Robotized machining equipment for large panel type parts machining

Abstract

The application discloses a kind of robotized processing equipment for large wallboard class parts processing, comprising: base, base is equipped with base guide rail and auxiliary tooling;Multiple processing positioning components, each processing positioning component includes positioning device and parallel processing module, positioning device includes positioning dynamic platform, column, beam and processing dynamic platform, positioning dynamic platform is slidably arranged on base guide rail, column is rotatably arranged on positioning dynamic platform, positioning dynamic platform is equipped with rotary drive device, beam is arranged on column, processing dynamic platform is slidably arranged on beam, processing dynamic platform is equipped with processing drive device, and parallel processing module is arranged on processing dynamic platform;Multiple positioning drive devices.According to the robotized processing equipment for large wallboard class parts processing of embodiment of the application, large wallboard class parts can be simultaneously processed by multiple machines, and has the advantages of strong applicability, high processing efficiency, good processing flexibility, strong processing consistency, etc.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mechanical processing, in particular to a robotized processing equipment for large wall plate type part processing. BACKGROUND

[0002] The large wall plate type part is a core component of large transport aircraft and large passenger aircraft. The large wall plate type part has the characteristics of large size, weak rigidity, and multiple processing features.

[0003] In the related art, the large wall plate type part is processed by a large machine tool or manually. The large machine tool has low processing efficiency and is difficult to adapt to large wall plate type parts of different sizes. Manual processing has high technical requirements for workers and is difficult to ensure processing quality and consistency. SUMMARY

[0004] The present application aims to at least solve one of the technical problems in the prior art. To this end, the present application provides a robotized processing equipment for large wall plate type part processing, which can simultaneously process large wall plate type parts by multiple machines, has strong applicability, high processing efficiency, good processing flexibility, and strong processing consistency.

[0005] To achieve the above-mentioned purpose, according to an embodiment of the present application, a robotized processing equipment for large wall plate type part processing is provided, which comprises a base, a base guide and an auxiliary tool are arranged on the base, the length directions of the base guide and the auxiliary tool are arranged in parallel, and the auxiliary tool is suitable for mounting a part to be processed; a plurality of processing positioning assemblies are arranged along the length direction of the base guide, each processing positioning assembly comprises a positioning device and a parallel processing module, the positioning device comprises a positioning moving platform, a column, a beam and a processing moving platform, the positioning moving platform is slidably arranged on the base guide, the column is rotatably arranged on the positioning moving platform and the rotation axis is oriented in the vertical direction, the positioning moving platform is provided with a rotation driving device, the rotation driving device is suitable for driving the column to rotate, the beam is arranged on the column and parallel to the horizontal direction, the processing moving platform is slidably arranged on the beam along the length direction of the beam, the processing moving platform is provided with a processing driving device, the processing driving device is suitable for driving the processing moving platform to slide, and the parallel processing module is arranged on the processing moving platform; a plurality of positioning driving devices are suitable for driving the positioning moving platform to slide.

[0006] The robotized machining equipment for large wallboard part machining according to the embodiment of the present application can simultaneously and cooperatively machine the large wallboard part by multiple machines, and has the advantages of strong applicability, high machining efficiency, good machining flexibility, strong machining consistency and the like.

[0007] In addition, the robotized machining equipment for large wallboard part machining according to the above embodiment of the present application can further have the following additional technical features.

[0008] According to one embodiment of the present application, the auxiliary tooling is multiple, and the base guide rail width direction both sides are provided with the auxiliary tooling, the column rotation on the positioning dynamic platform has at least a first position and a second position, the column in the first position the parallel machining module is located in the base guide rail width direction one side and the column in the second position the parallel machining module is located in the base guide rail width direction the other side.

[0009] According to one embodiment of the present application, the cross beam and the column are connected with a reinforcing rod and / or a cable.

[0010] According to one embodiment of the present application, the cross beam is provided with a cross beam guide rail and a cross beam helical rack, the machining dynamic platform is slidably arranged on the cross beam guide rail, the machining driving device is a motor and is drivingly connected with a machining helical gear, and the machining helical gear is engaged with the cross beam helical rack.

[0011] According to one embodiment of the present application, the cross beam is provided with a telescopic beam which can slide along the length direction of the cross beam, the machining dynamic platform is slidably arranged on the telescopic beam, the cross beam is provided with a cross beam guide rail and a cross beam helical rack, the telescopic beam is slidably arranged on the cross beam guide rail, the telescopic beam is provided with a telescopic beam driving motor, the telescopic beam driving motor is drivingly connected with a telescopic beam helical gear, the telescopic beam helical gear is engaged with the cross beam helical rack, the telescopic beam is provided with a telescopic beam guide rail and a telescopic beam helical rack, the machining driving device is a motor and is drivingly connected with a machining helical gear, and the machining helical gear is engaged with the telescopic beam helical rack.

