Truss type five-axis machining equipment based on series-parallel structure

Abstract

The invention relates to the field of machining, in particular to truss type five-axis machining equipment based on a series-parallel connection structure, which comprises a plurality of five-axis machining robots for machining workpieces and a conveying device of the five-axis machining robots for conveying the workpieces to or away from machining positions. The conveying device comprises a workpiece table used for fixing a workpiece, a horizontal conveying part used for driving the workpiece table to move and a lifting part used for driving the workpiece table to ascend and descend, and a workpiece mounting base used for fixing the workpiece is arranged on the workpiece table. The angle adjusting mechanism is used for rotating the loaded workpiece table so as to adjust the relative angle of the workpiece to the machining angle; the displacement positioning mechanism is used for realizing the position change of the machining station of the five-axis machining robot relative to the workpiece; the linkage tool changing mechanism is used for carrying out tool replacement operation on the five-axis machining robot; the five-axis machining robots are arranged on the opposite sides to form a parallel working state and machine the same workpiece at the same time, or the five-axis machining robots are arranged on the same side to form a series working state.

Description

Technical Field

[0001] The invention relates to the field of mechanical processing, in particular to a truss-type five-axis processing equipment based on a hybrid structure. Background Art

[0002] With the development of the demand for mechanical parts processing, workpieces with large size, complex shape, high position accuracy and surface quality requirements, and thin-walled structures are becoming more and more important. Such workpieces pose a severe challenge to the processing capabilities of basic processing and manufacturing equipment. In order to cope with the high-precision processing and manufacturing of large and complex structural parts, five-axis processing equipment is introduced in the processing process for precision operation. However, the existing single five-axis processing equipment cannot simultaneously meet the needs of multiple functional performances in multiple modes of robots. For example, a hybrid robot automated processing line disclosed in CN202311712822.8 usually requires multiple sets of additional equipment to assist in achieving efficient switching between multiple modes. The degrees of freedom of some hybrid robots are limited, and the angle of the workpiece during processing is inconvenient to adjust, which is not convenient for processing complex workpieces. In addition, the prior art arranges several unrelated processing equipment in the same working scene, which cannot achieve standardized operations. The processing flow of the workpiece is complicated and the processing process management is difficult. The processing equipment needs to be controlled separately by the terminal, and intelligent Internet of Things cannot be realized. The specifications are not uniform, and modularization cannot be achieved to quickly match according to the needs of technicians. Summary of the invention

[0003] In view of the deficiencies in the prior art, the present invention provides a truss-type five-axis machining equipment based on a hybrid structure, comprising a plurality of five-axis machining robots for machining workpieces, and a conveying device of the five-axis machining robots for conveying the workpieces to or from the machining position, the conveying device comprising a workpiece table for fixing the workpiece, a horizontal conveying part for driving the workpiece table to move, and a lifting part for driving the workpiece table to lift and lower, a workpiece mounting seat for fixing the workpiece is arranged on the workpiece table, and an angle adjustment mechanism is also included for rotating the workpiece table after being put on the table and adjusting the relative angle of the workpiece to the machining angle, a shift positioning mechanism is also included for realizing the change of the machining station position of the five-axis machining robot relative to the workpiece, and a linkage tool changing mechanism is also included for the five-axis machining robot to perform tool replacement operations, a plurality of the five-axis machining robots are arranged on the opposite side to form a parallel working state to process the same workpiece at the same time, or a plurality of the five-axis machining robots are arranged on the same side to form a series working state, and the working steps of the plurality of the five-axis machining robots are connected in series through the conveying device.

[0004] Preferably, the five-axis machining robot includes a mounting table, a moving platform and an action part for driving the moving platform to move. The moving platform is provided with a swing head assembly for installing a machining tool, three rotating frames that can rotate independently relative to the mounting table, and three adjustment devices. The adjustment devices are each telescopically adjusted to correspond the swing head assembly to the required processing position.

[0005] Preferably, the shift positioning mechanism includes a shift seat and a positioning frame, the five-axis machining robot is mounted on the positioning frame, the bottom of the positioning frame is arranged on the shift seat, and the shift seat includes an along-line moving platform and an approaching moving platform.

