Five-axis machining manipulator for hardware machining

Abstract

The application discloses a five-axis machining manipulator for hardware machining, and relates to the technical field of manipulators. The five-axis machining manipulator for hardware machining comprises a large arm, a small arm and a machining mechanism, an adjuster is installed at the end of the small arm away from the large arm, a supporting mechanism is installed at the bottom of the body, the machining mechanism comprises an axial rotator and a right-angle connecting piece, a servo motor is fixedly installed at the side of the outer side of the right-angle connecting piece, a conical hole is formed at the edge of the surface of the right-angle connecting piece, a driving host is fixedly installed at the output end of the servo motor, a machining cutter is detachably fixedly installed at the end of the main shaft of the driving host, a stable assembly is installed on the surface of the driving host, the stable assembly comprises an electric telescopic rod and a guide rail, a connecting sliding block is slidably installed in the guide rail, and a limiting cone is fixedly installed on the surface of the connecting sliding block. The machining cutter can be adjusted, multi-surface machining can be realized through single clamping, positioning cumulative error is reduced, debris is timely treated, and the five-axis machining manipulator is safe and reliable.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, and in particular to a five-axis machining robotic arm for processing hardware products. Background Technology

[0002] Hardware products are widely used in many fields such as machinery manufacturing, precision instruments, sanitary ware and auto parts, and electronic hardware. The product categories cover irregular structural parts, thin-walled precision parts, round bar profiles, valve body connectors, etc., and are characterized by a wide variety of specifications, large differences in shape, high processing precision requirements, and strong demand for mass production.

[0003] With the development of modern industry and the continuous progress of the machining industry, people invented robotic arms to improve production efficiency, stabilize and improve product quality, improve workers' working conditions, and accelerate the mechanization and automation of industrial production. Robotic arms have since been widely used, particularly in the processing of hardware products.

[0004] For example, Chinese Patent Publication No. CN218614036U describes a reliable and stable anti-collision five-axis robotic arm, including a base. The top of the base is fitted with the five-axis robotic arm body. A mounting groove is formed in the middle of the base, and a fixing block is connected to the middle of the mounting groove. Electric telescopic rods are mounted on both sides of the fixing block, and side anchoring mechanisms are fixedly mounted at the output ends of the electric telescopic rods. The side anchoring mechanisms include a disc, a long screw, a connecting block, a suction cup, and a push-pull plate. An anti-collision mechanism is fixedly mounted at the top of the base. The mechanism includes an inner support frame and an elastic sleeve. The elastic sleeve is fixedly connected to the outer side of the inner support frame. A switch panel is provided on the front of the base. The elastic sleeve is located on the outer side of the five-axis robot body. The elastic sleeve protects the outer side of the five-axis robot body during use. When subjected to lateral force, the elastic sleeve of the anti-collision mechanism can absorb and buffer the force. A reinforcing plate is installed at the bottom of the five-axis robot body. A reinforcing bolt is installed in the middle of the reinforcing plate. The reinforcing bolt is threaded to the base. The reinforcing plate reinforces the connection of the five-axis robot body.

[0005] In existing technical references, the position of the machining tool can be adjusted by a five-axis robot body. However, such a design is inconvenient for machining the bottom and sides of the workpiece, requires multiple clamping of the workpiece, and is prone to cumulative positioning errors. At the same time, when adjusting the position of the machining tool, the overall rigid positioning is insufficient as the equipment is running, which further affects the machining of the workpiece. Summary of the Invention

