, the two-degree-of-freedom series module is installed on the moving platform, the hybrid processing mechanism also includes a mounting frame, the frame is installed on the mounting frame, the mounting frame includes a column and a beam, the column is arranged on a side of the transmission tooling perpendicular to the transmission direction, the beam is installed on the upper part of the column, and the three-degree-of-freedom parallel module is installed on the beam and is at least partially located above the transmission tooling.

[0011] According to some embodiments of the present invention, the beam is rotatably mounted on the column around a vertical axis; or, the mounting frame further includes a first fixing portion, the first fixing portion extends along a transmission direction, and the column is movably mounted on the first fixing portion along the transmission direction.

[0012] According to some embodiments of the present invention, at at least one of the workstations, the two-degree-of-freedom series module is installed on the moving platform, the hybrid processing mechanism also includes a mounting frame, the frame is installed on the mounting frame, the mounting frame includes a first column, a second column and a connecting beam, the first column and the second column are respectively arranged on both sides of the transmission tooling perpendicular to the transmission direction, the connecting beam connects the first column and the second column, and the three-degree-of-freedom parallel module is installed on the connecting beam and is located above the transmission tooling.

[0013] According to some embodiments of the present invention, the frame is movably mounted on the connecting beam perpendicular to the transmission direction.

[0014] According to some embodiments of the present invention, the multiple branches include a first branch, a second branch and a third branch, the first branch, the second branch and the third branch have the same structure, the first branch includes a first branch body, a first hinge and a second hinge, the first branch body can realize extension and contraction along the axis direction of the first branch body and rotation around the axis direction of the first branch body, the first branch body is connected to the frame through the first hinge and is connected to the moving platform through the second hinge, wherein the first hinge includes a first outer ring, the first outer ring is rotatably connected to the frame around a first axis, the first branch body is penetrated by the first outer ring and is rotatably connected to the first outer ring around a second axis, the first axis and the extension direction of the first branch body are both perpendicular to the second axis, and the first axis intersects with the extension direction of the first branch body, and the first axes of the three first hinges intersect with each other and do not intersect at one point; the second hinge is a revolving pair and the rotation axis is perpendicular to the extension direction of the first branch body, and the rotation axes of the three second hinges intersect with each other and do not intersect at one point.

[0015] According to some embodiments of the present invention, the plurality of branches include a first branch, a second branch, a third branch and a fourth branch, the first branch, the second branch and the third branch have the same structure, the first branch includes a first branch body, a first hinge and a second hinge, the first branch body can realize extension and retraction along the axis direction of the first branch body and rotation around the axis direction of the first branch body, the first branch body is connected to the frame through the first hinge and is connected to the moving platform through the second hinge, wherein the first hinge includes a first outer ring, the first outer ring is rotatably connected to the frame around a first axis, the first branch body is penetrated by the first outer ring and is rotatably connected to the first outer ring around a second axis, the extension and retraction directions of the first axis and the first branch body are both perpendicular to the second axis, and the first axis intersects with the extension and retraction direction of the first branch body, and the first axes of the three first hinges intersect with each other and do not intersect at one point; The second hinge is rotatably connected to one end of the first branch chain body around a third axis, the second hinge is rotatably connected to the moving platform around a fourth axis, the third axis is perpendicular to the fourth axis, the third axis is perpendicular to the telescopic direction of the first branch chain body, and the fourth axes of the three second hinges are coplanar and intersect at a point; the fourth branch chain includes a fourth branch chain body and a third hinge, the fourth branch chain body is connected to the frame through the third hinge and is fixedly connected to the moving platform, the third hinge includes a second outer ring and a second inner ring arranged in the second outer ring, the second outer ring is rotatably connected to the frame around a fifth axis, the second inner ring is rotatably connected to the second outer ring around a sixth axis, the fourth branch chain body is movably connected to the second inner ring along the length direction of the fourth branch chain body, the fifth axis and the length direction of the fourth branch chain body are both perpendicular to the sixth axis, and the fifth axis intersects with the length direction of the fourth branch chain body.

[0016] According to some embodiments of the present invention, at at least one of the workstations, the two-degree-of-freedom series module includes a second fixed part, a first movable part, and a second movable part, the first movable part is movably installed on the second fixed part in a horizontal direction, the second movable part is movably installed on the first movable part in a vertical direction, and the frame is installed on the second movable part; the multiple branches include a first branch, a second branch and a third branch, the first branch, the second branch and the third branch have the same structure, the first branch includes a first branch body, a first hinge and a second hinge, the first branch body can realize extension and contraction along the axis direction of the first branch body and around the first branch The first branch chain body is connected to the frame through the first hinge and to the moving platform through the second hinge, wherein the first hinge is a rotating pair and the rotating axis is perpendicular to the telescopic direction of the first branch chain body, and the rotating axes of the three first hinges intersect with each other and do not intersect at one point; the second hinge is rotatably connected to one end of the first branch chain body around a third axis, and the second hinge is rotatably connected to the moving platform around a fourth axis, the third axis is perpendicular to the fourth axis, and the third axis is perpendicular to the telescopic direction of the first branch chain body, and the fourth axes of the three second hinges are coplanar and intersect at one point.

[0017] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0019] Figure 1 1 is a schematic diagram of the structure of an integrated die casting robot processing production line according to an embodiment of the present invention, wherein a first column, a second column and a connecting beam are provided at one workstation, and two columns and two beams are provided at one workstation;

[0020] Figure 2 is a schematic structural diagram of an integrated die-casting robot processing production line according to an embodiment of the present invention, wherein each workstation is provided with two columns and two beams;

[0021] Figure 3 1 is a schematic diagram of the structure of an integrated die casting robot processing production line according to an embodiment of the present invention, wherein a first column, a second column and a connecting beam are provided at one station, and two second fixed parts, two first movable parts and two second movable parts are provided at one station;

[0022] Figure 4is a schematic structural diagram of a transmission tooling according to an embodiment of the present invention;

[0023] Figure 5 is a schematic structural diagram of a three-degree-of-freedom parallel module and a two-degree-of-freedom series module according to a first embodiment of the present invention;

[0024] Figure 6 is a schematic structural diagram of a two-degree-of-freedom series module and a moving platform according to a first embodiment of the present invention;

[0025] Figure 7 is a schematic structural diagram of a first branch chain according to a first embodiment of the present invention;

[0026] Figure 8 is a schematic structural diagram of a three-degree-of-freedom parallel module according to a second embodiment of the present invention;

[0027] Fig. 9 is a schematic structural diagram of a first branch chain according to a second embodiment of the present invention;

[0028] Fig.10 is a partial structural cross-sectional view of a first branch chain according to a second embodiment of the present invention;

[0029] Fig.11 is a schematic structural diagram of a three-degree-of-freedom parallel module and a two-degree-of-freedom series module according to a third embodiment of the present invention;

[0030] Fig.12 is a schematic structural diagram of a first branch chain according to a third embodiment of the present invention;

[0031] Fig.13 is a schematic structural diagram of a fourth branch chain according to a third embodiment of the present invention;

[0032] Fig.14 is a partial structural schematic diagram of an integrated die casting robot processing production line according to an embodiment of the present invention, wherein the crossbeam is fixedly connected to the column;

[0033] Fig.15 is a partial structural schematic diagram of an integrated die casting robot processing production line according to an embodiment of the present invention, wherein the crossbeam and the column are rotatably connected;

[0034] Fig.16 is a partial structural schematic diagram of an integrated die casting robot processing production line according to an embodiment of the present invention, wherein the third moving part is movably connected to the first fixed part;

[0035] Fig.17 yes Fig.16 A schematic diagram of the structure of the first fixing portion;

[0036] Fig.18It is a partial structural schematic diagram of an integrated die casting robot processing production line according to an embodiment of the present invention, wherein the mounting frame includes a first column, a second column and a connecting beam.

[0037] Reference numerals:

[0038] Integrated die casting robot processing production line 2000; integrated die casting 3000; hybrid processing mechanism 100;

[0039] Three-degree-of-freedom parallel module 30; frame 10; mounting surface 11; moving platform 20;

[0040] Branch chain 31; first branch chain 32; second branch chain 33; third branch chain 34; first branch chain body 321; first hinge 322; second hinge 323; first outer ring 324;

[0041] Fourth branch chain 35; second branch chain body 351; third hinge 352; second outer ring 353; second outer ring 354; guide groove 355; guide protrusion 356;

[0042] First motor 36; first nut 37; first lead screw 38;

[0043] Outer sleeve 391; cover 3911; first sleeve 3912; second sleeve 3913; rotating member 392; inner sleeve 3921; second nut 3922; second motor 393; output shaft 3931; transmission belt 394; second lead screw 395; bearing spacer 396; bearing 397; sealing ring 398;

[0044] Two-degree-of-freedom serial module 40; first swing head 41; second swing head 42; main shaft 43; first rotation axis F1; second rotation axis F2; ​​first axis A1; second axis A2; third axis A3; fourth axis A4; fifth axis A5; sixth axis A6;

[0045] A second fixed portion 44; a first movable portion 45; a second movable portion 46;

[0046] Mounting frame 200; workpiece fixing fixture 300;

[0047] Column 210; beam 220; shaft 221; first fixing portion 230; second guide rail 231; fourth motor 232; fourth nut 233; fourth lead screw 234;

[0048] Carrying platform 235; third moving part 240;

[0049] The second fixing part 250; the first column 251; the second column 252; the connecting beam 253; the third guide rail 254; the fifth motor 255; the fifth lead screw 256;

[0050] Fourth moving part 260;

[0051] Transfer tool 500; first guide rail 510; work station 540. DETAILED DESCRIPTION

[0052] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0053] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0054] In the description of the present invention, "first feature" and "second feature" may include one or more such features, "plurality" means two or more, a first feature "above" or "below" the second feature may include the first and second features being directly in contact, or may include the first and second features not being in direct contact but being in contact through another feature between them, and a first feature "above", "above" and "above" the second feature may include the first feature being directly above or diagonally above the second feature, or may simply mean that the first feature is horizontally higher than the second feature.

[0055] The integrated die casting robot processing production line 2000 according to an embodiment of the present invention will be described below with reference to the accompanying drawings.

[0056] Reference Figure 1-Figure 18 As shown, the integrated die casting robot processing production line 2000 according to an embodiment of the present invention may include: a transfer tool 500 , a workpiece fixing tool 300 and a hybrid processing mechanism 100 .

[0057] Specifically, the transfer fixture 500 has a plurality of workstations 540. The workpiece fixing fixture 300 is used to fix the integrated die casting 3000 and is installed on the transfer fixture 500. The workpiece fixing fixture 300 is movable between the plurality of workstations 540. Each workstation 540 is correspondingly provided with a hybrid processing mechanism 100, and the hybrid processing mechanism 100 is used to process the integrated die casting 3000 located at the corresponding workstation 540.