[0006] Preferably, the approach mobile platform is slidably matched with the above the along-line mobile platform, the positioning frame is fixedly installed above the approach mobile platform, an approach screw is arranged on the top of the approach mobile platform, guide rails are arranged on both sides of the approach screw, a positioning frame mounting platform is arranged on the guide rails, both sides of the bottom of the positioning frame mounting platform are slidably matched with the guide rails, the bottom of the positioning frame mounting platform moves in coordination with the approach screw, and the bottom of the positioning frame is fixedly arranged on the upper surface of the positioning frame mounting platform.

[0007] Preferably, it also includes an equipment gantry for installing auxiliary equipment, and the two equipment gantries on both sides of the five-axis machining robot are arranged opposite to each other.

[0008] Preferably, the linked tool changing mechanism includes a tool changing base, which is arranged on the top of the equipment gantry, and a robotic arm module and a tool seat are slidably arranged on the tool changing base, a tool clamping module is arranged at one end of the robotic arm module, and the robotic arm module controls the tool clamping module to move between the tool seat and the processing equipment to perform tool replacement operations.

[0009] Preferably, the tool changing base includes a positioning plate, a guide rail and a driving rack. The positioning plate is fixedly arranged at the lower part of the tool changing base, and the tool changing base is fixed to the top of the equipment gantry through the positioning plate. The guide rail is arranged on the side wall of the tool changing base. The upper and lower guide rails are slidably matched with the robotic arm module and the tool seat, and the driving rack is transmission-matched with the robotic arm module and the tool seat.

[0010] Preferably, the angle adjustment mechanism includes a rotating device, and the two rotating devices are respectively arranged on the equipment gantry relative to each other. The rotating device is provided with a clamping part for movably clamping with the workpiece table, and the rotating device is used to drive the workpiece table to rotate after clamping.

[0011] Preferably, the horizontal conveying part includes a slide rail laid on the ground and a conveying trolley running along the slide rail. The workpiece is transported to the processing position by the horizontal conveying part. Several groups of five-axis machining robots are arranged along the extension direction of the slide rail. Each group of five-axis machining robots completes the corresponding processing steps. The wheels of the conveying trolley are correspondingly installed on the slide rail and roll.

[0012] Compared with the prior art, the invention has the following beneficial effects: the five-axis machining equipment is installed by using gantry and truss modules, which is convenient for deployment and integrated management, increases equipment stability, and improves installation accuracy; Five-axis machining equipment can be deployed in parallel or in series according to the needs of the machining steps in the production line direction. It has a high degree of freedom and can rationally arrange equipment investment for complex workpiece processing, improve efficiency and reduce equipment use costs; The conveying device includes a horizontal conveying part for conveying the workpiece table in a horizontal direction, and the workpiece is transported to a desired position by the horizontal conveying part to form a processing equipment with a high degree of automation and high processing efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be discussed below. Obviously, the technical solutions described in conjunction with the drawings are only some embodiments of the present invention. For ordinary technicians in this field, other embodiments and their drawings can be obtained based on the embodiments shown in these drawings without paying creative work.

[0014] Figure 1 It is a schematic diagram of a side view of a truss-type five-axis machining device based on a hybrid structure of the present invention; Figure 2 It is a schematic diagram of multiple hybrid states of truss-type five-axis machining equipment based on a hybrid structure of the present invention; Figure 3 It is a parallel state stereogram of the truss-type five-axis machining equipment based on the hybrid structure of the present invention; Figure 4 It is a schematic diagram of the angle adjustment mechanism structure of the truss-type five-axis machining equipment based on the hybrid structure of the present invention; Figure 5 It is a structural schematic diagram of the installation state of the five-axis machining robot of the truss-type five-axis machining equipment based on the hybrid structure of the present invention; Figure 6 It is a schematic diagram of the actuator mechanism of the five-axis machining robot of the truss-type five-axis machining equipment based on the hybrid structure of the present invention; Figure 7 It is a schematic diagram of the rear structure of a five-axis machining robot of a truss-type five-axis machining device based on a hybrid structure of the present invention; Figure 8 It is a schematic diagram of the lower structure of a five-axis machining robot of a truss-type five-axis machining device based on a hybrid structure of the present invention; Fig. 9 It is a schematic diagram of the structure of the swing head assembly of the truss-type five-axis machining equipment based on the hybrid structure of the present invention.