[0006] To solve the above technical problems, the present invention is implemented through the following technical solution: A five-axis machining robot for processing hardware products includes: A rotating base and a machine body fixedly installed on the rotating end of the top of the rotating base. A large arm is installed on the top of the machine body, a small arm is installed at the top of the large arm, an adjuster is installed at the end of the small arm away from the large arm, and a support mechanism is installed at the bottom of the machine body. By controlling the upper arm and lower arm of the machine body and utilizing the linkage between the upper arm and lower arm, and with the connection of the adjuster, the processing mechanism can be quickly moved to the vicinity of the designated position. With the adjustment of the rotating end on the top of the rotating base, it can move to multiple positions with a wide range of movement. At the same time, the adjuster adjusts the overall angle of the processing mechanism, further promoting the processing of hardware products and making the processing of hardware products more convenient. The machining mechanism includes an axial rotator and a right-angle connector. The axial rotator is fixedly mounted on the rotating end of an adjuster surface, and the adjuster adjusts the angle of the axial rotator. The right-angle connector is fixedly mounted on the rotating end at the bottom of the axial rotator. A servo motor is fixedly mounted on the outer side of the right-angle connector. A tapered hole is opened at the edge of the surface of the right-angle connector. A drive host is fixedly mounted on the output end of the servo motor. A machining tool is detachably and fixedly mounted on the end of the spindle of the drive host. A stabilizing component is mounted on the surface of the drive host. By utilizing the rotation of the axial rotary head, the right-angle connector can be driven to rotate axially, which in turn drives the main drive unit and the machining tool to rotate together. Simultaneously, driven by the output of the servo motor, the main drive unit is driven to rotate and adjust the angle, making it easy to adjust the machining tool to a vertical or tilted state. Utilizing multiple states reduces the clamping of hardware products and the accumulation of positioning errors, which helps the main drive unit's spindle machining tool to rotate accurately and process hardware products precisely. The stabilizing component includes an electric telescopic rod and a guide rail. The electric telescopic rod is fixedly installed in the middle of the outside of the drive host. The guide rail is fixedly installed on the surface of the drive host and close to the electric telescopic rod. A connecting slider is slidably installed inside the guide rail, and a limit cone is fixedly installed on the surface of the connecting slider.

[0007] Before milling, drilling, grinding, and other processing of hardware products, the extension end of the electric telescopic rod is used to drive the connecting slider to slide smoothly along the guide rail. The connecting slider will drive the tip of the limiting cone to accurately engage inside the conical hole, forming a double limiting constraint on the drive host and the processing tool in both the circumferential and radial directions. This solves the problem of slight shaking, offset, and vibration that easily occurs when the spindle of the traditional five-axis machining robot is running at high speed and adjusting in multiple dimensions. At the same time, the four limiting cones are evenly distributed at four points and cooperate with the conical hole in the circumferential array to achieve multi-point balanced locking, uniform force, and reliable positioning. Even after the drive host rotates, the limiting cones still fit into the conical hole in the circumferential direction.

[0008] This device is equipped with a stabilizing component on the outside of the drive unit. The symmetrically arranged electric telescopic rod, guide rail, connecting slider and limiting cone, together with the conical hole on the right-angle connector, form a conical surface precision positioning structure.

[0009] Preferably, the support mechanism is used to support the entire rotating base and to perform plug-in locking; The support mechanism includes a hydraulic cylinder and a bearing base. The hydraulic cylinder is fixedly installed on the top of the rotating base surface. The top of the bearing base is fixedly installed between the top of the rotating base and the base of the rotating base. A conical ring is fixedly installed on the top of the bearing base. A pressing block is fixedly connected to the telescopic end of the hydraulic cylinder. Insertion and extraction limiting teeth are fixedly connected to the inclined surface of the inner side of the pressing block. A snap-fit ​​groove is opened on the conical surface of the outer side of the conical ring. After the robot arm completes the angular rotation and alignment through the rotating base, it can drive the pressing block to press down through the extension of the telescopic end of the hydraulic cylinder, so that the insertion and extraction limiting teeth on the inner side of the pressing block are engaged in the snap-fit ​​groove on the outer side of the conical ring. The dual limiting method of conical surface contact and tooth groove engagement mechanically locks and fixes the rotating base, which solves the problem that traditional robot arms rely solely on motor self-locking after rotating the workstation, which is prone to shaft clearance, rotational offset, and workstation loosening after long-term use.

[0010] This device has an additional dedicated support mechanism at the bottom of the rotating base, which adopts a plug-in locking structure with double symmetrical hydraulic cylinders, pressing blocks, plug-in limit teeth and conical rings.

[0011] Preferably, the hydraulic cylinders are installed vertically, and there are two hydraulic cylinders installed symmetrically along the axis of the rotating base. The inclined surface on the inner side of the pressing block matches the conical surface on the outer side of the conical ring.

[0012] The telescopic ends of the dual hydraulic cylinders synchronously push the symmetrically arranged pressing blocks, so that the pressing blocks and the conical ring are subjected to balanced forces. The conical surface fitting structure can realize automatic alignment and correction, precise positioning, and high support strength. It effectively avoids machine body shaking and station offset during the processing of the robot arm, ensures the stability of the whole machine during multi-axis linkage processing, reduces equipment operating noise and wear, extends the service life of the equipment, and improves the safety performance of the equipment during heavy-duty processing.

[0013] Preferably, the insertion and removal limiting teeth are installed directly above the snap-fit ​​grooves, and the snap-fit ​​grooves are evenly distributed on the conical surface outside the conical ring.