[0058] The hybrid processing mechanism 100 includes a three-degree-of-freedom parallel module 30 and a two-degree-of-freedom series module 40. The three-degree-of-freedom parallel module 30 includes a frame 10, a moving platform 20 and a plurality of branches 31 connected between the frame 10 and the moving platform 20. The three-degree-of-freedom parallel module 30 has two rotational degrees of freedom and one translational degree of freedom, and can drive the moving platform 20 to move in three degrees of freedom in space relative to the frame 10.

[0059] In some embodiments, the two-degree-of-freedom series module 40 is mounted on the moving platform 20, and the two-degree-of-freedom series module 40 includes a main shaft 43 and has two rotational degrees of freedom whose rotation axes intersect. In other embodiments, the two-degree-of-freedom series module 40 is connected to the frame 10 and has two degrees of freedom of movement whose movement directions intersect, and the moving platform 20 is provided with a main shaft 43.

[0060] The "installation", "connection" and the like in the present application may be bolt connection, clamping, bonding, riveting and the like. For example, the two-degree-of-freedom series module 40 may be installed on the moving platform 20 by bolts, or the frame 10 may be installed on the two-degree-of-freedom series module 40 by bolts. The selection of connection method and installation method is relatively flexible.

[0061] The workpiece fixing tool 300 may include a platform, a fixture, etc. to better place and fix the integrated die casting 3000, which is conducive to achieving stable support of the integrated die casting 3000. The integrated die casting 3000 is the workpiece to be processed. Figure 1-Figure 4 As shown, the transfer tooling 500 cooperates with the workpiece fixing tooling 300 so that the integrated die-casting 300 can be moved to different stations 540 of the transfer tooling 500, and each station 540 is correspondingly provided with a hybrid processing mechanism 100, so that the hybrid processing mechanism 100 can process the integrated die-casting 3000 located at the station 540, which is conducive to realizing simultaneous processing or sequential processing of multiple stations 540, increasing the overall processing range of the integrated die-casting robot processing production line 2000, and improving processing efficiency.

[0062] The workpiece fixing fixture 300 can be one and move between multiple workstations 540 to change the workstation 540 where the integrated die-casting 3000 is located, and each workstation 540 is correspondingly provided with a hybrid processing mechanism 100, which can process the same integrated die-casting 3000 in sequence through the hybrid processing mechanism 100 at each workstation 540, which is beneficial to meet the requirements of the processing sequence of the features to be processed on the integrated die-casting 3000 and improve the processing reliability.

[0063] The workpiece fixing fixture 300 may also be multiple and arranged on the transport fixture 500 along the transport direction. Figure 1-Figure 4As shown, there are multiple workpiece fixing fixtures 300 and each workpiece fixing fixture 300 passes through all stations 540 in sequence, so that the hybrid processing mechanism 100 at the same station 540 can sequentially process different integrated die castings 3000 passing through the station 540, and the same integrated die casting 3000 can sequentially pass through all stations 540 and be processed by the hybrid processing mechanism 100 at each station 540, and the processing efficiency is high. Among them, the transmission direction of the transmission fixture 500 can be determined according to actual conditions, such as according to the workshop layout, the shape of the integrated die casting 3000, etc.

[0064] In the hybrid processing mechanism 100, Figure 5 As shown, the three-degree-of-freedom parallel module 30 has two rotational degrees of freedom and one translational degree of freedom, and a plurality of branches 31 connect the frame 10 and the moving platform 20, so that the moving platform 20 can have two rotational degrees of freedom and one translational degree of freedom relative to the frame 10, so as to realize the movement of the moving platform 20 relative to the frame 10 in three degrees of freedom in space, and can realize the movement of the moving platform 20 relative to the frame 10 in any direction in three-dimensional space, with a wide range of movement.

[0065] The movable platform 20 has two rotational degrees of freedom relative to the frame 10, that is, the movable platform 20 can rotate relative to the frame 10 about two rotation axes respectively, and the two rotation axes intersect, so that the movable platform 20 rotates relative to the frame 10 in any direction perpendicular to the relative movement direction. The movable platform 20 has one degree of movement freedom relative to the frame 10, that is, the movable platform 20 can move relative to the frame 10, and the relative movement direction can be the arrangement direction of the movable platform 20 and the frame 10.

[0066] The above three degrees of freedom are independent of each other, that is, the above three degrees of freedom can be independently controlled, for example, only the braking platform 20 is controlled to move relative to the frame 10, or only the braking platform 20 is controlled to rotate around a rotation axis relative to the frame 10. The above three degrees of freedom can also be controlled in combination, for example, the braking platform 20 is controlled to move relative to the frame 10 and not to rotate relative to the frame 10, for example, the braking platform 20 is controlled to move relative to the frame 10 and rotate around two rotation axes, etc. Through the above three independently controllable degrees of freedom, it is possible to realize the braking platform 20 on one side of the frame 10 (for example, Figure 5 The moving platform 20 is arranged at the lower side of the frame 10 and can move at any position relative to the frame 10, and has a wide range of movement. It should be noted that the description of the up, down, front, back, left, and right directions in the present invention is based on the current state shown in the accompanying drawings, and does not limit the layout orientation of the integrated die casting robot processing production line 2000 in the three-dimensional space, such as the actual installation and movement direction of the moving platform 20 relative to the frame 10.

[0067] In some embodiments, Figure 1-Figure 3 and Figure 5-Figure 7 As shown, the two-degree-of-freedom serial module 40 is installed on the moving platform 20 . The two-degree-of-freedom serial module 40 includes a main shaft 43 and has two rotational degrees of freedom whose rotation axes intersect, and can adjust the axial angle of the main shaft 43 .

[0068] For example, in some embodiments, Figure 6 As shown, the two-degree-of-freedom series module 40 includes a first pendulum head 41, a second pendulum head 42 and a main shaft 43. The first pendulum head 41 is installed on the moving platform 20, the second pendulum head 42 is rotatably installed on the first pendulum head 41 around the first rotation axis F1, and the main shaft 43 is rotatably installed on the second pendulum head 42 around the second rotation axis F2. The first rotation axis F1 intersects with the second rotation axis F2, and the second rotation axis F2 intersects with the axial direction of the main shaft 43.

[0069] The first swing head 41 is mounted on the moving platform 20, so that the first swing head 41 and the moving platform 20 can be integrally formed into an integral part, or the first swing head 41 and the moving platform 20 can be fixedly connected together by welding or the like. The spindle 43 may include tools such as cutters and drill bits for processing the integrated die casting 3000, or the spindle 43 may be detachably mounted with tools such as cutters and drill bits for processing the integrated die casting 3000. The processing methods of the spindle 43 include, but are not limited to, milling planes, drilling and tapping. For example, in some embodiments, the spindle 43 includes a motor and a drill bit, and the motor can drive the drill bit to rotate, which is conducive to meeting the processing requirements such as drilling.

[0070] The main shaft 43 can rotate around the second rotation axis F2 relative to the second swing head 42, and the second swing head 42 can drive the main shaft 43 to rotate around the first rotation axis F1 relative to the first swing head 41, so that the main shaft 43 has two rotational degrees of freedom around the first rotation axis F1 and around the second rotation axis F2, and the first rotation axis F1 intersects with the second rotation axis F2, and the second rotation axis F2 intersects with the axial direction of the main shaft 43, so that the second swing head 42 and the main shaft 43 cooperate to adjust the processing angle of the main shaft 43, and the angle adjustment range is large and the angle adjustment flexibility is high.

[0071] The first rotation axis F1 may intersect or be parallel to the axis direction of the moving platform 20, wherein the parallelism includes that the two axes coincide, or the two axes are parallel and spaced a certain distance apart. The axis direction of the moving platform 20 is a direction parallel to the moving direction of the moving platform 20. In some embodiments where the first rotation axis F1 is parallel to the axis of the moving platform 20, for example, coincides, the difficulty of adjusting the angle of the main shaft 43 can be reduced.

[0072] The first rotation axis F1 intersects with the second rotation axis F2, for example, the angle between the first rotation axis F1 and the second rotation axis F2 is an acute angle. The second rotation axis F2 intersects with the axial direction of the main shaft 43, for example, the angle between the second rotation axis F2 and the axial direction of the main shaft 43 is an acute angle.

[0073] It is worth noting that the first swing head 41, the second swing head 42 and the main shaft 43 are connected in series. When the second swing head 42 rotates around the first rotation axis F1 relative to the first swing head 41, since the main shaft 43 is installed on the second swing head 42, the second rotation axis F2 will rotate around the first rotation axis F1, and the extension direction of the second rotation axis F2 in the three-dimensional space will change, that is, the direction of the second rotation axis F2 in the three-dimensional space will change. Therefore, in the two-degree-of-freedom series module 40, the extension direction of the second rotation axis F2 in the three-dimensional space can be changed, the angle adjustment range of the main shaft 43 is increased, and a wider range of processing angle adjustment of the main shaft 43 in the three-dimensional space is achieved.

[0074] In addition, the two-degree-of-freedom series module 40 can achieve a large angle adjustment range. Combined with the installation method of the frame 10, it is conducive to the angle adjustment of the spindle 43 in any posture, so as to realize the processing mode under more than 100 installation methods of the hybrid processing mechanism, such as realizing the conversion between vertical processing mode and horizontal processing mode.

[0075] For example, in some specific embodiments, Figure 1 As shown, the transfer tool 500 has two workstations 540 arranged in the front-to-back direction. The mounting surface 11 of the frame 10 in the hybrid processing mechanism 100 corresponding to the front workstation 540 is a plane that forms a certain angle with the vertical plane, and the moving platform 20 is arranged on one side of the frame 10 in the horizontal direction (for example Figure 1 The two-degree-of-freedom series module 40 can be adjusted to change the processing angle of the spindle 43 to facilitate the processing of the integrated die casting 3000, thereby realizing horizontal processing of the hybrid processing mechanism 100. The mounting surface 11 of the frame 10 of the hybrid processing mechanism 100 corresponding to the rear station 540 is a horizontal surface, and the moving platform 20 is arranged on the lower side of the frame 10. The two-degree-of-freedom series module 40 can be adjusted to change the processing angle of the spindle 43 to facilitate the processing of the integrated die casting 3000, thereby realizing vertical processing of the hybrid processing mechanism 100.

[0076] Therefore, in the hybrid processing mechanism 100, the three-degree-of-freedom parallel module 30 can realize the movement of the two-degree-of-freedom series module 40 and the moving platform 20 relative to the frame 10 in a large range in three-dimensional space, that is, the position adjustment and angle adjustment of the three-degree-of-freedom of the main shaft 43 in three-dimensional space can be realized, and the two-degree-of-freedom series module 40 can realize the rotation of the main shaft 43 in two degrees of freedom relative to the moving platform 20 in three-dimensional space, that is, the fine processing angle adjustment of the main shaft 43 in a large range in three-dimensional space can be realized. Combining the three-degree-of-freedom parallel module 30 and the two-degree-of-freedom series module 40, the main shaft 43 has five degrees of freedom of movement, which can realize the movement and angle adjustment of the main shaft 43 in a large range in three-dimensional space, which is conducive to controlling the main shaft 43 to perform local fine processing on the integrated die casting 3000, improve the processing accuracy, and help to increase the processable range of the hybrid processing mechanism 100 on the integrated die casting 3000, realize the processing of the integrated die casting 3000 at any position, and has a wide range of application.