[0015] In the figure: 1-five-axis machining robot, 11-mounting table, 12-first rotating frame, 13-second rotating frame, 14-third rotating frame, 15-first adjusting device, 151-support arm, 152-sliding assembly, 16-second adjusting device, 17-third adjusting device, 18-moving platform, 19-swing head assembly, 191-rotating bracket, 192-second motor, 193-third motor, 194-first motor, 2-transmission belt, 21 -Tool mounting part, 3-conveying device, 31-rotating device, 32-rotating table, 33-fourth motor, 35-lifting platform, 4-shifting seat, 41-equipment gantry, 5-workpiece table, 6-tool changing base, 61-positioning plate, 62-guide rail, 63-driving rack, 64-cable drag chain, 7-driving seat, 71-driving motor, 72-tool seat, 73-mechanical arm adjustment seat, 75-adjustment head, 8-slide rail, 81-conveying trolley. DETAILED DESCRIPTION

[0016] The following will clearly and completely describe the technical solutions of various embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments described in the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0017] Embodiments of the present invention, see Figure 1-Figure 9 The present invention provides a truss-type five-axis machining equipment based on a hybrid structure, including a plurality of five-axis machining robots 1 for machining workpieces, and also includes a conveying device 3 of the five-axis machining robot 1 for delivering the workpiece to or from a machining position, the conveying device 3 includes a workpiece table 5 for fixing the workpiece and a horizontal conveying part for driving the workpiece table 5 to move, and a lifting part for driving the workpiece table 5 to lift and lower, and a workpiece mounting seat for fixing the workpiece is arranged on the workpiece table 5.

[0018] It also includes an angle adjustment mechanism for rotating the workpiece table 5 after it is put on the stage, thereby adjusting the relative angle of the workpiece to the processing angle.

[0019] It also includes a displacement positioning mechanism for realizing the change of the processing station position of the five-axis processing robot 1 relative to the workpiece.

[0020] The processing equipment also includes a linkage tool changing mechanism for performing tool replacement operations on the five-axis processing robot 1 .

[0021] The five-axis machining robot 1 includes a mounting table 11, a moving platform 18 and an action part for driving the moving platform 18 to move. The moving platform 18 is provided with a swing head assembly 19 for installing a machining tool, three rotating frames that can rotate independently relative to the mounting table 11, and three adjustment devices. The adjustment devices are each telescopically adjusted to correspond the swing head assembly 19 to the required machining position.

[0022] Specifically, the shift positioning mechanism includes a shift seat 4 and a positioning frame. The five-axis processing robot 1 is installed on the positioning frame. The bottom of the positioning frame is arranged on the shift seat 4 to realize the change of the processing position of the five-axis processing robot 1 relative to the workpiece. The shift seat 4 includes an along-line moving platform and an approaching moving platform. The along-line moving platform is provided with a parallel guide rack along the horizontal transportation direction of the processing parts. The approaching moving platform is slidably matched above the along-line moving platform, and the power motor output power gear arranged on the approaching moving platform is meshed with the parallel guide rack for transmission. The positioning frame is fixedly installed above the approaching moving platform. The top of the approaching moving platform is provided with an approaching screw. The approaching screw and the parallel guide rack are arranged vertically. Guide rails are arranged on both sides of the approaching screw, and a positioning frame mounting platform is arranged on the guide rails. The two sides of the bottom of the positioning frame mounting platform are slidably matched with the guide rails, and the bottom of the positioning frame mounting platform moves in coordination with the approaching screw. The bottom of the positioning frame is fixedly arranged on the upper surface of the positioning frame mounting platform.

[0023] The five-axis machining robot 1 includes the mounting table 11, the moving platform 18 and an action unit for driving the moving platform 18 to move. The moving platform 18 is provided with a swing head assembly 19 for installing a machining tool. The swing head assembly 19 is provided with a visual sensor, and the visual sensor scans toward one side of the machining tool.

[0024] The workpiece table 5 is fixedly provided with a calibration block corresponding to the visual sensor. The visual sensor is used to visually scan the calibration block to calibrate the coordinates. There are four calibration blocks, which are respectively located at the four corners of the workpiece table 5. The upper end of the calibration block is provided with a triangular protrusion block so that the visual sensor can calculate the coordinates. In this embodiment, the visual sensor is a 3D laser visual sensor. The visual sensor is electrically connected to the external system to transmit the coordinate position signal of the calibration block scanned by the visual sensor to the external system. By scanning the spatial position signal of the calibration block, the external system determines the spatial position of the workpiece through program calculation, and then controls the hybrid robot body through the program to process the workpiece after position calibration, so as to avoid a large deviation between the workpiece position and the processing program and improve the accuracy of workpiece processing.