[0014] Preferably, the right-angled connector is installed directly below the axial rotator, and the tapered holes are evenly distributed along the circumferential direction of the center of the drive host.

[0015] Preferably, there are two electric telescopic rods, and the two electric telescopic rods are symmetrically installed along the drive host, and the surface of the connecting slider is in contact with the inner side of the guide rail.

[0016] Preferably, there are four limiting cones, and the four limiting cones are evenly distributed at the position of the drive host, with the tips of the limiting cones facing the conical hole.

[0017] Preferably, a chip removal mechanism is installed between the surface of the machine body and the surface of the axial rotator. The chip removal mechanism includes a blower, an annular shroud, and a circular cover plate. The blower is fixedly installed on the surface of the machine body near the upper arm. The center of the annular shroud is fixedly installed on the surface of the rotating end of the axial rotator. The center of the circular cover plate is detachably fixedly installed on the surface of the axial rotator. A bent pipe is connected to the top edge of the circular cover plate. The top end of the bent pipe is fixedly connected at a right angle to the air outlet on the outside of the blower via a three-way flexible hose. A blower nozzle is fixedly connected to the bottom edge of the annular shroud. A spiral guide vane is fixedly connected inside the blower nozzle. Relying on the blowing force of the blower, and through the three-way flexible hose and the bent pipe, stable airflow is achieved, in conjunction with the annular shroud and the conical blower nozzle with the spiral guide vane. A three-dimensional swirling airflow is formed around the machining area of ​​the cutting tool, allowing metal chips generated during the processing of hardware products to be blown away and cleaned in real time. This prevents chips from accumulating on the workpiece surface, tool gaps, and equipment transmission structure. On the one hand, it eliminates workpiece scratches, machining defects, and dimensional errors caused by metal chip compression, ensuring the surface machining accuracy and smoothness of hardware workpieces. On the other hand, it prevents chips from getting stuck on the surface of the cutting tool, effectively reducing tool wear and jamming failures, lowering equipment failure rates and subsequent maintenance costs. At the same time, the spiral guide vanes optimize the airflow direction, increasing the blowing range of the airflow, making the blowing airflow uniform, concentrated, and covering all corners. It is suitable for five-axis multi-angle tilting and rotation machining conditions, and can achieve all-round chip removal regardless of the angle and posture of the tool, adapting to the five-axis machining needs of complex hardware parts.

[0018] Preferably, the rotating end of the axial rotator passes through the center of the annular shroud, and is rotatably mounted between the top edge of the annular shroud and the bottom edge of the circular cover plate.

[0019] Preferably, the three-way flexible hose is connected to the bend pipe to form an air supply channel, and the blower nozzle is conical and evenly distributed on the side of the bottom of the annular shroud.

[0020] This invention discloses a five-axis machining robot for hardware product processing. It addresses industry pain points such as poor processing stability, low positioning accuracy, easy deviation during rotational processing, accumulation of processing debris affecting processing quality, and insufficient stability of equipment operation support in traditional five-axis machining robots. By optimizing the overall mechanical structure, adding stable positioning components, clamping support mechanism and automatic chip blowing mechanism, it has multiple technical advantages compared with the prior art.

[0021] This device adopts a five-axis linkage structure design. Through multi-dimensional angle adjustment of the machine body, boom, forearm, adjuster, and axial swivel, it can achieve multi-angle and all-round processing of hardware products. It can adapt to the precision machining needs of irregularly shaped hardware parts and complex curved surface hardware accessories, and is applicable to a wide range of processing scenarios. At the same time, stable positioning, mechanical clamping, and automatic chip blowing functions work together to achieve integrated operation of "precise positioning, stable processing, and real-time chip removal". There is no need for manual downtime to clean up debris or correct the work position, reducing equipment downtime and manual intervention costs, and significantly improving the production efficiency of batch processing of hardware products. The overall structure is compact and reasonable, with each mechanism operating independently and with strong linkage. The equipment has high stability and automation, effectively reducing human operation errors and adapting to the needs of industrial batch precision machining production.

[0022] The beneficial effects of the technical solution provided by this invention include: 1. By controlling the upper arm and lower arm of the machine body and utilizing the linkage between the upper arm and lower arm, and with the connection of the adjuster, the processing mechanism can be quickly moved to the vicinity of the designated position. With the adjustment of the rotating end on the top of the rotating base, it can move to multiple positions with a wide range of movement. At the same time, the adjuster adjusts the overall angle of the processing mechanism, further promoting the processing of hardware products and making the processing of hardware products convenient.