[0012] According to one embodiment of the present application, the column is provided with a telescopic column which can ascend and descend, the cross beam is arranged on the telescopic column, the column is provided with a column guide rail and a telescopic column motor, the telescopic column is slidably arranged on the column guide rail, the telescopic column motor is drivingly connected with a telescopic column helical gear, the telescopic column is provided with a telescopic column helical rack, and the telescopic column helical gear is engaged with the telescopic column helical rack.

[0013] According to one embodiment of the present application, the parallel machining module comprises a frame, a machining spindle and a plurality of branches, the frame is arranged on the machining platform, the plurality of branches are arranged at intervals along the circumference of the frame, each of the branches comprises a hollow motor and a ball screw, the hollow motor is in transmission connection with the ball screw, the hollow motor is connected with the frame through a first hinge, one end of the ball screw is connected with the machining spindle through a second hinge, the branches are three, the three first hinges are all single-rotation pair hinges and the three second hinges are all double-rotation pair hinges; or the branches are five, the five first hinges are all double-rotation pair hinges, four of the five second hinges are double-rotation pair hinges and the remaining one second hinge is a single-rotation pair hinge; or the branches are six, the six first hinges and the six second hinges are all double-rotation pair hinges.

[0014] According to one embodiment of the present application, the machining spindle is provided with a laser displacement sensor.

[0015] According to one embodiment of the present application, the branches are six, the six first hinges comprise three first upper hinges and three first lower hinges, the three first upper hinges all pass through a first upper imaginary circle, the three first lower hinges all pass through a first lower imaginary circle, the first upper imaginary circle and the first lower imaginary circle are arranged in parallel at intervals, the six second hinges comprise three second upper hinges and three second lower hinges, the three second upper hinges all pass through a second upper imaginary circle, the three second lower hinges all pass through a second lower imaginary circle, the second upper imaginary circle and the second lower imaginary circle are arranged in parallel at intervals.

[0016] According to one embodiment of the present application, six first hinges are equidistantly arranged in the circumference of the machine frame, and six second hinges are equidistantly arranged in the circumference of the machining spindle; or the imaginary lines connecting the three first upper hinges with the center of the first upper imaginary circle respectively coincide with the projections in the plane perpendicular to the axial direction of the imaginary lines connecting the three first lower hinges with the center of the first lower imaginary circle, the three first upper hinges are equidistantly arranged in the circumference of the machine frame, and six second hinges are equidistantly arranged in the circumference of the machining spindle; or the imaginary lines connecting the three first upper hinges with the center of the first upper imaginary circle respectively coincide with the projections in the plane perpendicular to the axial direction of the imaginary lines connecting the three first lower hinges with the center of the first lower imaginary circle, the three first upper hinges are equidistantly arranged in the circumference of the machine frame, the imaginary lines connecting the three second upper hinges with the center of the second upper imaginary circle respectively coincide with the projections in the plane perpendicular to the axial direction of the imaginary lines connecting the three second lower hinges with the center of the second lower imaginary circle, two of the three second upper hinges are arranged opposite in the radial direction of the machining spindle, and the other second upper hinge is arranged in the normal direction of the imaginary line connecting the two opposite second upper hinges.

[0017] Additional aspects and advantages of the present application will be in part apparent and in part pointed out hereinafter. BRIEF DESCRIPTION OF DRAWINGS

[0018] The above and / or additional aspects and advantages of the present application will become apparent and be readily appreciated from the following description, including the accompanying drawings, wherein:

[0019] Figure 1 is a structural schematic diagram of a robotized machining equipment for machining large wallboard type parts according to an embodiment of the present application.

[0020] Figure 2 is a structural schematic diagram of a robotized machining equipment for machining large wallboard type parts according to an embodiment of the present application.

[0021] Figure 3 is a structural schematic diagram of a positioning device of a machining positioning assembly of a robotized machining equipment for machining large wallboard type parts according to one specific embodiment of the present application.

[0022] Figure 4 is a structural schematic diagram of a positioning device of a machining positioning assembly of a robotized machining equipment for machining large wallboard type parts according to another specific embodiment of the present application.

[0023] Figure 5is a structural diagram of a positioning device of a machining positioning assembly of a robotized machining plant for the machining of large wallboard type parts according to another specific embodiment of the present application.