[0077] In other embodiments, Figure 3 and Figure 8-Figure 10 As shown, the two-degree-of-freedom series module 40 is connected to the frame 10 and has two degrees of freedom of movement whose movement directions intersect, and the moving platform 20 is provided with a main shaft 43. Specifically, the three-degree-of-freedom parallel module 30 is installed on the two-degree-of-freedom series module 40, so that the three-degree-of-freedom parallel module 30 can move with the two-degree-of-freedom series module 40 in two degrees of freedom in space, for example, relative to the ground, so as to achieve the change of the relative position between the three-degree-of-freedom parallel module 30 as a whole (including the main shaft 43) and the integrated die casting 3000, and the movement directions of the two degrees of freedom in the two-degree-of-freedom series module 40 intersect (for example, the two movement directions are respectively along Figure 3 The three-degree-of-freedom parallel module 30 extends in the front-to-back direction and the up-down direction as shown), which is beneficial to realize a large range of position adjustment of the main shaft 43 in the three-dimensional space, so that the three-degree-of-freedom parallel module 30 is overall close to different areas to be processed of the integrated die casting 3000, that is, the different areas to be processed of the integrated die casting 3000 can be placed within the working range of the three-degree-of-freedom parallel module 30, which is beneficial to the processing of more areas to be processed in a larger range on the integrated die casting 3000, with a wider adjustment range and higher processing efficiency.

[0078] Among them, the working range of the three-degree-of-freedom parallel module 30 refers to the range that the main shaft 43 can reach, so that the different areas to be processed of the integrated die-casting 3000 are within this range, which is beneficial to ensure that the main shaft 43 processes the different areas to be processed of the integrated die-casting 3000 and improves the reliability of processing the different areas to be processed of the integrated die-casting 3000.

[0079] Therefore, in the hybrid processing mechanism 100, the two-degree-of-freedom series module 40 can realize the large-scale position adjustment of the three-degree-of-freedom parallel module 30 in the three-dimensional space with two degrees of freedom as a whole, and the adjustment range is relatively wide. The three-degree-of-freedom parallel module 30 can realize the movement of the moving platform 20 at one side of the frame 10 relative to any position of the frame 10, that is, the fine position adjustment and angle adjustment of the spindle 43 with three degrees of freedom in the three-dimensional space. Therefore, by combining the two-degree-of-freedom series module 40 and the three-degree-of-freedom parallel module 30, the spindle 43 has five degrees of freedom of movement, which can realize the large-scale movement and angle adjustment of the spindle 43 in the three-dimensional space, which is conducive to increasing the processing range of the five-degree-of-freedom hybrid processing mechanism 100 on the integrated die casting 3000, and has a wide range of application.

[0080] In some related technologies, integrated die-casting processing is realized by large machine tools. Large machine tools occupy a large area, which puts great pressure on the internal space layout of the workshop, and the investment of a large number of large machine tools leads to a surge in costs. Large-area factory buildings and huge investment in production equipment seriously hinder the development of the integrated die-casting industry and even the new energy vehicle industry. In the embodiment of the present application, the hybrid processing mechanism 100 realizes the movement of the five degrees of freedom of the main shaft 43 through the cooperation of the three-degree-of-freedom parallel module 30 and the two-degree-of-freedom series module 40, which is conducive to reducing the overall volume and weight of the hybrid processing mechanism 100, achieving lightweight, accelerating the dynamic response speed of the hybrid processing mechanism 100, and making the floor space of the hybrid processing mechanism 100 relatively small, reducing the pressure on the internal space layout of the workshop, and facilitating the application of the integrated die-casting robot processing production line 2000 to various workshops with different space sizes, and the requirements for the workspace are relatively low. And reducing the overall volume and weight of the hybrid processing mechanism 100 makes the cost relatively low, which is conducive to reducing the input cost and promoting the development of the integrated die-casting industry and even the new energy vehicle industry.

[0081] Moreover, the three-degree-of-freedom parallel module 30 and the two-degree-of-freedom series module 40 in the present application can be controlled independently, and not only can the processing position and processing angle of the main shaft 43 be adjusted by the three-degree-of-freedom parallel module 30 and the two-degree-of-freedom series module 40 at the same time, but also the three-degree-of-freedom parallel module 30 can be controlled first and then the two-degree-of-freedom series module 40, or the two-degree-of-freedom series module 40 can be controlled first and then the three-degree-of-freedom parallel module 30. Compared with some related technologies that require the entire module, such as five branches, to move simultaneously to adjust the processing position and processing angle of the large machine tool, the present application can not only adjust the processing position and processing angle of the main shaft 43 at the same time, but also independently control the two modules to respectively realize the processing position adjustment and processing angle adjustment of the main shaft 43, with high processing efficiency and processing accuracy, which is conducive to realizing the efficient and high-quality processing of the integrated die casting 3000 in the integrated die casting robot processing production line 2000.

[0082] In addition, in some working conditions, the features to be processed of the integrated die-casting are discretely distributed at multiple angles in space, and the processing requires the spindle 43 to frequently adjust its posture over a large range. However, the large machine tool linear axis in the related technology has a large inertia and each axis frequently accelerates and decelerates in reciprocating motion, making it difficult to efficiently and accurately match the production rhythm.

[0083] The transfer tooling 500 in the integrated die-casting robot processing production line 2000 of the embodiment of the present application has a plurality of workstations 540, which can simultaneously process a plurality of integrated die-castings 3000 through a plurality of hybrid processing mechanisms 100, and can also sequentially process different areas to be processed of the same integrated die-casting 3000 through a plurality of hybrid processing mechanisms 100, etc., which is conducive to multi-machine collaborative processing of a plurality of workstations 540, and increases the processable range of different types of integrated die-castings 3000, such as large integrated die-castings. Combined with the five-degree-of-freedom adjustment of the spindle 43 in the hybrid processing mechanism 100, there is no need to frequently adjust the spindle 43 over a large range, and different areas to be processed on the integrated die-casting 3000 that are discretely distributed at multiple angles in space can be processed, thereby improving processing efficiency and processing accuracy, and facilitating efficient and high-quality multi-station processing of the integrated die-casting 3000 in the integrated die-casting robot processing production line 2000. The hybrid processing mechanism 100 has a small inertia and can realize accurate and large-angle posture adjustment of the main shaft 43 through the cooperation of the three-degree-of-freedom parallel module 30 and the two-degree-of-freedom series module 40. The posture adjustment efficiency is high and can meet the production rhythm requirements of the integrated die-casting 3000.

[0084] According to the integrated die-casting robot processing production line 2000 of the embodiment of the present invention, it is possible to synchronously or sequentially process the integrated die-castings 3000 at multiple stations 540 through multiple hybrid processing mechanisms 100, realize multi-machine collaborative work, and increase the processing range of the integrated die-casting robot processing production line 2000. The hybrid processing mechanism 100 is composed of a three-degree-of-freedom parallel module 30 and a two-degree-of-freedom series module 40, which is conducive to realizing a larger range of processing position and processing angle adjustment of the main shaft 43 in three-dimensional space, and reducing the overall volume and weight of the hybrid processing mechanism 100, achieving lightweight, accelerating dynamic response speed, and facilitating improving processing accuracy and processing efficiency, thereby realizing efficient and high-quality multi-station processing of the integrated die-casting 3000.

[0085] The workpiece fixing fixture 300 can be moved between multiple workstations 540 by means of the cooperation between the slider and the slide slot, the cooperation between the lead screw and the nut, the cooperation between the gear and the rack, etc. For example, in some embodiments, the transmission fixture 500 is provided with a first guide rail 510, a third motor, a third nut and a third lead screw, the workpiece fixing fixture 300 is movably connected to the transmission fixture 500 through the first guide rail 510, the third motor is fixedly installed on the transmission fixture 500, the third motor is connected to the third lead screw, the third lead screw is threadedly matched with the third nut, the third nut is connected to the workpiece fixing fixture 300, the third motor is used to drive the third lead screw to rotate so as to drive the third nut to move along the length direction of the third lead screw, and the first guide rail 510 and the third lead screw both extend in the front-rear direction.

[0086] The third motor can drive the third screw to rotate, so that the third nut matched with the third screw thread moves in the front-to-back direction, and then the workpiece fixing fixture 300 connected to the third nut moves along the first guide rail 510 relative to the transmission fixture 500, so as to realize the movement of the workpiece fixing fixture 300 between multiple workstations 540 of the transmission fixture 500. The structure has low complexity, is easy to implement, and has good economy.

[0087] In some embodiments of the present invention, Figure 1-Figure 3 , Figure 5 and Figure 7 As shown, the plurality of branches 31 include a first branch chain 32, a second branch chain 33 and a third branch chain 34, and the first branch chain 32, the second branch chain 33 and the third branch chain 34 have the same structure. The first branch chain 32 includes a first branch chain body 321, a first hinge 322 and a second hinge 323. The first branch chain body 321 can realize extension and contraction along the axis direction of the first branch chain body 321 and rotation around the axis direction of the first branch chain body 321. The first branch chain body 321 is connected to the frame 10 through the first hinge 322 and is connected to the moving platform 20 through the second hinge 323. The first hinge 322 includes a first outer ring 324, which is rotatably connected to the frame 10 around the first axis A1. The first branch chain body 321 is inserted into the first outer ring 324 and is rotatably connected to the first outer ring 324 around the second axis A2. The first axis A1 and the telescopic direction of the first branch chain body 321 are both perpendicular to the second axis A2, and the first axis A1 intersects with the telescopic direction of the first branch chain body 321. The first axes A1 of the three first hinges 322 intersect with each other and do not intersect at one point. The second hinge 323 is a revolute pair and the rotation axis is perpendicular to the telescopic direction of the first branch chain body 321, and the rotation axes of the three second hinges 323 intersect with each other and do not intersect at one point. The normal direction of the plane where the connection points of the three second hinges 323 and the movable platform 20 are located is the axis direction of the movable platform 20.

[0088] The first branch 32, the second branch 33 and the third branch 34 have the same structure, that is, the first branch 32 includes a first branch body 321, a first hinge 322 and a second hinge 323, the second branch 33 includes a second branch body 331, a first hinge 322 and a second hinge 323, and the third branch 34 includes a third branch body 341, a first hinge 322 and a second hinge 323, wherein the second branch body 331 has the same structure as the first branch body 321, and the third branch body 341 has the same structure as the first branch body 321.

[0089] At the first hinge 322, the first outer ring 324 is connected to the frame 10 and can rotate relative to the frame 10 around the first axis A1, and the first branch chain body 321 is inserted into the first outer ring 324 and can rotate relative to the first outer ring 324 around the second axis A2, which can realize the rotation of the first branch chain body 321 relative to the frame 10 around the first axis A1, and the rotation of the first branch chain body 321 relative to the first outer ring 324 around the second axis A2. The first branch chain body 321 is rotatably connected to the moving platform 20 through the second hinge 323, and the rotation of the first branch chain body 321 relative to the moving platform 20 can be realized through the second hinge 323.

