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

Abstract

The utility model 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 used for machining workpieces and a conveying device of the five-axis machining robots used 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] This utility model relates to the field of machining, specifically to a truss-type five-axis machining equipment based on a hybrid structure. Background Technology

[0002] With the development of mechanical component processing demands, workpieces characterized by large size, complex shape, high positional accuracy and surface quality requirements, and thin-walled structures are receiving increasing attention. These workpieces pose a severe challenge to the processing capabilities of basic manufacturing equipment. To address the high-precision manufacturing of large and complex structural components, five-axis machining equipment is introduced for precision operation during the processing. However, existing single five-axis machining equipment cannot simultaneously meet the multi-mode functional requirements of robots. For example, the hybrid robot automated processing line disclosed in CN202311712822.8 typically requires multiple sets of additional equipment to achieve efficient switching between multiple modes. Some hybrid robots have limited degrees of freedom, making it difficult to adjust the angles during workpiece processing, which is inconvenient for processing complex workpieces. Furthermore, existing technologies cannot achieve standardized operations by arranging several unconnected processing devices in the same work environment. The workpiece processing flow is complex, processing management is difficult, and processing devices need to be controlled separately by terminals, failing to achieve intelligent interconnection. Moreover, the specifications are inconsistent, making it impossible to achieve modular and rapid matching according to the needs of technicians. Utility Model Content

[0003] This utility model addresses the shortcomings of existing technologies by providing a truss-type five-axis machining equipment based on a hybrid structure. It includes several five-axis machining robots for machining workpieces, and a conveying device for transporting the workpieces to or from the machining position of the five-axis machining robots. The conveying device includes a workpiece table for fixing the workpiece, a horizontal conveying part for moving the workpiece table, and a lifting part for raising and lowering the workpiece table. 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 mounted on the table to adjust the relative angle of the workpiece to the machining angle, a displacement positioning mechanism for changing the machining position of the five-axis machining robots relative to the workpiece, and a linkage tool changing mechanism for changing the tool of the five-axis machining robots. The several five-axis machining robots are arranged on opposite sides to form a parallel working state, simultaneously machining the same workpiece, or the several five-axis machining robots are arranged on the same side to form a series working state. The conveying device connects the working steps of the several five-axis machining robots in series.

[0004] Preferably, the five-axis machining robot includes a mounting table, a moving platform, and an action unit for driving the moving platform to perform actions. The moving platform is provided with a swivel head assembly for mounting machining tools, three rotating frames that can rotate independently relative to the mounting table, and three adjustment devices. Each adjustment device can extend and retract to adjust the swivel head assembly to the position required for machining.

[0005] Preferably, the displacement and positioning mechanism includes a displacement seat and a positioning frame, the five-axis machining robot is mounted on the positioning frame, the bottom of the positioning frame is disposed on the displacement seat, and the displacement seat includes a line-moving stage and an approach moving stage.

[0006] Preferably, the approach moving platform is slidably fitted above the line-moving platform, the positioning frame is fixedly installed above the approach moving platform, the top of the approach moving platform is provided with an approach screw, the two sides of the approach screw are provided with guide rails, the positioning frame mounting platform is provided on the guide rails, the bottom two sides of the positioning frame mounting platform are slidably fitted with the guide rails, the bottom of the positioning frame mounting platform is movable in cooperation with the approach screw, and the bottom of the positioning frame is fixedly installed on the upper surface of the positioning frame mounting platform.

[0007] Preferably, it also includes a gantry for installing auxiliary equipment, with two gantry on each side of the five-axis machining robot arranged opposite each other.

[0008] Preferably, the linkage tool changing mechanism includes a tool changing platform, which is set on the top of the equipment gantry. A robotic arm module and a tool holder are slidably mounted on the tool changing platform. A tool clamping module is provided at one end of the robotic arm module. The robotic arm module controls the tool clamping module to move between the tool holder and the processing equipment to perform tool replacement operations.

[0009] Preferably, the tool changing platform includes a positioning plate, guide rails, and a drive rack. The positioning plate is fixedly disposed at the lower part of the tool changing platform, and the tool changing platform is fixed to the top of the equipment gantry via the positioning plate. The guide rails are disposed on the side wall of the tool changing platform, and the upper and lower guide rails slide in cooperation with the robotic arm module and the tool holder. The drive rack drives in cooperation with the robotic arm module and the tool holder.