[0023] Second, by utilizing the rotation of the axial rotator's rotating end, the right-angle connector can be driven to rotate axially, which in turn drives the main drive unit and the machining tool to rotate together. Simultaneously, driven by the output of the servo motor, the main drive unit is driven to rotate and adjust the angle, making it easy to adjust the machining tool to a vertical or tilted state. Utilizing multiple states reduces the clamping of hardware products and the accumulation of positioning errors, which helps the main drive unit's spindle machining tool to rotate accurately and process hardware products precisely.

[0024] 3. Before milling, drilling, grinding and other processing of hardware products, the extension end of the electric telescopic rod is used to drive the connecting slider to slide smoothly along the guide rail. The connecting slider will drive the tip of the limiting cone to accurately lock into the conical hole, forming a double limiting constraint in the circumferential and radial directions for the drive host and the processing tool. This solves the problem of slight shaking, offset and vibration that easily occurs when the spindle of the traditional five-axis machining robot is running at high speed and adjusting in multiple dimensions. At the same time, the four limiting cones are evenly distributed at four points and cooperate with the conical hole in the circumferential array to achieve multi-point balanced locking, uniform force and reliable positioning. After the drive host is rotated, the limiting cones still fit into the conical hole in the circumferential direction.

[0025] Fourth, after the robot arm completes the angular rotation and alignment by rotating the base, the extension end of the hydraulic cylinder can drive the pressing block to press down, so that the insertion and extraction limiting teeth on the inner side of the pressing block can be engaged in the locking groove on the outer side of the conical ring. The dual limiting method of conical surface contact and tooth groove engagement is used to mechanically lock and fix the rotating base. This solves the problem that traditional robot arms rely solely on motor self-locking after rotating the workstation, which is prone to shaft clearance, rotational offset, and workstation loosening after long-term use.

[0026] 5. The telescopic ends of the dual hydraulic cylinders synchronously push the symmetrically arranged pressing blocks, so that the pressing blocks and the conical ring are subjected to balanced forces. The conical surface fitting structure can realize automatic alignment and correction, precise positioning, and high support strength, effectively avoiding machine body shaking and station offset during the processing of the robot arm, ensuring the stability of the whole machine during multi-axis linkage processing, reducing equipment operating noise and wear, extending the service life of the equipment, and improving the safety performance of the equipment during heavy-duty processing.

[0027] VI. Relying on the blowing power of the blower, and achieving stable airflow delivery through the three-way flexible hose and bend pipe, and in conjunction with the annular shroud and the conical blower nozzle with spiral guide vanes, a three-dimensional swirling airflow is formed around the processing area of ​​the machining tool. Metal chips generated during the processing of hardware products can be blown away and cleaned in real time, preventing chips from accumulating on the workpiece surface, tool gaps, and equipment transmission structure. On the one hand, it eliminates workpiece scratches, processing defects, and dimensional errors caused by metal chip compression, ensuring the surface processing accuracy and smoothness of hardware workpieces. On the other hand, it can prevent chips from getting stuck on the surface of the machining tool, effectively reducing tool wear and jamming failures.

[0028] 7. The spiral guide vane can optimize the airflow direction and increase the blowing range of the airflow, making the blowing airflow uniform, concentrated and covering without dead corners. It is suitable for five-axis multi-angle tilting and rotation machining conditions. No matter what angle the tool is in, it can achieve all-round chip removal and is suitable for the five-axis machining needs of complex metal parts. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the overall structure of a five-axis machining robot for processing hardware products, provided in an embodiment of the present invention. Figure 2 This is a schematic diagram of the connection structure between the processing mechanism and the regulator provided in an embodiment of the present invention; Figure 3 A schematic diagram of the connection structure between the rotating base, machine body, upper arm, lower arm, adjuster, and processing mechanism provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of the overall structure of the processing mechanism provided in an embodiment of the present invention; Figure 5 This is a schematic diagram of the connection structure between the stable component and the drive host provided in an embodiment of the present invention; Figure 6 This is a schematic diagram of the structure between the support mechanism and the rotating base provided in an embodiment of the present invention; Figure 7 This is a schematic diagram of the connection structure between the chip blowing mechanism, the machine body, and the axial rotary device provided in an embodiment of the present invention; Figure 8 This is a schematic diagram of the internal structure of the annular shroud, circular cover plate, and blower nozzle provided in an embodiment of the present invention; Figure 9 Provided for embodiments of the present invention Figure 8 Enlarged view of a portion of point A in the middle.