[0090] It is worth noting that the part of the first hinge 322 connected to the frame 10 and the part of the first hinge 322 connected to the first branch chain body 321 are connected in series, and the first axis A1 is perpendicular to the second axis A2, so that the first hinge 322 is formed into a universal joint. When the first branch chain body 321 rotates around the first axis A1, the second axis A2 will rotate around the first axis A1, so that the extension direction of the second axis A2 in the three-dimensional space changes. In this way, the direction of the second axis A2 in the three-dimensional space can be changed, and the rotation range of the first branch chain body 321 relative to the frame 10 is increased.

[0091] At the same time, the telescopic direction of the first branch chain body 321 is perpendicular to the second axis A2, the telescopic direction of the first branch chain body 321 intersects with the first axis A1, the telescopic direction of the first branch chain body 321 is perpendicular to the rotation axis of the second hinge 323, the first axes A1 of the three first hinges 322 intersect with each other and do not intersect at one point, and the rotation axes of the three second hinges 323 intersect with each other and do not intersect at one point, which is conducive to improving the reliability of adjusting the relative position of the moving platform 20 and the frame 10, and reducing the possibility of interference between the first branch chain 32, the second branch chain 33 and the third branch chain 34 during movement. Preferably, the first axes A1 of the three first hinges 322 intersect with each other after extension and form a closed equilateral triangle, and the rotation axes of the three second hinges 323 intersect with each other after extension and form a closed equilateral triangle, so that the movement reliability of the first branch chain 32, the second branch chain 33 and the third branch chain 34 is better. It can also reduce the movement complexity of the first branch chain 32, facilitate the simultaneous extension and retraction of the first branch chain body 321, the rotation of the first branch chain body 321 at the first hinge 322 relative to the frame 10, and the rotation of the first branch chain body 321 at the second hinge 323 relative to the moving platform 20, thereby improving the movement reliability of the first branch chain 32, that is, improving the movement reliability of the first branch chain 32, the second branch chain 33 and the third branch chain 34 with the same structure.

[0092] Here, the extension and retraction of the first branch chain body 321 may refer to the change in the length of the first branch chain body 321 between the frame 10 and the moving platform 20. For example, the extension of the first branch chain body 321 causes the length of the first branch chain body 321 between the frame 10 and the moving platform 20 to extend, and the shortening of the first branch chain body 321 causes the length of the first branch chain body 321 between the frame 10 and the moving platform 20 to shorten.

[0093] Specifically, Figure 5 and Figure 7 As shown, during the extension and retraction process of the first branch chain body 321, the first branch chain body 321 rotates relative to the frame 10 through the first hinge 322, and the first branch chain body 321 rotates relative to the moving platform 20 through the second hinge 323, so that the length and position (for example, coordinates and angles in three-dimensional space) of the first branch chain body 321 between the frame 10 and the moving platform 20 change, thereby changing the relative position of the frame 10 and the moving platform 20.

[0094] The first branch chain 32, the second branch chain 33 and the third branch chain 34 are arranged in parallel and can be independently controlled. By controlling the first branch chain 32, the second branch chain 33 and the third branch chain 34 respectively, the extension and retraction of the first branch chain body 321, the second branch chain body 331 and the third branch chain body 341 are adjusted respectively, so that the distance between the frame 10 and the moving platform 20 can be adjusted in multiple directions, and the adjustment of the moving platform 20 on one side of the frame 10 relative to any position of the frame 10 in the three-dimensional space is controlled, so as to increase the motion range of the moving platform 20 relative to the frame 10, realize the three-degree-of-freedom motion of the moving platform 20 relative to the frame 10, and make the first branch chain body 321, the second branch chain body 331 and the third branch chain body 341 no longer extend and retract, so that the frame 10 and the moving platform 20 are not prone to relative motion such as shaking, thereby improving the stability of adjusting the relative position of the moving platform 20 and the frame 10.

[0095] In addition, the first branch chain body 321 can rotate around its own axis, which is conducive to adapting to the relative movement of the frame 10 and the moving platform 20. For example, when the angle formed by the first axis A1 and the extension direction of the first branch chain body 321, and the angle formed by the rotation axis of the second hinge 323 and the extension direction of the first branch chain body 321, when the difference between the two angles changes, the first branch chain body 321 can be extended and rotated to adapt to the changes, thereby further improving the adjustment stability.

[0096] In some related technologies, the branch chain adapts to the movement of the moving platform through the joint action of two independent kinematic pairs (rotational pair and translational pair), and the number of kinematic pairs is large and the rigidity is poor. However, the present application integrates the telescopic function and the rotational function of the first branch chain body 321 into one kinematic pair, and the first branch chain 32, the second branch chain 33 and the third branch chain 34 all omit one kinematic pair (i.e., the number of joints of the robot is reduced), thereby reducing the number of kinematic pairs of the three-degree-of-freedom parallel module 30 during the movement of the moving platform 20 and improving the rigidity of the hybrid processing mechanism 100.

[0097] Of course, according to the above description, the working process of the first branch chain 32, the second branch chain 33 and the third branch chain 34 in parallel in other embodiments of the present invention can be understood by those skilled in the art.

[0098] By driving the first branch chain body 321, the second branch chain body 331 and the third branch chain body 341 to extend and retract, the first hinge 322 and the second hinge 323 are rotated, so that the movable platform 20 can have three parallel degrees of freedom of movement relative to the frame 10, and the movable platform 20 can move at one side of the frame 10 relative to any position of the frame 10 in a three-dimensional space. The structure has low complexity, is easy to operate, and is convenient for practice.

[0099] For example, in some embodiments, Figure 5As shown, the position of the movable platform 20 relative to the frame 10 can be adjusted with the cooperation of the first hinge 322 and the second hinge 323 by controlling the extension and retraction of the first branch chain body 321, the second branch chain body 331 and the third branch chain body 341 respectively, which is easy to operate.

[0100] In some embodiments of the present invention, Figure 11-13 As shown, the plurality of branches 31 include a first branch chain 32, a second branch chain 33, a third branch chain 34 and a fourth branch chain 35, and the first branch chain 32, the second branch chain 33 and the third branch chain 34 have the same structure. The first branch chain 32 includes a first branch chain body 321, a first hinge 322 and a second hinge 323. The first branch chain body 321 can realize extension and contraction along the axis direction of the first branch chain body 321 and rotation around the axis direction of the first branch chain body 321. The first branch chain body 321 is connected to the frame 10 through the first hinge 322 and is connected to the moving platform 20 through the second hinge 323. The first hinge 322 includes a first outer ring 324, which is rotatably connected to the frame 10 around a first axis A1, and the first branch chain body 321 is disposed in the first outer ring 324 and is rotatably connected to the first outer ring 324 around a second axis A2. The first axis A1 and the telescopic direction of the first branch chain body 321 are both perpendicular to the second axis A2, and the first axis A1 intersects with the telescopic direction of the first branch chain body 321. The first axes A1 of the three first hinges 322 intersect with each other and do not intersect at one point. The second hinge 323 is rotatably connected to one end of the first branch chain body 321 around a third axis A3, and the second hinge 323 is rotatably connected to the movable platform 20 around a fourth axis A4, and the third axis A3 is perpendicular to the fourth axis A4, and the third axis A3 is perpendicular to the telescopic direction of the first branch chain body 321. The fourth axes A4 of the three second hinges 323 are coplanar and intersect at one point.

[0101] The fourth branch chain 35 includes a fourth branch chain body 351 and a third hinge 352. The fourth branch chain body 351 is connected to the frame 10 and fixedly connected to the moving platform 20 through the third hinge 352. The third hinge 352 includes a second outer ring 353 and a second inner ring 354 disposed in the second outer ring 353. The second outer ring 353 is rotatably connected to the frame 10 around a fifth axis A5. The second inner ring 354 is rotatably connected to the second outer ring 353 around a sixth axis A6. The fourth branch chain body 351 is movably connected to the second inner ring 354 along the length direction of the fourth branch chain body 351. The fifth axis A5 and the length direction of the fourth branch chain body 351 are both perpendicular to the sixth axis A6. The fifth axis A5 intersects with the length direction of the fourth branch chain body 351.

[0102] The first branch 32, the second branch 33 and the third branch 34 have the same structure, that is, the first branch 32 includes a first branch body 321, a first hinge 322 and a second hinge 323, the second branch 33 includes a second branch body 331, a first hinge 322 and a second hinge 323, and the third branch 34 includes a third branch body 341, a first hinge 322 and a second hinge 323, wherein the second branch body 331 has the same structure as the first branch body 321, and the third branch body 341 has the same structure as the first branch body 321.

[0103] like Figure 11-Figure 12 As shown, at the first hinge 322, the first outer ring 324 is connected to the frame 10 and can rotate relative to the frame 10 around the first axis A1, and the first branch chain body 321 is inserted into the first outer ring 324 and can rotate relative to the first outer ring 324 around the second axis A2, which can realize the rotation of the first branch chain body 321 relative to the frame 10 around the first axis A1, and the rotation of the first branch chain body 321 relative to the first outer ring 324 around the second axis A2. The second hinge 323 is connected to the first branch chain body 321 and can rotate around the third axis A3, and the second hinge 323 is connected to the movable platform 20 and can rotate around the fourth axis A4, which can realize the rotation of the first branch chain body 321 relative to the movable platform 20 around the third axis A3 and around the fourth axis A4.

[0104] like Fig.11 and Fig.13 As shown, at the third hinge 352, the second outer ring 353 is connected to the frame 10 and is rotatable around the fifth axis A5 relative to the frame 10, and the second inner ring 354 is connected to the second outer ring 353 and is rotatable around the sixth axis A6 relative to the second outer ring 353, which can realize the rotation of the fourth branch chain body 351 relative to the frame 10 around the fifth axis A5, and the rotation of the fourth branch chain body 351 relative to the second outer ring 353 around the sixth axis A6.

[0105] It is worth noting that the part of the first hinge 322 connected to the frame 10 (i.e., the first outer ring 324) and the part of the first hinge 322 connected to the first branch chain body 321 are connected in series, and the first axis A1 is perpendicular to the second axis A2, so that the first hinge 322 forms a Hooke's joint (Universal Joint). The part of the second hinge 323 connected to the moving platform 20 and the part of the second hinge 323 connected to the first branch chain body 321 are connected in series, and the third axis A3 is perpendicular to the fourth axis A4, so that the second hinge 323 forms a Hooke's joint (Universal Joint).

[0106] The second outer ring 353 and the second inner ring 354 of the third hinge 352 are connected in series, and the fifth axis A5 is perpendicular to the sixth axis A6, so that the third hinge 352 forms a universal joint. When the fourth branch chain 35 rotates around the fifth axis A5, the sixth axis A6 will rotate around the fifth axis A5, so that the extension direction of the sixth axis A6 in the three-dimensional space changes. In this way, the direction of the sixth axis A6 in the three-dimensional space can be changed, and the rotation range of the second branch chain 35 relative to the frame 10 is increased.