[0024] Figure 6 is a structural diagram of a positioning device of a machining positioning assembly of a robotized machining plant for the machining of large wallboard type parts according to another specific embodiment of the present application.

[0025] Figure 7 is a structural diagram of a positioning device of a machining positioning assembly of a robotized machining plant for the machining of large wallboard type parts according to another specific embodiment of the present application.

[0026] Figure 8 is a structural diagram of a positioning device of a machining positioning assembly of a robotized machining plant for the machining of large wallboard type parts according to another specific embodiment of the present application.

[0027] Figure 9 is a structural diagram of a parallel machining module of a machining positioning assembly of a robotized machining plant for the machining of large wallboard type parts according to a specific embodiment of the present application.

[0028] Figure 10 is a structural diagram of a parallel machining module of a machining positioning assembly of a robotized machining plant for the machining of large wallboard type parts according to another specific embodiment of the present application.

[0029] Figure 11 is a structural diagram of a parallel machining module of a machining positioning assembly of a robotized machining plant for the machining of large wallboard type parts according to another specific embodiment of the present application.

[0030] Figure 12 is a structural diagram of a parallel machining module of a machining positioning assembly of a robotized machining plant for the machining of large wallboard type parts according to another specific embodiment of the present application.

[0031] Figure 13 is a structural diagram of a parallel machining module of a machining positioning assembly of a robotized machining plant for the machining of large wallboard type parts according to another specific embodiment of the present application.

[0032] Figure 14 is a structural diagram of a parallel machining module of a machining positioning assembly of a robotized machining plant for the machining of large wallboard type parts according to another specific embodiment of the present application.

[0033] Reference numerals: Robotic machining equipment for processing large panel-like parts: 1. Base 10, Base guide rail 11, Auxiliary tooling 12, Machining positioning component 20, Positioning device 21, Positioning moving platform 211, Rotation drive device 2111, Column 212, Telescopic column motor 2121, Telescopic column helical gear 2122, Column guide rail 2123, Crossbeam 213, Crossbeam guide rail 2131, Crossbeam helical rack 2132, Machining moving platform 214, Machining drive device 2141, Machining helical gear 2142, Reinforcing rod 215, Cable 216, Telescopic Beam 217, telescopic beam guide rail 2171, telescopic beam helical rack 2172, telescopic beam drive motor 2173, telescopic beam helical gear 2174, telescopic column 218, telescopic column helical rack 2181, parallel processing module 22, frame 221, processing spindle 222, branch chain 223, hollow motor 2231, ball screw 2232, first hinge 224, first upper hinge 2241, first lower hinge 2242, second hinge 225, second upper hinge 2251, second lower hinge 2252, laser displacement sensor 226, part to be processed 2. Detailed Implementation

[0034] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0035] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, features defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0036] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0037] The following description, with reference to the accompanying drawings, describes a robotic machining equipment 1 for machining large panel-type parts according to an embodiment of the present invention.

[0038] like Figures 1-14 As shown, the robotic processing equipment 1 for processing large panel-type parts according to an embodiment of the present invention includes a base 10, a plurality of processing positioning components 20 and a plurality of positioning drive devices (not shown in the figure).

[0039] The base 10 is provided with a base guide rail 11 and an auxiliary fixture 12. The base guide rail 11 and the auxiliary fixture 12 are arranged parallel to each other in their length directions. The auxiliary fixture 12 is suitable for mounting the part 2 to be processed. Specifically, the auxiliary fixture 12 may include two parallel and spaced-apart fixture rods, and the space between the two fixture rods is suitable for mounting the part 2 to be processed.

[0040] Multiple processing positioning components 20 are spaced apart along the length of the base guide rail 11. Each processing positioning component 20 includes a positioning device 21 and a parallel processing module 22.

[0041] The positioning device 21 includes a positioning moving platform 211, a column 212, a crossbeam 213, and a processing moving platform 214. The positioning moving platform 211 is slidably mounted on the base guide rail 11. The column 212 is rotatably mounted on the positioning moving platform 211 with its rotation axis oriented vertically (the up-down direction is shown by the arrow in the figure). The positioning moving platform 211 is provided with a rotation drive device 2111, which is adapted to drive the column 212 to rotate. The crossbeam 213 is mounted on the column 212 and is parallel to the horizontal direction. The processing moving platform 214 is slidably mounted on the crossbeam 213 along the length of the crossbeam 213. The processing moving platform 214 is provided with a processing drive device 2141, which is adapted to drive the processing moving platform 214 to slide. Specifically, the column 212 has a clearance position and a processing position when rotating on the positioning platform 211. When the column 212 is in the processing position, the parallel processing module 22 is suitable for processing the part 2 to be processed. When the column 212 is in the clearance position, it is suitable for avoiding the installation process of the part 2 to be processed. For example, when the column 212 is in the clearance position, the crossbeam 213 is parallel to the base guide rail 11 or the parallel processing module 22 is rotated to the other side of the base guide rail 11.