[0030] In the diagram: 1. Rotating base; 2. Machine body; 3. Upper arm; 4. Lower arm; 5. Adjuster; 6. Machining mechanism; 7. Support mechanism; 8. Chip blowing mechanism; 61. Axial rotator; 62. Right-angle connector; 63. Servo motor; 64. Tapered hole; 65. Drive unit; 66. Machining tool; 67. Stabilizing component; 671. Electric telescopic rod; 672. Guide rail; 673. Connecting slider; 674. Limiting cone; 71. Hydraulic cylinder; 72. Bearing base; 73. Tapered ring; 74. Pressing block; 75. Insertion / removal limiting tooth; 76. Snap-fit ​​groove; 81. Blower; 82. Annular shroud; 83. Circular cover plate; 84. Bending pipe; 85. T-shaped flexible hose; 86. Blower nozzle; 87. Spiral guide vane. Detailed Implementation

[0031] Example 1, see Figures 1-5 A technical solution is provided: A five-axis machining robot for processing hardware products includes: The rotating base 1 and the machine body 2 are fixedly installed on the rotating end of the top of the rotating base 1. The top of the machine body 2 is equipped with a large arm 3, the top of the large arm 3 is equipped with a small arm 4, and the end of the small arm 4 away from the large arm 3 is equipped with an adjuster 5. The bottom of the machine body 2 is equipped with a support mechanism 7. By controlling the large arm 3 and the small arm 4 through the machine body 2, and by utilizing the linkage between the large arm 3 and the small arm 4, and with the connection of the adjuster 5, the processing mechanism 6 can be quickly moved to the vicinity of the designated position. With the adjustment of the rotating end of the top of the rotating base 1, it can move to multiple positions with a wide range of movement. At the same time, the adjuster 5 adjusts the overall angle of the processing mechanism 6, which further promotes the processing of hardware products and makes the processing of hardware products convenient. Machining mechanism 6 includes an axial rotator 61 and a right-angle connector 62. The axial rotator 61 is fixedly mounted on the rotating end of the surface of the adjuster 5, and the adjuster 5 adjusts the angle of the axial rotator 61. The right-angle connector 62 is fixedly mounted on the rotating end at the bottom of the axial rotator 61. A servo motor 63 is fixedly mounted on the outer side of the right-angle connector 62. A tapered hole 64 is opened at the edge of the surface of the right-angle connector 62. A drive host 65 is fixedly mounted on the output end of the servo motor 63. A machining tool 66 is detachably fixedly mounted on the end of the spindle of the drive host 65. The surface is equipped with a stabilizing component 67. When the axial rotator 61 is turned on, it can rotate the right-angle connector 62 axially by rotating the rotator end of the axial rotator 61. This allows the drive host 65 and the processing tool 66 to rotate together. At the same time, driven by the output of the servo motor 63, the drive host 65 is rotated to adjust the angle, which makes it easy to adjust the processing tool 66 to a vertical or tilted state. By using multiple states, the clamping of hardware products is reduced, and the cumulative positioning error is reduced. This helps the spindle of the drive host 65 to rotate the processing tool 66 accurately and process the hardware products precisely. The right-angled connector 62 is installed directly below the axial rotator 61, and the tapered holes 64 are evenly distributed along the circumferential direction of the center of the drive host 65. The stabilizing component 67 includes an electric telescopic rod 671 and a guide rail 672. The electric telescopic rod 671 is fixedly installed at the middle of the outer side of the drive host 65. The guide rail 672 is fixedly installed on the surface of the drive host 65 and close to the electric telescopic rod 671. A connecting slider 673 is slidably installed inside the guide rail 672. A limit cone 674 is fixedly installed on the surface of the connecting slider 673. Before milling, drilling, grinding, or other processing of hardware products, the telescopic end of the electric telescopic rod 671 extends to drive the connecting slider 673 to slide smoothly along the guide rail 672. The slider 673 will drive the tip of the limiting cone 674 to precisely engage inside the conical hole 64, forming a dual circumferential and radial limiting constraint on the drive host 65 and the machining tool 66. This solves the problem of slight shaking, offset, and vibration that easily occurs when the spindle of a traditional five-axis machining robot operates at high speed and adjusts in multiple dimensions. At the same time, the four limiting cones 674 are evenly distributed at four points to cooperate with the conical hole 64 in a circumferential array, achieving multi-point balanced locking, uniform force, and reliable positioning. Even after the drive host 65 rotates, the limiting cones 674 still fit into the conical hole 64 in the circumferential direction.