[0107] The second inner ring 354 only means that the second inner ring 354 is arranged inside the second outer ring 353, and does not limit the second inner ring 354 to be circular, that is, the second inner ring 354 can be a circular ring, a square ring, a slider with a hole, or other shapes. The fourth branch chain 35 can be fixedly connected to the moving platform 20 by welding, bolting, etc., or the fourth branch chain 35 can be fixedly connected to the first swing head 41 by welding, bolting, etc.

[0108] like Fig.11 As shown, the telescopic direction of the first branch chain body 321 is perpendicular to the second axis A2, the telescopic direction of the first branch chain body 321 intersects with the first axis A1, the first axes A1 of the three first hinges 322 intersect with each other and do not intersect at one point, the telescopic direction of the first branch chain body 321 is perpendicular to the third axis A3, the fourth axes A4 of the three second hinges 323 are coplanar and intersect at one point, the length direction of the fourth branch chain body 351 is perpendicular to the sixth axis A6, and the length direction of the fourth branch chain body 351 intersects with the fifth axis A5, which is conducive to improving the reliability of adjusting the relative position of the moving platform 20 and the frame 10, and reducing the possibility of interference between the first branch chain 32, the second branch chain 33, the third branch chain 34 and the fourth branch chain 35 during the movement. Preferably, the rotation axes of the three first hinges 322 intersect with each other after extension and form a closed equilateral triangle, so that the movement reliability of the first branch chain 32, the second branch chain 33 and the third branch chain 34 is better.

[0109] It can also reduce the movement complexity of the first branch chain 32, the second branch chain 33, the third branch chain 34 and the fourth branch chain 35, which is beneficial to simultaneously realize the extension and retraction of the first branch chain body 321, the rotation of the first branch chain body 321 relative to the frame 10 at the first hinge 322, the rotation of the first branch chain body 321 relative to the moving platform 20 at the second hinge 323, the rotation of the fourth branch chain body 351 relative to the frame 10 at the third hinge 352, and the movement of the fourth branch chain 35 relative to the frame 10 along its own length direction, thereby improving the movement reliability of the first branch chain 32, the second branch chain 33, the third branch chain 34 and the fourth branch chain 35.

[0110] By driving the first branch chain body 321, the second branch chain body 331 and the third branch chain body 341 to move relative to the frame 10 along its own length direction, and rotate the first hinge 322, the second hinge 323 and the third hinge 352, the movable platform 20 can have three parallel degrees of freedom of movement relative to the frame 10, realize the movement of the movable platform 20 on one side of the frame 10 relative to any position of the frame 10 in the three-dimensional space, and enhance the controllability of adjusting the relative position of the movable platform 20 and the frame 10.

[0111] For example, in some embodiments, Fig.11 As shown, it is only necessary to control the extension and retraction of the first branch chain body 321, the second branch chain body 331 and the third branch chain body 341 respectively, so that the position adjustment of the movable platform 20 relative to the frame 10 can be achieved with the cooperation of the first hinge 322, the second hinge 323, the third hinge 352 and the fourth branch chain body 351. This is easy to operate and the position adjustment of the movable platform 20 relative to the frame 10 is more controllable.

[0112] The fourth branch chain 35 can move relative to the frame 10 along its own length direction by means of the cooperation between the slider and the slide slot, the cooperation between the lead screw and the nut, the cooperation between the gear and the rack, etc. For example, in some embodiments, Fig.11 and Fig.13 As shown, the fourth branch chain body 351 is inserted into the second inner ring 354, and the inner circumferential surface of the second inner ring 354 is provided with a guide groove 355 extending along the length direction of the fourth branch chain body 351, and the fourth branch chain body 351 is provided with a guide protrusion 356 extending along the length direction of the fourth branch chain body 351, and the guide protrusion 356 is slidably fitted in the guide groove 355.

[0113] The first branch chain body 321, the second branch chain body 331 and the third branch chain body 341 are extended and retracted to move the movable platform 20 relative to the frame 10, thereby causing the fourth branch chain 35 to move relative to the frame 10 along its own length direction to limit the change in the relative position of the movable platform 20 and the frame 10, thereby strengthening the control of the relative position of the movable platform 20 and the frame 10.

[0114] Specifically, the first branch chain body 321, the second branch chain body 331 and the third branch chain body 341 are telescopic to move the movable platform 20 relative to the frame 10, so that the distance between the movable platform 20 and the frame 10 along the length direction of the fourth branch chain 35 changes, and the guide protrusion 356 slides in the guide groove 355, so that the fourth branch chain 35 moves along its own length direction relative to the third hinge 321. Through the cooperation of the guide protrusion 356 and the guide groove 355, the fourth branch chain 35 is passively moved with the change of the relative position between the movable platform 20 and the frame 10, so that the fourth branch chain 35 can move along its own length direction, and the guide protrusion 356 and the guide groove 355 cooperate to form a prismatic joint, which has low structural complexity, is easy to implement, and has good economic efficiency.

[0115] The first branch chain 32, the second branch chain 33 and the third branch chain 34 can all be extended and retracted relative to the frame 10 along their own length direction by means of the cooperation between the slider and the slide slot, the cooperation between the lead screw and the nut, the cooperation between the gear and the rack, etc. For example, in some embodiments of the present invention, Figure 7 and Fig.12 As shown, the first branch chain body 321 includes: a first motor 36, a first nut 37 and a first lead screw 38. The first nut 37 is installed on the first motor 36 and is threadedly matched with the first lead screw 38. The first motor 36 is connected to the frame 10 through the first hinge 322. The first lead screw 38 is connected to the moving platform 20 through the second hinge 323. The first motor 36 is used to drive the first nut 37 to rotate to drive the first lead screw 38 to move along the axial direction of the first nut 37. The first lead screw 38 is rotatable around its own axis relative to the first nut 37.

[0116] The first motor 36 can drive the first nut 37 to rotate, so that the first lead screw 38 threadedly matched with the first nut 37 moves along the axial direction of the first nut 37, and the first motor 36 and the first nut 37 rotate relative to the frame 10 through the first hinge 322, and the first lead screw 38 rotates relative to the frame 10 through the first hinge 322 and rotates relative to the moving platform 20 through the second hinge 323, so as to achieve the extension and retraction of the first branch chain body 321, and then achieve the adjustment of the relative position of the moving platform 20 and the frame 10. Through the cooperation of the first motor 36, the first lead screw 38 and the first nut 37, the extension and retraction of the first branch chain body 321 can be achieved, so that the first branch chain body 321 can be extended and retracted along its own length direction, and the first lead screw 38 and the first nut 37 cooperate to form a cylindrical joint, which has low structural complexity, is easy to implement, and has good economic efficiency.

[0117] The first nut 37 and the first lead screw 38 are matched to form a cylindrical kinematic pair, so as to integrate the telescopic function and the rotation function of the first branch chain body 321 into one kinematic pair, thereby reducing the number of kinematic pairs of the three-degree-of-freedom parallel module 30 during the movement of the moving platform 20 and improving the rigidity of the hybrid processing mechanism 100. In addition, only the first lead screw 38 moves and rotates in the first branch chain 32, that is, the weight of the moving parts is relatively small, which is conducive to achieving the lightweight of the hybrid processing mechanism 100, improving the efficiency of the position adjustment of the moving platform 20 relative to the frame 10, and facilitating efficient and accurate matching of the production rhythm. The first motor 36 can be a hollow motor with a relatively light weight, which is conducive to further achieving the lightweight of the hybrid processing mechanism 100.

[0118] In some embodiments, Figure 8-Figure 10 As shown, the first branch chain body 321 includes: an outer shell 391, a rotating member 392, a second motor 393, a transmission belt 394 and a second lead screw 395. The outer shell 391 is connected to the frame 10 through the first hinge 322. The rotating member 392 is rotatably installed in the outer shell 391. The second motor 393 is installed on the outer shell 391. The output shaft 3931 of the second motor 393 is transmission-connected to the rotating member 392 through the transmission belt 394 to drive the rotating member 392 to rotate. The second lead screw 395 is penetrated by the rotating member 392 and is threadedly matched with the rotating member 392. The rotating member 392 rotates to drive the second lead screw 395 to move along the axial direction of the rotating member 392. The second lead screw 395 is rotatable around its own axis relative to the rotating member 392.

[0119] Through the transmission connection between the output shaft 3931, the transmission belt 394 and the rotating member 392, the rotating member 392 can be driven to rotate by the second motor 393, so that the second screw 395 threadedly matched with the rotating member 392 moves along the axial direction of the rotating member 392, and the first branch chain body 321 rotates relative to the frame 10 through the first hinge 322, and the first branch chain body 321 rotates relative to the moving platform 20 through the second hinge 323, that is, the second screw 395 can realize movement along its own axial direction and rotation around its own axial direction, so as to realize the extension and rotation of the first branch chain body 321, and then realize the adjustment of the relative position of the moving platform 20 and the frame 10. The structural complexity is low and it is easy to realize.

[0120] Among them, the rotating member 392 and the second lead screw 395 cooperate to form a cylindrical joint, so as to integrate the telescopic function and the rotation function of the first branch chain body 321 into one joint, reduce the number of joints of the three-degree-of-freedom parallel module 30 during the movement of the moving platform 20 relative to the frame 10, and improve the rigidity of the hybrid processing mechanism 100. In addition, only the second lead screw 395 moves and rotates in the first branch chain body 321, that is, the weight of the moving parts is small, which is conducive to the lightweight of the hybrid processing mechanism 100, improves the efficiency of the position adjustment of the moving platform 20 relative to the frame 10, and is conducive to efficient and accurate matching of the production rhythm.

[0121] In some embodiments, Fig.10 As shown, the outer sleeve 391 includes a first sleeve 3912 and a second sleeve 3913, the first sleeve 3912 is arranged at one axial end of the second sleeve 3913, the first sleeve 3912 has a staggered portion that is staggered perpendicular to the axial direction with the second sleeve 3913, the rotating member 392 is penetrated by the second sleeve 3913 and the first sleeve 3912, the second motor 393 is installed in the staggered portion and is located on the radial side of the rotating member 392, which is conducive to the offset installation of the second motor 393 and the second screw 395 to avoid the second screw 395 and facilitate the extension and rotation of the second screw 395.

[0122] In some embodiments, Fig.10 As shown, the outer sleeve 391 further includes a cover 3911, which is disposed at one axial end of the first sleeve 3912 to facilitate installation of the second motor 393, making the installation of the second motor 393 more secure. The cover 3911, the first sleeve 3912 and the second sleeve 3913 can be connected by bolts.

[0123] In some embodiments, the second motor 393 is a servo motor, which is low in cost and has good economy. The servo motor has high control accuracy, so that the extension and rotation accuracy of the second screw 395 driven by the servo motor is high, thereby improving the control accuracy of adjusting the relative position of the moving platform 20 and the frame 10, and improving the processing accuracy of the main shaft 43.