[0042] The parallel machining module 22 is arranged on the machining moving platform 214.

[0043] The positioning driving device is adapted to drive the positioning moving platform 211 to slide. Specifically, the positioning driving device can be a screw nut driving device, a gear and rack driving device, etc.

[0044] Specifically, the parallel machining module 22 is provided with an execution unit, such as a machining tool.

[0045] Before machining, first rotate the column 212 to rotate the machining positioning assembly 20 to a position avoiding the installation process of the part to be machined 2, and then install the part to be machined 2 on the auxiliary tooling 12.

[0046] The position of the parallel machining module 22 in the length direction of the part to be machined 2 is adjusted by the sliding of the positioning moving platform 211 on the base rail 11, the position of the parallel machining module 22 is further adjusted by the rotation of the column 212, the position of the parallel machining module 22 in the length direction of the cross beam 213 is adjusted by the sliding of the machining moving platform 214 on the cross beam 213, and finally the pose adjustment of multiple degrees of freedom is performed by the parallel machining module 22 driving the execution unit.

[0047] The plurality of machining positioning assemblies 20 can simultaneously and cooperatively machine multiple features to be machined on the part to be machined 2.

[0048] The positioning devices 21 of the plurality of machining positioning assemblies 20 can be the same or different. The parallel machining modules 22 of the plurality of machining positioning assemblies 20 can be the same or different. In other words, the positioning device 21 and the parallel machining module 22 of each machining positioning assembly 20 can be selected according to actual needs. The execution units carried on the plurality of parallel machining modules 22 can be the same or different. When the plurality of parallel machining modules 22 and the execution units are the same, for example, the execution units are all milling tools, the robotized machining equipment 1 facing large wallboard type part machining can simultaneously machine multiple features to be machined on the part to be machined 2, thereby improving overall machining efficiency. When the plurality of parallel machining modules 22 and the execution units are different, for example, the plurality of execution units can be used to complete different processes, the robotized machining equipment 1 facing large wallboard type part machining can simultaneously perform full-process machining of multiple processes on the part to be machined 2, and the part to be machined 2 can be machined in multiple processes after being clamped once, thereby reducing the number of clamping and dismounting, reducing clamping errors, and improving machining efficiency.

[0049] According to the robotized machining equipment 1 for machining large wallboard parts in the embodiment of the present application, by arranging the base 10 and the plurality of machining positioning assemblies 20, compared with the machining mode of using large machine tools in the related art, the plurality of machining positioning assemblies 20 can be used to simultaneously and cooperatively machine a plurality of features to be machined on the part to be machined 2. On the one hand, the machining efficiency of the large wallboard parts can be improved. On the other hand, the machining of large wallboard parts of different sizes can be facilitated, the applicability of the robotized machining equipment 1 for machining large wallboard parts can be improved, the clamping and dismounting times of the part to be machined 2 can be reduced, the errors generated in the clamping and dismounting process can be reduced, and the machining quality and machining consistency can be improved. It should be understood here that for the machining mode of the related art, although the machining mode of the related art is arranged with a plurality of machining devices, the part to be machined is sequentially moved to the plurality of machining devices, and simultaneous and cooperative machining of multiple machines cannot be achieved.

[0050] Furthermore, by arranging the base guide rail 11, the positioning movable platform 211 is slidably arranged on the base guide rail 11, the column 212 is rotatably arranged on the positioning movable platform 211, and the machining movable platform 214 is slidably arranged on the cross beam 213 in the length direction of the cross beam 213. The position of the parallel machining module 22 in the length direction of the part to be machined 2 can be adjusted by the sliding of the positioning movable platform 211 on the base guide rail 11. The position of the parallel machining module 22 can be further adjusted by the rotation of the column 212. The position of the parallel machining module 22 in the length direction of the cross beam 213 can be adjusted by the sliding of the machining movable platform 214 on the cross beam 213. The pose adjustment of multiple degrees of freedom can be performed by the driving execution unit of the parallel machining module 22. Compared with the machining mode of using large machine tools in the related art, the advantages of lightweight, local high-efficiency and high-precision machining of the parallel machining module 22 can be achieved, the machining flexibility and machining efficiency of the large flat plate part can be greatly improved, and compared with the machining mode of using the gantry positioning device, the machining positioning assembly 20 can be avoided when the part to be machined 2 is installed and can be rotated to a position suitable for machining after the part to be machined 2 is installed, which facilitates the installation and dismounting of the part to be machined 2, and further improves the flexibility of the robotized machining equipment 1 for machining large wallboard parts.