[0032] There are two electric telescopic rods 671, and the two electric telescopic rods 671 are symmetrically installed along the drive host 65. The surface of the connecting slider 673 is in contact with the inner side of the guide rail 672, and the telescopic end of the electric telescopic rod 671 is fixedly installed between the telescopic end and the surface of the connecting slider 673.

[0033] There are four limiting cones 674, and the four limiting cones 674 are evenly distributed at the position of the drive host 65, with the tip of the limiting cone 674 facing the tapered hole 64.

[0034] Example 2, based on Example 1, see [link / reference] Figures 1 to 6 A technical solution is provided: The support mechanism 7 is used to support the rotating base 1 as a whole and to perform plug-in locking; The support mechanism 7 includes a hydraulic cylinder 71 and a bearing base 72. The hydraulic cylinder 71 is fixedly installed on the top of the surface of the rotating base 1. The top of the bearing base 72 is fixedly installed between the top of the rotating base 1 and the base of the rotating base 1. A conical ring 73 is fixedly installed on the top of the bearing base 72. A pressing block 74 is fixedly connected to the telescopic end of the hydraulic cylinder 71. A insertion and extraction limiting tooth 75 is fixedly connected to the inclined surface on the inner side of the pressing block 74. A snap-fit ​​groove 76 is opened on the conical surface on the outer side of the conical ring 73.

[0035] After the robot arm completes the angular rotation and alignment by rotating the base 1, the extension end of the hydraulic cylinder 71 can drive the pressing block 74 to press down, so that the insertion and removal limiting teeth 75 on the inner side of the pressing block 74 can be engaged in the locking groove 76 on the outer side of the conical ring 73. The dual limiting method of conical surface contact and tooth groove engagement is used to mechanically lock and fix the rotating base 1, which solves the problem that traditional robot arms rely solely on motor self-locking after rotating the work position, which is prone to shaft clearance, rotational offset and work position loosening after long-term use.

[0036] The hydraulic cylinder 71 is installed vertically. There are two hydraulic cylinders 71, and the two hydraulic cylinders 71 are installed symmetrically along the axis of the rotating base 1. The inclined surface on the inner side of the pressing block 74 matches the conical surface on the outer side of the conical ring 73.

[0037] The telescopic ends of the dual hydraulic cylinders 71 synchronously push the symmetrically arranged pressing blocks 74, so that the pressing blocks 74 and the conical ring 73 are subjected to balanced force. The conical surface fitting structure can realize automatic alignment and correction, precise positioning, and high support strength, effectively avoiding machine body shaking and station offset during the processing of the robot arm, ensuring the stability of the whole machine during multi-axis linkage processing, reducing equipment operating noise and wear, extending the service life of the equipment, and improving the safety performance of the equipment during heavy-duty processing.

[0038] The insertion and removal limiting teeth 75 are installed directly above the snap-fit ​​grooves 76, which are evenly distributed on the tapered surface of the outer side of the tapered ring 73.

[0039] Example 3, based on Examples 1 and 2, see below. Figures 1 to 9 A technical solution is provided: A chip blowing mechanism 8 is installed between the surface of the body 2 and the surface of the axial rotary device 61. The chip blowing mechanism 8 includes a blower 81, an annular shroud 82 and a circular cover plate 83. The blower 81 is fixedly installed on the surface of the body 2 and close to the upper arm 3. The center of the annular shroud 82 is fixedly installed on the surface of the rotating end of the axial rotary device 61. The center of the circular cover plate 83 is detachably fixedly installed on the surface of the axial rotary device 61. A bent pipe 84 is connected to the top side of the circular cover plate 83. A three-way flexible hose 85 is fixedly connected at a right angle to the air outlet on the outside of the blower 81. A blower nozzle 86 is fixedly connected to the bottom side of the annular shroud 82. A spiral guide vane 87 is fixedly connected inside the blower nozzle 86.

[0040] The rotating end of the axial rotator 61 passes through the center of the annular shroud 82. The top edge of the annular shroud 82 is rotatably installed between the bottom edge of the circular cover plate 83. Relying on the blowing force of the blower 81, and through the three-way hose 85 and the bend pipe 84, the airflow is stably delivered. Together with the annular shroud 82 and the conical blower nozzle 86 with the spiral guide vane 87, a three-dimensional swirling airflow is formed around the processing area of ​​the processing tool 66. Metal chips generated during the processing of hardware products can be blown away and cleaned in real time, avoiding the accumulation of chips on the workpiece processing surface, tool gaps and equipment transmission structure. On the one hand, it can prevent workpiece scratches, processing defects and dimensional errors caused by the extrusion of metal chips, and ensure the surface processing accuracy and smoothness of hardware workpieces. On the other hand, it can prevent chips from getting stuck on the surface of the processing tool 66, effectively reducing tool wear and jamming failures.