[0025] See also Figure 5-Figure 9 The action part includes a first rotating frame 12, a second rotating frame 13 and a third rotating frame 14 arranged on the mounting platform 11. A first adjusting device 15 is rotatably mounted on the first rotating frame 12, a second adjusting device 16 is rotatably mounted on the second rotating frame 13, and a third adjusting device 17 is rotatably mounted on the third rotating frame 14. The first adjusting device 15, the second adjusting device 16 and the third adjusting device 17 can be extended and retracted separately. The ends of the first adjusting device 15, the second adjusting device 16 and the third adjusting device 17 are respectively hingedly connected to the moving platform 18.

[0026] The first rotating frame 12 rotates relative to the mounting table 11 and has a first rotation axis L; the second rotating frame 13 rotates relative to the mounting table 11 and has a second rotation axis M, and the first rotation axis L is collinear with the second rotation axis M; the third rotating frame 14 rotates relative to the mounting table 11 and has a third rotation axis N, and the third rotation axis N is perpendicular to the first rotation axis L; the first adjustment device 15 rotates relative to the first rotating frame 12 and has a fourth rotation axis P, and the fourth rotation axis P is perpendicular to the first rotation axis L, with high processing freedom and flexible processing.

[0027] The mounting platform 11 is fixedly provided with two opposite first mounting blocks, two opposite second mounting blocks and two opposite third mounting blocks, the first rotating frame 12 is rotatably connected between the two first mounting blocks, the second rotating frame 13 is rotatably connected between the two second mounting blocks, and the third rotating frame 14 is rotatably connected between the two third mounting blocks; the first mounting block, the second mounting block and the third mounting block are fixed to the mounting platform 11 by a plurality of bolts. A first bearing is provided between the mounting block and the corresponding rotating frame, so that the rotation is more stable and the processing accuracy is improved.

[0028] The first adjustment device 15 includes a support arm 151, a sliding component 152 and a driving part for driving the sliding component 152 to slide relative to the support arm 151. One end of the support arm 151 is hinged on the moving platform 18. The sliding component 152 includes a nut and a hanging ear connected to the nut. A second bearing is provided between the hanging ear and the nut. The nut is rotatably connected to the first rotating frame 12 through the hanging ear. The driving part includes a first motor 194 and a screw rod connected to the output end of the first motor 194. The first motor 194 is fixed on the support arm 151. The nut is correspondingly sleeved on the screw rod. The screw rod is driven to rotate by the forward or reverse rotation of the first motor 194, so that the nut moves along the axial direction of the screw rod, thereby driving the hanging ear to approach or move away from the hinged part of the support arm 151 and the moving platform 18. The support arm 151 is provided with a guide rail, and the nut is connected with a slider corresponding to the guide rail, which makes sliding more stable and improves processing accuracy; the first adjustment device 15, the second adjustment device 16 and the third adjustment device 17 have the same structure, and the first rotating frame 12, the second rotating frame 13 and the third rotating frame 14 have the same structure; by controlling the feed amount of each motor of the three adjustment devices respectively, the moving platform 18 can be transported to the desired position.

[0029] The first rotating frame 12 is provided with a first through slot, and the first adjusting device 15 is placed in the first through slot; the second rotating frame 13 is provided with a second through slot, and the second adjusting device 16 is placed in the second through slot; the third rotating frame 14 is provided with a third through slot, and the third adjusting device 17 is placed in the third through slot, and all three rotating frames are hollow.

[0030] The swing head assembly 19 includes a rotating bracket 191 and a rotating block rotatably connected to the rotating bracket 191. The moving platform 18 is provided with a second motor 192 for driving the rotating bracket 191 to rotate. The rotation direction of the motor shaft of the second motor 192 is consistent with the rotation direction of the rotating bracket 191. The output end of the second motor 192 is connected to the rotating bracket 191, and the rotating bracket 191 is provided with a third motor 193 for driving the rotating block to rotate. The output end of the third motor 193 is connected to the rotating block through a transmission belt 2. The second motor 192 and the third motor 193 are used to realize the rotation of the rotating block in two degrees of freedom, further improving the degree of freedom of processing. The rotating block is provided with a tool mounting portion 21 for mounting a tool fixture.

[0031] The processing equipment also includes an equipment gantry 41 for installing auxiliary equipment, and the two equipment gantries 41 on both sides of the five-axis processing robot 1 are arranged opposite to each other.