[0051] Therefore, the robotized machining equipment 1 for machining large wallboard parts in the embodiment of the present application can simultaneously and cooperatively machine large wallboard parts with multiple machines, has the advantages of strong applicability, high machining efficiency, good machining flexibility, strong machining consistency, and the like.

[0052] The robotized machining equipment 1 for machining large wallboard parts according to the specific embodiments of the present application will be described below with reference to the accompanying drawings.

[0053] In some specific embodiments of the present application, as shown inFigures 1-14 As shown, the robotized processing equipment 1 for processing large wallboard parts according to the embodiment of the present application comprises a base 10, a plurality of processing positioning assemblies 20 and a plurality of positioning driving devices.

[0054] Advantageously, as shown in Figure 1 and Figure 2 As shown, the auxiliary tooling 12 is provided in plurality, and is provided on both sides of the base guide rail 11 in the width direction, and the rotation of the column 212 on the positioning moving platform 211 has at least a first position and a second position, and when the column 212 is in the first position, the parallel processing module 22 is located on one side of the base guide rail 11 in the width direction, and when the column 212 is in the second position, the parallel processing module 22 is located on the other side of the base guide rail 11 in the width direction. Specifically, the column 212 can rotate 360 degrees. In this way, after the processing of the parts 2 on one side of the base guide rail 11 is completed, the parallel processing module 22 can be rotated to the other side to process the parts 2 on the other side, and the parts 2 on one side can be avoided to be installed and disassembled, so as to avoid affecting the overall processing efficiency of the robotized processing equipment 1 for processing large wallboard parts due to the disassembly and assembly of the parts 2.

[0055] More advantageously, as shown in Figure 3 and Figure 4 As shown, the beam 213 and the column 212 are connected by a reinforcing rod 215 and / or a cable 216. In this way, the rigidity and stability of the beam 213 can be improved, so as to improve the position stability and reliability of the parallel processing module 22, and further improve the processing quality and consistency.

[0056] In some embodiments, as shown in Figure 3 and Figure 4 As shown, the beam 213 is provided with a beam guide rail 2131 and a beam helical rack 2132, the processing moving platform 214 is slidably arranged on the beam guide rail 2131, and the processing driving device 2141 is a motor and is drivingly connected with a processing helical gear 2142, and the processing helical gear 2142 is engaged with the beam helical rack 2132. In this way, the rotation of the processing driving device 2141 can drive the rotation of the processing helical gear 2142, and the engagement of the processing helical gear 2142 and the beam helical rack 2132 can drive the processing moving platform 214 to slide along the beam guide rail 2131, and the use of the helical gear can make the operation more stable, lower noise, higher carrying capacity, more compact structure and easier maintenance.

[0057] In other embodiments, as shown in Figure 5 and Figure 6As shown, the cross beam 213 is provided with a telescopic beam 217 which is slidable along the length direction of the cross beam 213, and the machining moving platform 214 is provided on the telescopic beam 217 and slidable along the length direction of the telescopic beam 217. The cross beam 213 is provided with a cross beam guide rail 2131 and a cross beam helical rack 2132, the telescopic beam 217 is slidably provided on the cross beam guide rail 2131, the telescopic beam 217 is provided with a telescopic beam driving motor 2173, the telescopic beam driving motor 2173 is drivingly connected with a telescopic beam helical gear 2174, the telescopic beam helical gear 2174 is engaged with the cross beam helical rack 2132, the telescopic beam 217 is provided with a telescopic beam guide rail 2171 and a telescopic beam helical rack 2172, and the machining driving device 2141 is an electric motor and drivingly connected with a machining helical gear 2142 which is engaged with the telescopic beam helical rack 2172. In this way, the telescopic beam 217 can be slid to increase the moving stroke range of the machining moving platform 214 in the length direction of the cross beam 213, so as to facilitate the machining of the parts 2 with different widths, and further improve the applicability of the robotized machining equipment 1 for machining large wallboard parts. The gear and rack arrangement can drive the gear to rotate by the motor, and drive the telescopic beam 217 and the machining moving platform 214 to move by the engagement of the gear and the rack, and the helical operation is more stable, lower in noise, higher in carrying capacity, more compact in structure and easier to maintain.