[0041] The three-way flexible hose 85 is connected to the bend pipe 84 to form an air supply channel. The blower nozzle 86 is conical and is evenly distributed on the side of the bottom of the annular shroud 82.

[0042] In use, the upper arm 3 and the lower arm 4 are controlled by the machine body 2. By using the linkage between the upper arm 3 and the lower arm 4 and the connection of the adjuster 5, the processing mechanism 6 can be quickly moved to the vicinity of the designated position. With the adjustment of the rotating end at the top of the rotating base 1, it can move to multiple positions with a wide range of movement. At the same time, the adjuster 5 adjusts the overall angle of the processing mechanism 6. Furthermore, when the operator starts the axial rotator 61, the rotation of the axial rotator 61 can drive the right-angle connector 62 to rotate axially, which in turn drives the drive host 65 and the processing tool 66 to rotate together. At the same time, driven by the output of the servo motor 63, the drive host 65 is driven to rotate and adjust the angle, making it easy to adjust the processing tool 66 to a vertical or tilted state. By using multiple states, the clamping of hardware products is reduced, and the cumulative positioning error is reduced. This helps the spindle of the drive host 65 to rotate accurately and process the hardware products precisely. Meanwhile, after the robot arm completes the angular rotation and alignment by rotating the base 1, it can extend the telescopic end of the hydraulic cylinder 71 to drive the pressing block 74 to press down, so that the insertion and removal limiting teeth 75 on the inner side of the pressing block 74 can be engaged in the locking groove 76 on the outer side of the conical ring 73. By using the dual limiting method of conical surface contact and tooth groove engagement, the rotating base 1 is mechanically locked and fixed, which solves the problem that traditional robot arms rely solely on motor self-locking after rotating the work position, which is prone to shaft clearance, rotational offset, and work position loosening after long-term use. Furthermore, before milling, drilling, grinding, and other processing of hardware products, the extension end of the electric telescopic rod 671 is used to drive the connecting slider 673 to slide smoothly along the guide rail 672. The connecting slider 673 will drive the tip of the limiting cone 674 to accurately engage inside the conical hole 64, forming a double limiting constraint in the circumferential and radial directions for the drive host 65 and the processing tool 66. This solves the problem of slight shaking, offset, and vibration that easily occurs when the spindle of the traditional five-axis machining robot is running at high speed and adjusting in multiple dimensions. At the same time, the four limiting cones 674 are evenly distributed at four points to cooperate with the conical hole 64 in a circumferential array, achieving multi-point balanced locking, uniform force, and reliable positioning. After the drive host 65 rotates, the limiting cones 674 still fit into the conical hole 64 in the circumferential direction. Moreover, relying on the blowing power of the blower 81, and achieving stable airflow delivery through the three-way hose 85 and the bend pipe 84, and in conjunction with the annular shroud 82 and the conical blower nozzle 86 with spiral guide vanes 87, a three-dimensional swirling airflow is formed around the processing area of ​​the processing tool 66. Metal chips generated during the processing of hardware products can be blown away and cleaned in real time, preventing chips from accumulating on the workpiece processing surface, tool gaps and equipment transmission structure. On the one hand, it eliminates workpiece scratches, processing defects and dimensional errors caused by metal chip compression, ensuring the surface processing accuracy and smoothness of hardware workpieces. On the other hand, it can prevent chips from getting stuck on the surface of the processing tool 66, effectively reducing tool wear and jamming failures.