[0032] The linkage tool changing mechanism includes a tool changing base 6, which is arranged on the top of the equipment gantry 41, and a mechanical arm module and a tool seat 72 are slidably arranged on the tool changing base 6. A tool clamping module is arranged at one end of the mechanical arm module, and the mechanical arm module and the tool seat 72 slide on the tool changing base 6 to the tool changing position above the processing equipment, and the mechanical arm module controls the tool clamping module to move between the tool seat 72 and the processing equipment.

[0033] The tool changing base 6 includes a positioning plate 61, a guide rail 62 and a driving rack 63. The positioning plate 61 is fixedly arranged at the lower part of the tool changing base 6, and the tool changing base 6 is fixed to the top of the equipment gantry 41 through the positioning plate 61. The guide rail 62 is arranged on the side wall of the tool changing base 6, and the upper and lower guide rails 62 are slidably matched with the robot arm module and the tool seat 72. The driving rack 63 is arranged on the side wall of the tool changing base 6, and the driving rack 63 is arranged parallel to the guide rail 62, and the driving rack 63 is in transmission cooperation with the robot arm module and the tool seat 72. A cable drag chain 64 is also arranged on the tool changing base 6, and the cable drag chain 64 is used to protect the connecting cables of the tool changing base 6 and the robot arm module.

[0034] The robot module is fixed on the drive seat 7, and the direction of the drive seat 7 is parallel to the running direction of the slide rail 8. The drive seat 7 cooperates with the guide rail 62, and the drive seat 7 is provided with a drive motor 71, and the drive motor 71 cooperates with the drive rack 63 through a gear to enable the drive seat 7 to achieve horizontal movement on the guide rail 62. The tool seat 72 is provided with a plurality of tool slots for placing tools that are not in use temporarily.

[0035] The robotic arm module includes a robotic arm adjustment seat 73, a first arm, a second arm and a third arm. The bottom of the robotic arm adjustment seat 73 is fixedly mounted on the driving seat 7. The bottom of the first arm is transmitted to the robotic arm adjustment seat 73. The tail of the second arm is hinged to the transmission connection of the first arm. The front of the second arm is hinged to the tail of the third arm. The front end of the third arm is rotatably connected to the tool clamping module.

[0036] The tool clamping module includes an adjustment head 75 and a clamping claw. The adjustment head 75 is rotatably arranged at one end of the mechanical module away from the mechanical arm adjustment seat 73. The clamping claw includes a main clamping claw and an auxiliary clamping claw.

[0037] The angle adjustment mechanism includes a rotating device 31, and two rotating devices 31 are respectively arranged on the equipment gantry 41. The rotating device 31 is provided with a clamping part for movably clamping with the workpiece table 5, and the rotating device 31 is used to drive the clamped workpiece table 5 to rotate.

[0038] The rotating device 31 includes a rotating table 32 and a first driving part for driving the rotating table 32 to rotate. The rotating table 32 has a fifth rotation axis Z when rotating. The clamping part includes a ball differential ring arranged on the rotating table 32. The workpiece table 5 is provided with a plug sleeve for plugging with the ball differential ring. The ball differential ring includes a ball that can expand / contract outwardly. The ball expands / contracts outwardly through program control. The inner side wall of the plug sleeve is formed with a clamping groove corresponding to the ball. A first positioning column is arranged on one side of the ball differential ring. The plug sleeve is provided with a first positioning hole corresponding to the first positioning column. The clamping part also includes a plug-in column arranged on the rotating table 32 and a cylinder for driving the plug-in column to slide along its own axis. The axis of the plug-in column is parallel to the horizontal plane. The workpiece platform 5 is provided with a slot corresponding to the plug-in column, the upper side of the lifting part is provided with a plurality of second positioning columns, and the lower side of the workpiece platform 5 is provided with a plurality of second positioning holes corresponding to the second positioning columns; when the lifting part drives the workpiece platform 5 to rise to a height that can be correspondingly engaged with the engaging part, the insert sleeve is correspondingly engaged with the ball differential ring, and at this time, the ball is controlled to bulge outward so that the ball falls into the slot; the first positioning column is correspondingly introduced into the first positioning hole for positioning, and the lower end of the first positioning column is provided with a chamfer that is convenient for introduction into the first positioning hole to ensure that the ball differential ring and the insert sleeve are accurately plugged in. When the rotating table 32 is engaged with the workpiece platform 5, the cylinder drives the plug-in column to extend to insert into the slot, and the plug-in column is engaged with the slot of the workpiece platform 5 to improve the ability of the rotating table 32 to bear the weight of the workpiece platform 5.