[0058] In some embodiments, as shown in Figure 7 and Figure 8 As shown, the stand column 212 is provided with a telescopic column 218 which is liftable and lowerable, and the cross beam 213 is provided on the telescopic column 218. The stand column 212 is provided with a stand column guide rail 2123 and a telescopic column motor 2121, the telescopic column 218 is slidably provided on the stand column guide rail 2123, the telescopic column motor 2121 is drivingly connected with a telescopic column helical gear 2122, and the telescopic column 218 is provided with a telescopic column helical rack 2181. The telescopic column helical gear 2122 is engaged with the telescopic column helical rack 2181. In this way, the height of the parallel machining module 22 can be adjusted by the lifting and lowering of the telescopic column 218, so as to facilitate the machining of the parts 2 with different thicknesses, and further improve the applicability of the robotized machining equipment 1 for machining large wallboard parts. The gear and rack arrangement can drive the gear to rotate by the motor, and drive the telescopic column 218 to lift and lower by the engagement of the gear and the rack, and the helical operation is more stable, lower in noise, higher in carrying capacity, more compact in structure and easier to maintain.

[0059] Figures 9-14 The robotized machining equipment 1 for machining large wallboard parts according to some examples of the present application is shown. As shown in Figures 9-14As shown, the parallel processing module 22 includes a frame 221, a processing spindle 222, and multiple branches 223. The frame 221 is mounted on a processing moving platform 214. The multiple branches 223 are spaced apart circumferentially along the frame 221. Each branch 223 includes a hollow motor 2231 and a ball screw 2232. The hollow motor 2231 is connected to the ball screw 2232 via a drive connection. The hollow motor 2231 is connected to the frame 221 via a first hinge 224. One end of the ball screw 2232 is connected to the processing spindle 222 via a second hinge 225. Specifically, the hollow motor 2231 is provided with a threaded component, and the ball screw 2232 is threadedly engaged with the threaded component. The hollow motor 2231 drives the ball screw 2232 to rotate, and the ball screw 2232 converts the rotation into axial movement through the threaded engagement with the threaded component. This allows the machining spindle 222 to move relative to the frame 221 in multiple degrees of freedom via multiple branches 223, improving the machining flexibility of the parallel machining module 22.

[0060] In some embodiments, such as Figure 9 As shown, there are three branches 223, all three first hinges 224 are single-revolute joint hinges, and all three second hinges 225 are double-revolute joint hinges. This allows the machining spindle 222 to be driven in three degrees of freedom using the three branches 223.

[0061] In other embodiments, such as Figure 10 As shown, there are five branches 223. All five first hinges 224 are double revolute joint hinges, and four of the five second hinges 225 are double revolute joint hinges, while the remaining second hinge 225 is a single revolute joint hinge. This allows the machining spindle 222 to move in five degrees of freedom using five branches 223. Compared to a three-branch configuration, this improves driving flexibility and facilitates adjustment of the hinge positions.

[0062] In other embodiments, such as Figures 12-14 As shown, there are six branches 223, and the six first hinges 224 and six second hinges 225 are all double revolute hinges. In this way, the machining spindle 222 can be driven to move in six degrees of freedom using the six branches 223. Compared with a parallel structure with fewer branches, this not only further improves the driving flexibility and facilitates the adjustment of the hinge positions, but also enables the parallel machining module 22 to have high rigidity and high load-bearing capacity.

[0063] Optionally, such as Figure 11 As shown, a laser displacement sensor 226 is installed on the machining spindle 222. This allows the laser displacement sensor 226 to detect the position and orientation of the machining spindle 222, facilitating feedback control of the parallel machining module 22 and improving machining reliability and accuracy.

[0064] In some embodiments, such asFigures 12-14 As shown, the branch chains 223 are six, the six first hinges 224 include three first upper hinges 2241 and three first lower hinges 2242, the three second upper hinges 2251 all pass through a first upper imaginary circle, the three first lower hinges 2242 all pass through a first lower imaginary circle, the first upper imaginary circle and the first lower imaginary circle are arranged in parallel and interval, the six second hinges 225 include three second upper hinges 2251 and three second lower hinges 2252, the three second upper hinges 2251 all pass through a second upper imaginary circle, the three second lower hinges 2252 all pass through a second lower imaginary circle, the second upper imaginary circle and the second lower imaginary circle are arranged in parallel and interval. By arranging the three first upper hinges 2241 in the upper layer and the three first lower hinges 2242 in the lower layer, arranging the three second upper hinges 2251 in the upper layer and the three second lower hinges 2252 in the lower layer, the six first hinges 224 are arranged in two layers, and the six second hinges 225 are arranged in two layers, which can relieve the layout limitation of the hinges and the branch chains, facilitate the adjustment of the setting position of the hinges and the branch chains, and greatly improve the kinematics performance of the parallel machining module 22, so as to adjust the hinge layout according to the machining requirement to fully exert the kinematics performance and obtain greater swing angle output capacity, and the additional torsional freedom can be used to avoid interference and singularity in real time, thereby further improving the kinematics performance and expanding the high-quality posture workspace.