[0043] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. The scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A five-axis machining robot for processing hardware products, characterized in that, include: A rotating base (1) and a body (2) fixedly installed on the rotating end of the top of the rotating base (1). A large arm (3) is installed on the top of the body (2), a small arm (4) is installed at the top of the large arm (3), an adjuster (5) is installed at the end of the small arm (4) away from the large arm (3), and a support mechanism (7) is installed at the bottom of the body (2). The machining mechanism (6) includes an axial rotary device (61) and a right-angle connector (62). The axial rotary device (61) is fixedly installed on the rotating end of the surface of the adjuster (5). The right-angle connector (62) is fixedly installed on the rotating end at the bottom of the axial rotary device (61). A servo motor (63) is fixedly installed on the outer side of the right-angle connector (62). A tapered hole (64) is opened at the edge of the surface of the right-angle connector (62). A drive host (65) is fixedly installed at the output end of the servo motor (63). A machining tool (66) is detachably fixedly installed at the end of the spindle of the drive host (65). A stabilizing component (67) is installed on the surface of the drive host (65). The stabilizing component (67) includes an electric telescopic rod (671) and a guide rail (672). The electric telescopic rod (671) is fixedly installed at the middle of the outside of the drive host (65). The guide rail (672) is fixedly installed on the surface of the drive host (65) and close to the electric telescopic rod (671). A connecting slider (673) is slidably installed inside the guide rail (672). A limit cone (674) is fixedly installed on the surface of the connecting slider (673).

2. The five-axis machining robot for processing hardware products according to claim 1, characterized in that: The support mechanism (7) is used to support the rotating base (1) as a whole and to perform plug-in locking; The support mechanism (7) includes a hydraulic cylinder (71) and a bearing base (72). The hydraulic cylinder (71) is fixedly installed on the top of the surface of the rotating base (1). The top of the bearing base (72) is fixedly installed between the top of the rotating base (1) and the base of the rotating base (1). A conical ring (73) is fixedly installed on the top of the bearing base (72). A pressing block (74) is fixedly connected to the telescopic end of the hydraulic cylinder (71). A insertion and extraction limiting tooth (75) is fixedly connected to the inclined surface on the inner side of the pressing block (74). A snap-fit ​​groove (76) is opened on the conical surface on the outer side of the conical ring (73).

3. The five-axis machining robot for processing hardware products according to claim 2, characterized in that: The hydraulic cylinder (71) is installed vertically. There are two hydraulic cylinders (71), and the two hydraulic cylinders (71) are installed symmetrically along the axis of the rotating base (1). The inclined surface inside the pressing block (74) matches the conical surface outside the conical ring (73).

4. The five-axis machining robot for processing hardware products according to claim 2, characterized in that: The insertion and removal limiting teeth (75) are installed directly above the snap-fit ​​grooves (76), which are evenly distributed on the tapered surface outside the tapered ring (73).

5. A five-axis machining robot for processing hardware products according to claim 1, characterized in that: The right-angle connector (62) is installed directly below the axial rotator (61), and the tapered holes (64) are evenly distributed along the circumferential direction of the center of the drive host (65).

6. The five-axis machining robot for processing hardware products according to claim 1, characterized in that: There are two electric telescopic rods (671), and the two electric telescopic rods (671) are symmetrically installed along the drive host (65). The surface of the connecting slider (673) is in contact with the inner side of the guide rail (672). The telescopic end of the electric telescopic rod (671) is fixedly installed between the telescopic end and the surface of the connecting slider (673).

7. A five-axis machining robot for processing hardware products according to claim 1, characterized in that: There are four limiting cones (674), and the four limiting cones (674) are evenly distributed at the position of the drive host (65), with the tip of the limiting cone (674) facing the conical hole (64).

8. A five-axis machining robot for processing hardware products according to claim 1, characterized in that: A chip blowing mechanism (8) is installed between the surface of the body (2) and the surface of the axial rotary device (61). The chip blowing mechanism (8) includes a blower (81), an annular shroud (82) and a circular cover plate (83). The blower (81) is fixedly installed on the surface of the body (2) and close to the upper arm (3). The center of the annular shroud (82) is fixedly installed on the surface of the rotating end of the axial rotary device (61). The center of the circular cover plate (83) is detachably fixedly installed on the surface of the axial rotary device (61). A bent pipe (84) is connected to the top side of the circular cover plate (83). A three-way flexible hose (85) is fixedly connected at a right angle to the air outlet outside the blower (81). A blow nozzle (86) is fixedly connected to the bottom side of the annular shroud (82). A spiral guide plate (87) is fixedly connected inside the blow nozzle (86).

9. A five-axis machining robot for processing hardware products according to claim 8, characterized in that: The rotating end of the axial rotator (61) passes through the center of the annular shroud (82), which is rotatably mounted between the top edge of the annular shroud (82) and the bottom edge of the circular cover plate (83).

10. A five-axis machining robot for processing hardware products according to claim 8, characterized in that: The three-way flexible hose (85) is connected to the bend pipe (84) to form an air supply channel. The blower nozzle (86) is conical and is evenly distributed on the side of the bottom of the annular shroud (82).

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