[0039] The rotating table 32 is provided with a guiding and positioning mechanism, which includes a first positioning block provided on the rotating table 32 and a second positioning block provided on the workpiece table 5, the first positioning block corresponds to the second positioning block, the first positioning block is provided with a first guiding bevel and a vertical roller, and the second positioning block is provided with a second guiding bevel corresponding to the first guiding bevel. The first driving unit includes a fourth motor 33, and the output end of the fourth motor 33 is connected to the rotating table 32.

[0040] The lifting unit includes a lifting platform 35 and a second driving unit for driving the lifting platform 35 to lift. The workpiece platform 5 is placed on the upper side of the lifting platform 35, and the second driving unit includes a workpiece mounting seat, a scissor frame and an electric cylinder. The scissor frame is connected between the lifting platform 35 and the workpiece mounting seat, and the electric cylinder is installed on the workpiece mounting seat. The output end of the electric cylinder is connected to the scissor frame and drives the scissor frame to fold / unfold.

[0041] During the process of lifting the workpiece table 5, the rollers are introduced and pressed against the second positioning block, so that the workpiece table 5 is clamped and positioned between the rollers of the rotating table 32 on both sides. The first driving unit includes a fourth motor 33, the output end of the fourth motor 33 is connected to the rotating table 32, and the fourth motors 33 on the two equipment gantries 41 rotate synchronously. The fourth motor 33 described in this embodiment is a servo motor. When the scissors frame is unfolded, the lifting platform 35 is driven to rise. When the scissors frame is folded, the lifting platform 35 is driven to descend, and lifting is convenient.

[0042] The horizontal conveying part includes a slide rail 8 laid on the ground and a battery-powered conveying trolley 81 running along the slide rail 8. Multiple groups of five-axis processing robots 1 are arranged on both sides of the extending direction of the slide rail 8. Each group of five-axis processing robots 1 can complete different processing procedures. The wheels of the conveying trolley 81 are correspondingly mounted on the slide rail 8 to roll. The workpiece mounting seat is arranged on the upper side of the conveying trolley 81, and the workpiece is transported to the desired position through the horizontal conveying part.

[0043] During the processing, the workpiece table 5 is placed above the lifting part, and is positioned by the second positioning column corresponding to the second positioning hole. The angle adjustment mechanism can automatically lift the workpiece table 5 to mid-air for rotation and positioning, and the rotation range is large, which is convenient for rotating the workpiece on the workpiece table 5 to the tilt angle required for processing, so as to facilitate processing. Before the workpiece is processed, the lifting part drives the workpiece table 5 to rise to a height that can be correspondingly engaged with the engaging part. The height requirement of the workpiece table 5 when engaged is that the workpiece table 5 can complete a rotation. Then, the engaging part is engaged with the workpiece table 5. After the engaging is completed, the lifting part descends to the initial height, and then the workpiece table 5 is driven by the rotating device 31 to rotate to the tilt angle required for processing for positioning, so that the five-axis processing robot 1 equipped with processing tools arranged on both sides of the equipment gantry 41 can process the workpiece individually or simultaneously in parallel.

[0044] During processing, the three adjusting devices are respectively adjusted by telescopic adjustment to transport the swing head assembly 19 to the required processing position for processing operations. The telescopic amounts of the three adjusting devices are calculated by the program. The three adjusting devices are correspondingly installed on three rotating frames. The three rotating frames can rotate independently relative to the mounting table 11. The processing freedom is high, which is convenient for processing complex workpieces.

[0045] When the workpiece is processed, the workpiece table 5 is driven to rotate to the horizontal state before processing through the rotating device 31, and the lifting part is lifted again to the height of the clamping, so that the second positioning column is clamped into the second positioning hole for positioning, and the clamping part is reset to the state before the clamping. At this time, the workpiece table 5 is driven to descend to the preset height through the lifting part so that the processed workpiece can be taken away or transported later.