[0065] In some embodiments, as shown in Figure 12 As shown, the six first hinges 224 are arranged at equal intervals in the circumference of the rack 221, and the six second hinges 225 are arranged at equal intervals in the circumference of the machining spindle 222. In other words, the circumferentially adjacent two first hinges 224 are spaced 60 degrees apart. The circumferentially adjacent two second hinges 225 are spaced 60 degrees apart. In this way, the movement precision and flexibility of the machining spindle 222 can be improved, and interference and singularity can be avoided.

[0066] In other embodiments, as shown in Figure 13 As shown, the imaginary lines connecting the three first upper hinges 2241 with the center of the first upper imaginary circle and the imaginary lines connecting the three first lower hinges 2242 with the center of the first lower imaginary circle coincide one by one in the projection in the plane perpendicular to the axial direction, the three first upper hinges 2241 are arranged at equal intervals in the circumference of the rack 221, and the six second hinges 225 are arranged at equal intervals in the circumference of the machining spindle 222. In other words, the circumferentially adjacent two first hinges 224 are spaced 120 degrees apart. The circumferentially adjacent two second hinges 225 are spaced 60 degrees apart. In this way, the distance between the circumferentially adjacent two branch chains can be increased, the control performance of each branch chain can be improved, the multiple branch chains can be controlled, and the control difficulty can be reduced.

[0067] In other embodiments, as shown in Figure 14As shown, the imaginary lines connecting the three first upper hinges 2241 with the center of the first upper imaginary circle respectively coincide with the projections in the plane perpendicular to the axial direction of the imaginary lines connecting the three first lower hinges 2242 with the center of the first lower imaginary circle, the three first upper hinges 2241 are equidistantly arranged in the circumferential direction of the rack 221, the imaginary lines connecting the three second upper hinges 2251 with the center of the second upper imaginary circle respectively coincide with the projections in the plane perpendicular to the axial direction of the imaginary lines connecting the three second lower hinges 2252 with the center of the second lower imaginary circle, two of the three second upper hinges 2251 are oppositely arranged in the radial direction of the machining spindle, and the other second upper hinge 2251 is arranged in the normal direction of the imaginary line connecting the two oppositely arranged second upper hinges 2251. In other words, the circumferentially adjacent two first hinges 224 are spaced by 120 degrees. The circumferentially adjacent two second hinges 225 are spaced by 90 degrees, 90 degrees and 180 degrees, respectively. In this way, the end swing ability of the machining spindle 222 can be greatly improved.

[0068] Other configurations and operations of the robotized machining equipment 1 for machining large wallboard parts according to the embodiments of the present application are known to those skilled in the art and will not be described in detail here.

[0069] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "exemplary embodiment", "example", "specific example", or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the exemplary description of the above terms does not necessarily mean 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.

[0070] Although the embodiments of the present application have been shown and described, those skilled in the art can understand that various changes, modifications, replacements and variations can be made to the embodiments without departing from the principles and spirit of the present application, and the scope of the present application is defined by the claims and their equivalents.