[0124] The second motor 393, the transmission belt 394 and the rotating member 392 may be provided with matching gears or other matching structures to achieve transmission connection between the second motor 393, the transmission belt 394 and the rotating member 392. For example, in some embodiments, Figure 8-Figure 10 As shown, the transmission belt 394 is a belt body with meshing teeth, the output shaft 3931 of the second motor 393 has meshing teeth meshing with the transmission belt 394 (such as the output shaft 3931 is equipped with a motor pulley), and the rotating member 392 has meshing teeth meshing with the transmission belt 394, and the transmission connection between the second motor 393, the transmission belt 394 and the rotating member 392 can be achieved through the meshing of the teeth.

[0125] In some embodiments, Fig.10 As shown, the rotating member 392 includes an inner sleeve 3921 and a second nut 3922. The inner sleeve 3921 is rotatably mounted in the outer sleeve 391 through a bearing spacer 367 and a bearing 367 (such as an angular contact ball bearing). The second nut 3922 is mounted in the inner sleeve 3921 through bolts and is threadedly matched with the second lead screw 395, so that the second nut 3922 can be replaced according to the wear of the thread.

[0126] In some embodiments, Fig.10 As shown, a sealing ring 365 is provided between the rotating member 392 and the outer shell 391 to facilitate the sealed connection between the rotating member 392 and the outer shell 391, reduce the possibility of external dust and the like entering the gap between the rotating member 392 and the outer shell 391 and affecting the rotation of the rotating member 392 relative to the outer shell 391, and improve working reliability.

[0127] In some embodiments of the present invention, Figure 5 , Figure 8 and Fig.11 As shown, the three first hinges 322 corresponding to the first branch chain 32, the second branch chain 33, and the third branch chain 34 are evenly spaced along the circumference of the frame 10, and the three second hinges 323 corresponding to the first branch chain 32, the second branch chain 33, and the third branch chain 34 are evenly spaced along the circumference of the moving platform 20. It is convenient to control the extension and contraction of the first branch chain body 321, the second branch chain body 331, and the third branch chain body 341 separately, and it is conducive to adjusting the relative position of the moving platform 20 and the frame 10 in three-dimensional space through the cooperation of the first hinge 322 and the second hinge 323, so that the first branch chain 32, the second branch chain 33, and the third branch chain 34 are not easy to interfere with each other during the movement process, and the relative position of the moving platform 20 and the frame 10 is more flexible, which improves the processing reliability.

[0128] In some embodiments of the present invention, Figure 1-Figure 2 As shown, at least one station 540 is provided with two hybrid processing mechanisms 100, and the two hybrid processing mechanisms 100 are respectively arranged on both sides of the transmission fixture 500 perpendicular to the transmission direction. The same integrated die casting 3000 can be processed by two hybrid processing mechanisms 100 at the same time, which is conducive to reducing the range of processing that a single hybrid processing mechanism 100 needs to perform on the integrated die casting 3000, thereby reducing the adjustment range of the spindle 43, reducing the large-scale adjustment of the spindle 43, and improving the processing efficiency and processing accuracy to efficiently and accurately match the production rhythm and meet the actual production needs.

[0129] For example, in some embodiments, two hybrid processing mechanisms 100 are provided at a workstation 540, and the two hybrid processing mechanisms 100 respectively process a side area of ​​the integrated die-casting 3000 close to itself (for example, at least a part of the integrated die-casting 3000 from the geometric center to the side close to the hybrid processing mechanism 100) to jointly realize full-range processing of the integrated die-casting 3000.

[0130] In some embodiments, Figure 1-Figure 2 and Fig.14 As shown, the two-degree-of-freedom series module 40 is installed on the moving platform 20, the hybrid processing mechanism 100 also includes a mounting frame 200, the frame 10 is installed on the mounting frame 200, the mounting frame 200 includes a column 210 and a crossbeam 220, the column 210 is arranged on the side of the transmission tool 500 perpendicular to the transmission direction, the crossbeam 220 is installed on the upper part of the column 210, and the three-degree-of-freedom parallel module 30 is installed on the crossbeam 220 and is at least partially located above the transmission tool 500. Through the column 210 and the crossbeam 220, the mounting frame 200 can be arranged on one side of the transmission tool 500 and the three-degree-of-freedom parallel module 30 can be at least partially located above the transmission tool 500, which is beneficial to effectively reduce the floor space occupied by the hybrid processing mechanism 100 while processing the integrated die casting 3000 through the hybrid processing mechanism 100, reduce the pressure on the internal space layout of the workshop, and achieve a better lightweight effect.

[0131] It is worth noting that when two hybrid processing mechanisms 100 are provided at multiple workstations 540, the spacing between the mounting frames 200 and the transfer tooling 500 corresponding to the multiple workstations 540 may be different, and the lengths of the beams 220 corresponding to the multiple workstations 540 may be different, so that the relative positions of the main shafts 43 corresponding to the multiple workstations 540 and the integrated die-casting 3000 are different, which is conducive to adjusting the processing range of the main shafts 43 corresponding to different workstations 540 on the integrated die-casting 3000 and meeting the actual processing requirements of the integrated die-casting 3000.

[0132] For example, in some specific embodiments, Figure 2As shown, the transfer tool 500 has two workstations 540 arranged in the front-to-back direction, and a hybrid processing mechanism 100 is correspondingly arranged on the left and right sides of each workstation 540. The distance between the mounting frame 200 corresponding to the rear workstation 540 and the transfer tool 500 is smaller than the distance between the mounting frame 200 corresponding to the front workstation 540 and the transfer tool 500, so that the distance between the spindle 43 corresponding to the rear workstation 540 and the transfer tool 500 is smaller than the distance between the spindle 43 corresponding to the front workstation 540 and the transfer tool 500, which is conducive to the two hybrid processing mechanisms 100 corresponding to the rear workstation 540 to process the area close to the geometric center of the integrated die casting 3000, so that the distance between the spindle 43 corresponding to the front workstation 540 and the transfer tool 500 is smaller. The corresponding two hybrid processing mechanisms 100 process the areas close to the left and right sides of the integrated die-casting 3000. It can be understood that the entire area that needs to be processed of the integrated die-casting 3000 is divided into four parts and processed by different hybrid processing mechanisms 100 respectively, thereby further reducing the range of processing that a single hybrid processing mechanism 100 needs to perform on the integrated die-casting 3000, thereby reducing the adjustment range of the spindle 43 in a single hybrid processing mechanism 100, improving processing efficiency and processing accuracy, and meeting actual production needs.

[0133] In some embodiments, Fig.15 As shown, the crossbeam 220 is rotatably mounted on the column 210 around a vertical axis. By rotating the crossbeam 220 around the vertical axis relative to the column 210, the three-degree-of-freedom parallel module 30 and the two-degree-of-freedom series module 40 can be rotated together around the vertical axis relative to the column 210, so that the three-degree-of-freedom parallel module 30 and the two-degree-of-freedom series module 40 can be rotated as a whole with the crossbeam 220 to the vicinity of more areas to be processed of the integrated die casting 3000, so as to face and process more areas to be processed of the integrated die casting 3000, reduce the large-scale posture adjustment of the spindle 43, and increase the processing range of a single hybrid processing mechanism 100 on the integrated die casting 3000, which is conducive to meeting the processing requirements of large-scale integrated die castings 3000. Among them, the crossbeam 220 can be rotatably connected to the column 210 through a rotating shaft 221, etc.

[0134] In some embodiments, Figure 16-Figure 17As shown, the mounting frame 200 further includes a first fixing portion 230, which extends along the transmission direction, and the column 210 is movably mounted on the first fixing portion 230 along the transmission direction. By moving the column 210 relative to the first fixing portion 230, the three-degree-of-freedom parallel module 30 and the two-degree-of-freedom series module 40 can be moved relative to the first fixing portion 230 along the transmission direction, so that the three-degree-of-freedom parallel module 30 and the two-degree-of-freedom series module 40 can be moved as a whole with the crossbeam 220 and the column 210 to the vicinity of more areas to be processed of the integrated die casting 3000, so as to face and process more areas to be processed of the integrated die casting 3000, reduce the large-range posture adjustment of the spindle 43, and increase the processing range of the single hybrid processing mechanism 100 on the integrated die casting 3000 along the transmission direction, which is conducive to meeting the processing requirements of large-scale integrated die castings 3000.

[0135] The column 210 can move relative to the first fixing portion 230 along the transmission direction by means of the cooperation between the slider and the slide slot, the cooperation between the lead screw and the nut, the cooperation between the gear and the rack, etc. For example, in some embodiments, Figure 16-Figure 17 As shown, the mounting frame 200 includes a third moving part 240 and a first fixed part 230, the third moving part 240 includes a column 210 and a crossbeam 220, and the first fixed part 230 is provided with a second guide rail 231, a fourth motor 232, a fourth nut 233, a fourth lead screw 234 and a bearing platform 235. The third moving part 240 is mounted on the bearing platform 235, and the bearing platform 235 is movably connected to the first fixed part 230 through the second guide rail 231, the fourth motor 232 is fixedly mounted on the first fixed part 230, the fourth motor 232 is connected to the fourth lead screw 234, the fourth lead screw 234 is threadedly matched with the fourth nut 233, and the fourth nut 233 is connected to the bearing platform 235, and the fourth motor 232 is used to drive the fourth lead screw 234 to rotate so as to drive the fourth nut 233 to move along the length direction of the fourth lead screw 234, and the second guide rail 231 and the fourth lead screw 234 both extend in the front-rear direction.

[0136] The fourth motor 232 can drive the fourth screw 234 to rotate, so that the fourth nut 233 threadedly matched with the fourth screw 234 moves in the front-to-back direction, and then the supporting platform 235 connected to the fourth nut 233 and the third movable part 240 installed on the supporting platform 235 move along the second guide rail 231 relative to the first fixed part 230, so as to realize the movement of the third movable part 240 relative to the first fixed part 230 in the front-to-back direction. The structural complexity is low, it is easy to implement, and it is economical.

[0137] In some embodiments of the present invention, Figure 1 and Fig.18As shown, at least one workstation 540, a two-degree-of-freedom series module 40 is installed on the moving platform 20, the hybrid processing mechanism 100 also includes a mounting frame 200, the frame 10 is installed on the mounting frame 200, the mounting frame 200 includes a first column 251, a second column 252 and a connecting beam 253, the first column 251 and the second column 252 are respectively arranged on both sides of the transmission tooling 500 perpendicular to the transmission direction, the connecting beam 253 connects the first column 251 and the second column 252, and the three-degree-of-freedom parallel module 30 is installed on the connecting beam 253 and is located above the transmission tooling 500. The three-degree-of-freedom parallel module 30 and the two-degree-of-freedom series module 40 can be installed at a position closer to the geometric center of the integrated die casting 3000, and cooperate with the transmission tool 500 to the integrated die casting 3000, which is conducive to processing the area to be processed close to the geometric center of the integrated die casting 3000 along the transmission direction through the hybrid processing mechanism 100, meeting the processing requirements of large-scale integrated die castings 3000. And the three-degree-of-freedom parallel module 30 can be supported more stably by the first column 251, the second column 252 and the connecting beam 253, improving the strength of the connecting beam 253 used to install the three-degree-of-freedom parallel module 30, and improving the processing stability of the hybrid processing mechanism 100.