[0046] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be considered exemplary and non-restrictive from any point of view. The scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims be included in the present invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

[0047] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. Truss-type five-axis machining equipment based on hybrid structure, characterized by: Including several five-axis machining robots for machining workpieces, The invention also includes a conveying device of the five-axis machining robot for conveying the workpiece to or from the machining position, wherein the conveying device includes a workpiece table for fixing the workpiece, a horizontal conveying part for driving the workpiece table to move, and a lifting part for driving the workpiece table to lift and lower. The workpiece table is provided with a workpiece mounting seat for fixing the workpiece. It also includes an angle adjustment mechanism for rotating the workpiece table after it is put on the table to adjust the relative angle of the workpiece to the processing angle. It also includes a displacement positioning mechanism for realizing the position change of the processing station of the five-axis processing robot relative to the workpiece. It also includes a linkage tool changing mechanism for performing tool replacement operations on the five-axis machining robot. Several of the five-axis machining robots are arranged on opposite sides to form a parallel working state to process the same workpiece at the same time, or several of the five-axis machining robots are arranged on the same side to form a series working state, and the working steps of the several five-axis machining robots are connected in series through the conveying device.

2. The truss-type five-axis machining equipment based on a hybrid structure according to claim 1 is characterized in that: The five-axis machining robot includes a mounting table, a moving platform and an action part for driving the moving platform to move. The moving platform is provided with a swing head assembly for installing a machining tool, three rotating frames that can rotate independently relative to the mounting table, and three adjustment devices. The adjustment devices are each telescopically adjusted to correspond the swing head assembly to the required machining position.

3. The truss-type five-axis machining equipment based on a hybrid structure according to claim 1 is characterized in that: The shift positioning mechanism comprises a shift seat and a positioning frame, the five-axis machining robot is mounted on the positioning frame, the bottom of the positioning frame is arranged on the shift seat, and the shift seat comprises an along-line moving platform and an approaching moving platform.

4. The truss-type five-axis machining equipment based on a hybrid structure according to claim 3 is characterized in that: The approach moving platform is slidably matched with the above-mentioned along-line moving platform, the positioning frame is fixedly installed above the approach moving platform, an approach screw is arranged on the top of the approach moving platform, guide rails are arranged on both sides of the approach screw, a positioning frame mounting platform is arranged on the guide rails, both sides of the bottom of the positioning frame mounting platform are slidably matched with the guide rails, the bottom of the positioning frame mounting platform moves in coordination with the approach screw, and the bottom of the positioning frame is fixedly arranged on the upper surface of the positioning frame mounting platform.

5. The truss-type five-axis machining equipment based on a hybrid structure according to claim 1 is characterized in that: It also includes an equipment gantry for installing auxiliary equipment, and the two equipment gantries on both sides of the five-axis machining robot are arranged opposite to each other.

6. The truss-type five-axis machining equipment based on a hybrid structure according to claim 5 is characterized in that: The linked tool changing mechanism includes a tool changing base, which is arranged on the top of the equipment gantry. A robotic arm module and a tool seat are slidably arranged on the tool changing base. A tool clamping module is arranged at one end of the robotic arm module. The robotic arm module controls the tool clamping module to move between the tool seat and the processing equipment to perform tool replacement operations.

7. The truss-type five-axis machining equipment based on a hybrid structure according to claim 6 is characterized in that: The tool changing base includes a positioning plate, a guide rail and a driving rack. The positioning plate is fixedly arranged at the lower part of the tool changing base. The tool changing base is fixed to the top of the equipment gantry through the positioning plate. The guide rail is arranged on the side wall of the tool changing base. The upper and lower guide rails are slidably matched with the mechanical arm module and the tool seat. The driving rack is transmission-matched with the mechanical arm module and the tool seat.

8. The truss-type five-axis machining equipment based on a hybrid structure according to claim 5 is characterized in that: The angle adjustment mechanism includes a rotating device, and the two rotating devices are respectively arranged on the equipment gantry relative to each other. The rotating device is provided with a clamping part for movably clamping with the workpiece table, and the rotating device is used to drive the workpiece table to rotate after clamping.

9. The truss-type five-axis machining equipment based on a hybrid structure according to claim 1 is characterized in that: The horizontal conveying part includes a slide rail laid on the ground and a conveying trolley running along the slide rail. The workpiece is transported to the processing position through the horizontal conveying part. Several groups of five-axis machining robots are arranged along the extension direction of the slide rail. Each group of five-axis machining robots completes the corresponding processing steps. The wheels of the conveying trolley are correspondingly installed on the slide rail and roll.

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