Claims

1. A robotic machining equipment for processing large panel-type parts, characterized in that, include: A base, on which a base guide rail and an auxiliary fixture are provided, the base guide rail and the auxiliary fixture are arranged parallel in the length direction, and the auxiliary fixture is suitable for mounting the part to be processed; Multiple machining positioning components are spaced apart along the length of the base guide rail. Each machining positioning component includes a positioning device and a parallel machining module. The positioning device includes a positioning moving platform, a column, a crossbeam, and a machining moving platform. The positioning moving platform is slidably mounted on the base guide rail. The column is rotatably mounted on the positioning moving platform with its rotation axis oriented vertically. A rotation drive device is provided on the positioning moving platform, adapted to drive the column to rotate. The crossbeam is mounted on the column and parallel to the horizontal direction. The machining moving platform is slidably mounted on the crossbeam along its length. A machining drive device is provided on the machining moving platform. The system is adapted to drive the machining platform to slide. The parallel machining module is mounted on the machining platform and includes a frame, a machining spindle, and multiple branches. The frame is mounted on the machining platform, and the multiple branches are spaced apart circumferentially along the frame. Each branch includes a hollow motor and a ball screw. The hollow motor is drivenly connected to the ball screw. The hollow motor is connected to the frame via a first hinge, and one end of the ball screw is connected to the machining spindle via a second hinge. There are three branches, where the three first hinges are all single-revolute joint hinges and the three second hinges are all double-revolute joint hinges; or there are five branches, where the five first hinges are all double-revolute joint hinges and the five second hinges are all double-revolute joint hinges. Four of the second hinges in the chain are double revolute hinges and the remaining second hinge is a single revolute hinge; or the chain consists of six branches, where all six first hinges and six second hinges are double revolute hinges. The six first hinges include three first upper hinges and three first lower hinges. The three first upper hinges pass through a first upper imaginary circle, and the three first lower hinges pass through a first lower imaginary circle. The first upper and first lower imaginary circles are parallel and spaced apart. The six second hinges include three second upper hinges and three second lower hinges. The three second upper hinges pass through a second upper imaginary circle, and the three second lower hinges pass through a second lower imaginary circle. The second upper and second lower imaginary circles are parallel and spaced apart. The imaginary circles are arranged in parallel intervals. The imaginary lines connecting the centers of the three first upper hinges and the first upper imaginary circles are respectively aligned with the projections of the imaginary lines connecting the centers of the three first lower hinges and the first lower imaginary circles in a plane perpendicular to the axial direction. The three first upper hinges are equally spaced in the circumferential direction of the frame. The imaginary lines connecting the centers of the three second upper hinges and the second upper imaginary circles are respectively aligned with the projections of the imaginary lines connecting the centers of the three second lower hinges and the second lower imaginary circles in a plane perpendicular to the axial direction. Two of the three second upper hinges are arranged opposite each other in the radial direction of the machining spindle, and the other second upper hinge is arranged in the normal direction of the imaginary lines connecting the two opposite second upper hinges. Multiple positioning drive devices are provided, wherein the positioning drive devices are adapted to drive the positioning moving platform to slide.

2. The robotic processing equipment for processing large panel-type parts according to claim 1, characterized in that, The auxiliary tooling is provided on both sides of the base guide rail in the width direction. The column has at least a first position and a second position when it rotates on the positioning platform. When the column is in the first position, the parallel processing module is located on one side of the base guide rail in the width direction, and when the column is in the second position, the parallel processing module is located on the other side of the base guide rail in the width direction.

3. The robotic processing equipment for processing large panel-type parts according to claim 1, characterized in that, A reinforcing bar and / or cable connect the crossbeam and the column.

4. The robotic processing equipment for processing large panel-type parts according to claim 1, characterized in that, The crossbeam is provided with a crossbeam guide rail and a crossbeam helical rack. The machining moving platform is slidably mounted on the crossbeam guide rail. The machining drive device is a motor and is connected to a machining helical gear. The machining helical gear meshes with the crossbeam helical rack.

5. The robotic processing equipment for machining large panel-type parts according to claim 1, characterized in that, A telescopic beam is slidably mounted on the crossbeam along its length. The machining platform is slidably mounted on the telescopic beam along its length. A crossbeam guide rail and a crossbeam helical rack are mounted on the crossbeam. The telescopic beam is slidably mounted on the crossbeam guide rail. A telescopic beam drive motor is mounted on the telescopic beam. The telescopic beam drive motor is driven by a telescopic beam helical gear. The telescopic beam helical gear meshes with the crossbeam helical rack. The telescopic beam is equipped with a telescopic beam guide rail and a telescopic beam helical rack. The machining drive device is a motor and is driven by a machining helical gear. The machining helical gear meshes with the telescopic beam helical rack.

6. The robotic machining equipment for processing large panel-type parts according to claim 1, characterized in that, The column is equipped with a telescopic column that can be raised and lowered. The crossbeam is installed on the telescopic column. The column is equipped with a column guide rail and a telescopic column motor. The telescopic column is slidably installed on the column guide rail. The telescopic column motor is driven by a telescopic column helical gear. The telescopic column is equipped with a telescopic column helical rack. The telescopic column helical gear meshes with the telescopic column helical rack.

7. The robotic machining equipment for processing large panel-type parts according to claim 1, characterized in that, The machining spindle is equipped with a laser displacement sensor.

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