[0138] For example, in some embodiments, the mounting frame 200 corresponding to a workstation 540 includes a first column 251, a second column 252 and a connecting beam 253. The three-degree-of-freedom parallel module 30 is installed on the connecting beam 253 and is located above the transfer tooling 500 so as to process different areas to be processed of the integrated die-casting 3000 from above the integrated die-casting 3000.

[0139] The three-degree-of-freedom parallel module 30 can be directly installed on the connecting beam 253, for example, the frame 10 can be directly installed on the connecting beam 253, and the hybrid processing mechanism 100 can also be indirectly installed on the connecting beam 253, and the installation method is relatively flexible. Fig.18 As shown, the mounting frame 200 includes a second fixed portion 250 and a fourth movable portion 260, the second fixed portion 250 includes a first column 251, a second column 252 and a connecting beam 253, the fourth movable portion 260 is installed on the connecting beam 253, and the frame 10 is installed on the fourth movable portion 260, so that the three-degree-of-freedom parallel module 30 is installed on the connecting beam 253 through the fourth movable portion 260.

[0140] In some embodiments, Figure 1As shown, at least one station 540 is provided with two hybrid processing mechanisms 100, so as to process the parts of the integrated die casting 3000 near the hybrid processing mechanisms 100 on both sides, and at least one station 540 is provided with a first column 251, a second column 252 and a connecting beam 253, so as to process the part of the integrated die casting 3000 near the geometric center from above the integrated die casting 3000. It is beneficial to perform full-range processing of the integrated die casting 3000 by at least three hybrid processing mechanisms 100, reduce the number of required hybrid processing mechanisms 100, and reduce the range of processing that a single hybrid processing mechanism 100 needs to perform on the integrated die casting 3000, so as to reduce the attitude adjustment range of the spindle 43 in a single hybrid processing mechanism 100, improve the processing accuracy and processing efficiency, and have better economy.

[0141] In some embodiments, Figure 1 and Fig.18 As shown, the frame 10 is movably mounted on the connecting beam 253 perpendicular to the transmission direction. By moving the frame 10 perpendicular to the transmission direction relative to the connecting beam 253, the three-degree-of-freedom parallel module 30 and the two-degree-of-freedom series module 40 can be moved as a whole to the vicinity of more areas to be processed of the integrated die casting 3000, so as to face and process more areas to be processed of the integrated die casting 3000, reduce the large-scale posture adjustment of the spindle 43, and increase the processing range of a single hybrid processing mechanism 100 on the integrated die casting 3000 perpendicular to the transmission direction, which is conducive to meeting the processing requirements of large-scale integrated die castings 3000.

[0142] The rack 10 can move perpendicularly to the transmission direction relative to the connecting beam 253 by means of the cooperation between the slider and the slide slot, the cooperation between the lead screw and the nut, the cooperation between the gear and the rack, etc. For example, in some embodiments, Fig.18 As shown, the mounting frame 200 includes a fourth moving part 260 and a second fixed part 250, the second fixed part 250 includes a first column 251, a second column 252 and a connecting beam 253, and the connecting beam 253 is provided with a third guide rail 254, a fifth motor 255, a fifth nut and a fifth lead screw 256. The frame 10 is mounted on the fourth moving part 260, the fourth moving part 260 is movably connected to the connecting beam 253 through the third guide rail 254, the fifth motor 255 is fixedly mounted on the connecting beam 253, the fifth motor 255 is connected to the fifth lead screw 256, the fifth lead screw 256 is threadedly matched with the fifth nut, the fifth nut is connected to the fourth moving part 260, the fifth motor 255 is used to drive the fifth lead screw 256 to rotate so as to drive the fifth nut to move along the length direction of the fifth lead screw 256, and the third guide rail 254 and the fifth lead screw 256 both extend in the left-right direction.

[0143] The fifth motor 255 can drive the fifth screw 256 to rotate, so that the fifth nut threadedly matched with the fifth screw 256 moves in the left-right direction, and then the fourth movable part 260 connected to the fifth nut moves along the third guide rail 254 relative to the connecting beam 253, so as to realize the movement of the fourth movable part 260 relative to the second fixed part 250 in the left-right direction. The structure has low structural complexity, is easy to implement, and is economical.

[0144] In some embodiments of the present invention, Figure 3 and Figure 8-Figure 10 As shown, at at least one workstation 540, the two-degree-of-freedom series module 40 includes a second fixed part 44, a first movable part 45 and a second movable part 46, the first movable part 45 is movably mounted on the second fixed part 44 in a horizontal direction, the second movable part 46 is movably mounted on the first movable part 45 in a vertical direction, and the frame 10 is mounted on the second movable part 46.

[0145] By making the second movable part 46 move in the vertical direction relative to the first movable part 45, the three-degree-of-freedom parallel module 30 can be moved in the vertical direction relative to the first movable part 45. By making the first movable part 45 move in the horizontal direction relative to the second fixed part 44, the second movable part 46 and the three-degree-of-freedom parallel module 30 can be moved in the horizontal direction relative to the second fixed part 44, so as to realize the two degrees of freedom of movement of the main shaft 43 in the vertical direction and the horizontal direction, and realize the large-range position adjustment of the main shaft 43 in space, which is beneficial to increase the processable range of the hybrid processing mechanism 100.

[0146] The second moving part 46 can move relative to the first moving part 45 in the vertical direction by means of the cooperation between the slider and the slide slot, the cooperation between the lead screw and the nut, the cooperation between the gear and the rack, etc. For example, in some embodiments, Figure 3 As shown, the first movable part 45 is provided with a fourth guide rail, a sixth motor, a sixth nut and a sixth lead screw. The second movable part 46 is movably connected to the first movable part 45 through the fourth guide rail. The sixth motor is fixedly installed on the first movable part 45. The sixth motor is connected to the sixth lead screw. The sixth lead screw is threadedly matched with the sixth nut. The sixth nut is connected to the second movable part 46. The sixth motor is used to drive the sixth lead screw to rotate to drive the sixth nut to move along the length direction of the sixth lead screw. The fourth guide rail and the sixth lead screw both extend in the up and down directions.

[0147] The sixth motor can drive the sixth lead screw to rotate, so that the sixth nut matched with the sixth lead screw thread moves in the up and down directions, and then the second movable part 46 connected to the sixth nut moves along the fourth guide rail relative to the first movable part 45, so as to realize the movement of the second movable part 46 relative to the first movable part 45 in the up and down directions. The structural complexity is low, it is easy to implement, and it is economical.

[0148] The first moving part 45 can move relative to the second fixed part 44 in the horizontal direction by means of the cooperation between the slider and the slide slot, the cooperation between the lead screw and the nut, the cooperation between the gear and the rack, etc. For example, in some embodiments, Figure 3 As shown, the second fixed part 44 is provided with a fifth guide rail, a seventh motor, a seventh nut and a seventh lead screw. The first movable part 45 is movably connected to the second fixed part 44 through the fifth guide rail. The seventh motor is fixedly installed on the second fixed part 44. The seventh motor is connected to the seventh lead screw. The seventh lead screw is threadedly matched with the seventh nut. The seventh nut is connected to the first movable part 45. The seventh motor is used to drive the seventh lead screw to rotate to drive the seventh nut to move along the length direction of the seventh lead screw. The fifth guide rail and the seventh lead screw both extend in the front-to-back direction.

[0149] The seventh motor can drive the seventh lead screw to rotate, so that the seventh nut matched with the seventh lead screw thread moves in the front-to-back direction, and then the first movable part 45 connected to the seventh nut moves along the fifth guide rail relative to the second fixed part 44, so as to realize the movement of the first movable part 45 relative to the second fixed part 44 in the front-to-back direction. The structure has low structural complexity, is easy to implement, and is economical.

[0150] In the three-degree-of-freedom parallel module 30, multiple branches 31 include a first branch 32, a second branch 33 and a third branch 34. The first branch 32, the second branch 33 and the third branch 34 have the same structure. The first branch 32 includes a first branch body 321, a first hinge 322 and a second hinge 323. The first branch body 321 can achieve extension and contraction along the axis direction of the first branch body 321 and rotation around the axis direction of the first branch body 321. The first branch body 321 is connected to the frame 10 through the first hinge 322 and is connected to the moving platform 20 through the second hinge 323.

[0151] The first hinge 322 is a revolving pair and the revolving axis is perpendicular to the extension direction of the first branch chain body 321. The revolving axes of the three first hinges 322 intersect each other and do not intersect at one point. The second hinge 323 is rotatably connected to one end of the first branch chain body 321 around the first axis A1. The second hinge 323 is rotatably connected to the movable platform 20 around the second axis A2. The first axis A1 is perpendicular to the second axis A2. The first axis A1 is perpendicular to the extension direction of the first branch chain body 321. The second axes A2 of the three second hinges 323 are coplanar and intersect at one point.

[0152] The first branch 32, the second branch 33 and the third branch 34 have the same structure, that is, the first branch 32 includes a first branch body 321, a first hinge 322 and a second hinge 323, the second branch 33 includes a second branch body 331, a first hinge 322 and a second hinge 323, and the third branch 34 includes a third branch body 341, a first hinge 322 and a second hinge 323, wherein the second branch body 331 has the same structure as the first branch body 321, and the third branch body 341 has the same structure as the first branch body 321.

[0153] The first branch chain body 321 is rotatably connected to the frame 10 through the first hinge 322, and the first branch chain body 321 can be rotated relative to the frame 10 through the first hinge 322. The second hinge 323 is connected to the first branch chain body 321 and can rotate relative to the first branch chain body 321 around the first axis A1, and the second hinge 323 is connected to the moving platform 20 and can rotate relative to the moving platform 20 around the second axis A2, and the first branch chain body 321 can be rotated relative to the moving platform 20 around the first axis A1 and around the second axis A2.

[0154] It is worth noting that the part of the second hinge 323 connected to the moving platform 20 and the part of the second hinge 323 connected to the first branch chain body 321 are connected in series, and the first axis A1 is perpendicular to the second axis A2, so that the second hinge 323 forms a universal joint. When the first branch chain body 321 rotates around the second axis A2, the first axis A1 will rotate around the second axis A2, so that the extension direction of the first axis A1 in the three-dimensional space changes. In this way, the direction of the first axis A1 in the three-dimensional space can be changed, and the rotatable range of the first branch chain body 321 relative to the moving platform 20 is increased.

[0155] At the same time, the telescopic direction of the first branch chain body 321 is perpendicular to the rotation axis of the first hinge 322, the telescopic direction of the first branch chain body 321 is perpendicular to the first axis A1, the second axes A2 of the three second hinges 323 are coplanar and intersect at one point, and the rotation axes of the three first hinges 322 intersect with each other and do not intersect at one point, which is conducive to improving the reliability of adjusting the relative position of the moving platform 20 and the frame 10, and reducing the possibility of interference between the first branch chain 32, the second branch chain 33 and the third branch chain 34 during movement. Preferably, the rotation axes of the three first hinges 322 intersect with each other after extension and form a closed equilateral triangle, so that the movement reliability of the first branch chain 32, the second branch chain 33 and the third branch chain 34 is better. It can also reduce the movement complexity of the first branch chain 32, facilitate the simultaneous extension and retraction of the first branch chain body 321, the rotation of the first branch chain body 321 at the first hinge 322 relative to the frame 10, and the rotation of the first branch chain body 321 at the second hinge 323 relative to the moving platform 20, thereby improving the movement reliability of the first branch chain 32, that is, improving the movement reliability of the first branch chain 32, the second branch chain 33 and the third branch chain 34 with the same structure.

[0156] By driving the first branch chain body 321, the second branch chain body 331 and the third branch chain body 341 to extend and retract, the first hinge 322 and the second hinge 323 are rotated, so that the movable platform 20 can have three parallel degrees of freedom of movement relative to the frame 10, and the movable platform 20 can move at one side of the frame 10 relative to any position of the frame 10 in a three-dimensional space. The structure has low complexity, is easy to operate, and is convenient for practice.

[0157] For example, in some embodiments, Figure 5 As shown, the position of the movable platform 20 relative to the frame 10 can be adjusted with the cooperation of the first hinge 322 and the second hinge 323 by controlling the extension and retraction of the first branch chain body 321, the second branch chain body 331 and the third branch chain body 341 respectively, which is easy to operate.

[0158] The transfer tooling 500 has a plurality of workstations 540, such as the transfer tooling 500 has two workstations 540, three workstations 540, four workstations 540 or more workstations 540. At each workstation 540, a hybrid processing mechanism 100 in which a two-degree-of-freedom series module 40 is connected to a moving platform 20 can be correspondingly arranged, or a hybrid processing mechanism 100 in which a two-degree-of-freedom series module 40 is connected to a frame 10 can be correspondingly arranged, or a hybrid processing mechanism 100 including a first column 251, a second column 252 and a connecting beam 253 can be correspondingly arranged, and the arrangement method is relatively flexible.

[0159] For example, in some specific embodiments, Figure 3As shown, the transfer tooling 500 has two workstations 540, two hybrid processing mechanisms 100 are provided at one workstation 540 and the two-degree-of-freedom series modules 40 in each hybrid processing mechanism 100 are connected to the frame 10, and a hybrid processing mechanism 100 is provided at the other workstation 540 and the hybrid processing mechanism 100 includes a first column 251, a second column 252 and a connecting beam 253.

[0160] For example, in some specific embodiments, the transfer tooling 500 has three workstations 540, each workstation 540 is provided with two hybrid processing mechanisms 100, and the two-degree-of-freedom series modules 40 in each hybrid processing mechanism 100 are connected to the frame 10, that is, the integrated die-casting robot processing production line 2000 is provided with six hybrid processing mechanisms 100.

[0161] For example, in some specific embodiments, the transfer tooling 500 has three workstations 540, each workstation 540 is provided with two hybrid processing mechanisms 100, and the two-degree-of-freedom series module 40 in each hybrid processing mechanism 100 is connected to the moving platform 20, that is, the integrated die-casting robot processing production line 2000 is provided with six hybrid processing mechanisms 100.

[0162] The embodiments in which the transfer tool 500 has two workstations 540, three workstations 540 or more workstations are similar to the above combination and will not be described in detail here.

[0163] Other structures and operations of the integrated die casting robot processing production line 2000 according to the embodiment of the present invention are known to ordinary technicians in the field and will not be described in detail here.

[0164] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0165] In the description of this specification, the description with reference to the terms "embodiment", "specific embodiment", "example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0166] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. An integrated die casting robot processing production line, characterized in that: include: A transfer tool, wherein the transfer tool has a plurality of workstations; A workpiece fixing fixture, the workpiece fixing fixture is used to fix the integrated die casting and is installed on the transfer fixture, and the workpiece fixing fixture is movable between the plurality of workstations; Each of the workstations is provided with a hybrid processing mechanism corresponding to the workstation, and the hybrid processing mechanism is used to process the integrated die-casting located at the corresponding workstation, and the hybrid processing mechanism includes a three-degree-of-freedom parallel module and a two-degree-of-freedom series module, and the three-degree-of-freedom parallel module includes a frame, a moving platform, and a plurality of branches connected between the frame and the moving platform, and the three-degree-of-freedom parallel module has two rotational degrees of freedom and one mobile degree of freedom, and can drive the moving platform to move in three degrees of freedom in space relative to the frame; The two-degree-of-freedom series module is installed on the moving platform, the two-degree-of-freedom series module includes a main shaft and has two rotational degrees of freedom whose rotation axes intersect; or, the two-degree-of-freedom series module is connected to the frame and has two movement degrees of freedom whose movement directions intersect, and the moving platform is provided with the main shaft, wherein, The multiple branches include a first branch, a second branch and a third branch. The first branch, the second branch and the third branch have the same structure. The first branch includes a first branch body, a first hinge and a second hinge. The first branch body can realize extension and retraction along the axis direction of the first branch body and rotation around the axis direction of the first branch body. The first branch body is connected to the frame through the first hinge and is connected to the movable platform through the second hinge. The first hinge includes a first outer ring. The first outer ring is rotatably connected to the frame around a first axis. The first branch body is inserted into the first outer ring and rotatably connected to the first outer ring around a second axis. The first axis and the extension direction of the first branch body are both perpendicular to the second axis, and the first axis intersects with the extension direction of the first branch body. The first axes of the three first hinges intersect with each other and do not intersect at one point. The second hinge is a revolving pair and the rotation axis is perpendicular to the extension direction of the first branch body. The rotation axes of the three second hinges intersect with each other and do not intersect at one point. Or The multiple branches include a first branch, a second branch, a third branch and a fourth branch. The first branch, the second branch and the third branch have the same structure. The first branch includes a first branch body, a first hinge and a second hinge. The first branch body can be extended and retracted along the axis of the first branch body and rotated around the axis of the first branch body. The first branch body is connected to the frame through the first hinge and to the moving platform through the second hinge. The first hinge includes a first outer ring, the first outer ring is rotatably connected to the frame around a first axis, the first branch body is penetrated by the first outer ring and is rotatably connected to the first outer ring around a second axis, the extension and retraction directions of the first axis and the first branch body are both perpendicular to the second axis, and the first axis intersects with the extension and retraction direction of the first branch body, and the first axes of the three first hinges intersect with each other and do not intersect at one point; the second hinge and One end of the first branch chain body is rotatably connected around a third axis, the second hinge and the moving platform are rotatably connected around a fourth axis, the third axis is perpendicular to the fourth axis, the third axis is perpendicular to the telescopic direction of the first branch chain body, and the fourth axes of the three second hinges are coplanar and intersect at one point; the fourth branch chain includes a fourth branch chain body and a third hinge, the fourth branch chain body is connected to the frame and fixedly connected to the moving platform through the third hinge, the third hinge includes a second outer ring and a second inner ring arranged in the second outer ring, the second outer ring is rotatably connected to the frame around a fifth axis, the second inner ring is rotatably connected to the second outer ring around a sixth axis, the fourth branch chain body and the second inner ring are movably connected along the length direction of the fourth branch chain body, the fifth axis and the length direction of the fourth branch chain body are both perpendicular to the sixth axis, and the fifth axis intersects with the length direction of the fourth branch chain body; or, At least one of the workstations, the two-degree-of-freedom series module includes a second fixed part, a first movable part, and a second movable part, the first movable part is movably installed on the second fixed part in a horizontal direction, the second movable part is movably installed on the first movable part in a vertical direction, and the frame is installed on the second movable part; the multiple branches include a first branch, a second branch and a third branch, the first branch, the second branch and the third branch have the same structure, the first branch includes a first branch body, a first hinge and a second hinge, the first branch body can realize telescopic movement along the axis direction of the first branch body and around the axis direction of the first branch body The first branch chain body is connected to the frame through the first hinge and is connected to the moving platform through the second hinge, wherein the first hinge is a rotating pair and the rotation axis is perpendicular to the extension and contraction direction of the first branch chain body, and the three rotation axes of the first hinges intersect each other and do not intersect at one point; the second hinge is rotatably connected to one end of the first branch chain body around a third axis, and the second hinge is rotatably connected to the moving platform around a fourth axis, the third axis is perpendicular to the fourth axis, and the third axis is perpendicular to the extension and contraction direction of the first branch chain body, and the fourth axes of the three second hinges are coplanar and intersect at one point. The first branch chain body comprises: a motor, a nut and a lead screw, wherein the motor is connected to the nut, the nut is threadedly matched with the lead screw, one end of the lead screw is connected to the first hinge and the other end is connected to the second hinge, the motor is used to drive the nut to rotate so as to drive the lead screw to move along the axial direction of the nut, and the lead screw is rotatable relative to the nut around its own axis. At at least one of the workstations, the two-degree-of-freedom series module is installed on the moving platform, the hybrid processing mechanism also includes a mounting frame, the frame is installed on the mounting frame, the mounting frame includes a first column, a second column and a connecting beam, the first column and the second column are respectively arranged on both sides of the transmission tooling perpendicular to the transmission direction, the connecting beam connects the first column and the second column, and the three-degree-of-freedom parallel module is installed on the connecting beam and is located above the transmission tooling.

2. The integrated die casting robot processing production line according to claim 1 is characterized in that: There are a plurality of workpiece fixing fixtures, and the plurality of workpiece fixing fixtures are arranged on the transmission fixture at intervals along the transmission direction.

3. The integrated die casting robot processing production line according to claim 1 is characterized in that: At least one of the workstations is provided with two of the hybrid processing mechanisms, and the two hybrid processing mechanisms are respectively arranged on two sides of the transmission tooling perpendicular to the transmission direction.

4. The integrated die casting robot processing production line according to claim 3 is characterized in that: The two-degree-of-freedom series module is installed on the moving platform, and the hybrid processing mechanism also includes a mounting frame. The frame is installed on the mounting frame, and the mounting frame includes a column and a beam. The column is arranged on a side of the transmission tooling that is perpendicular to the transmission direction, and the beam is installed on the upper part of the column. The three-degree-of-freedom parallel module is installed on the beam and is at least partially located above the transmission tooling.

5. The integrated die casting robot processing production line according to claim 4 is characterized in that: The crossbeam is rotatably mounted on the column around a vertical axis; or, The mounting frame further includes a first fixing portion extending along a transmission direction, and the column is movably mounted on the first fixing portion along the transmission direction.

6. The integrated die casting robot processing production line according to claim 1 is characterized in that: The frame is movably mounted on the connecting beam perpendicular to the transmission direction.

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