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

[0011] Preferably, the horizontal conveying unit 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 unit. Several groups of the five-axis machining robots are arranged along the extension direction of the slide rail. Each group of the five-axis machining robots completes the corresponding processing steps. The wheels of the conveying trolley are installed on the slide rail and roll.

[0012] Compared with the prior art, the advantages of this utility model are as follows: the five-axis machining equipment is installed using gantry and truss modular installation, which facilitates deployment and integrated management, increases equipment stability, and improves installation accuracy;

[0013] Five-axis machining equipment can be deployed in parallel or in series according to the processing steps relative to the production line direction, which offers a high degree of flexibility. For the processing of complex workpieces, equipment investment can be rationally arranged to improve efficiency and reduce equipment operating costs.

[0014] The conveying device includes a horizontal conveyor section for conveying the workpiece table in a horizontal direction. The workpiece is transported to the required position through the horizontal conveyor section to form a processing device. It has a high degree of automation and high processing efficiency. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be discussed below. Obviously, the technical solutions described in conjunction with the accompanying drawings are only some embodiments of this utility model. For those skilled in the art, other embodiments and their accompanying drawings can be obtained from the embodiments shown in these drawings without creative effort.

[0016] Figure 1 This is a side view schematic diagram of the truss-type five-axis machining equipment based on the hybrid structure of this utility model;

[0017] Figure 2 This is a schematic diagram of the multi-unit hybrid connection of the truss-type five-axis machining equipment based on the hybrid structure of this utility model.

[0018] Figure 3 This is a three-dimensional view of the parallel state of the truss-type five-axis machining equipment based on the hybrid structure of this utility model;

[0019] Figure 4 This is a schematic diagram of the lifting and rotating mechanism of the truss-type five-axis machining equipment based on the hybrid structure of this utility model;

[0020] Figure 5 This is a schematic diagram of the installation state structure of the five-axis machining robot of the truss-type five-axis machining equipment based on the hybrid structure of this utility model;

[0021] Figure 6 This is a schematic diagram of the five-axis machining robot actuator of the truss-type five-axis machining equipment based on the hybrid structure of this utility model;

[0022] Figure 7 This is a schematic diagram of the rear structure of the five-axis machining robot in the truss-type five-axis machining equipment based on the hybrid structure of this utility model;

[0023] Figure 8 This is a schematic diagram of the lower structure of the five-axis machining robot in the truss-type five-axis machining equipment based on the hybrid structure of this utility model;

[0024] Figure 9 This is a schematic diagram of the swivel head assembly structure of the truss-type five-axis machining equipment based on the hybrid structure of this utility model.

[0025] In the diagram: 1-Five-axis machining robot, 11-Base, 12-First rotating frame, 13-Second rotating frame, 14-Third rotating frame, 15-First adjustment device, 151-Support arm, 152-Sliding assembly, 16-Second adjustment device, 17-Third adjustment device, 18-Moving platform, 19-Swivel head assembly, 191-Rotating bracket, 192-Second motor, 193-Third motor, 194-First motor, 2-Transmission belt, 21-Tool mounting section, 3-Conveying device, 31-Rotating device, 32-Rotating table, 33-Fourth motor, 35-Lifting platform, 4-Base, 5-Workpiece table, 51-Gantry frame, 6-Tool changing base, 61-Positioning plate, 62-Guide rail, 63-Drive rack, 64-Cable drag chain, 7-Drive seat, 71-Drive motor, 72-Tool holder, 73-Robot arm adjustment seat, 75-Adjustment head, 8-Slide rail, 81-Conveying trolley. Detailed Implementation

[0026] The technical solutions of various embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this utility model, and not all of them. Based on the embodiments described in this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0027] For embodiments of this utility model, please refer to... Figures 1-9 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 a conveying device 3 for conveying the workpieces to or from the machining position of the five-axis machining robots 1. The conveying device 3 includes a workpiece table 5 for fixing the workpieces and a horizontal conveying part for driving the workpiece table 5 to move, and a lifting part for driving the workpiece table 5 to rise and fall. The workpiece table 5 is provided with a workpiece mounting seat for fixing the workpieces.

[0028] It also includes an angle adjustment mechanism for rotating the workpiece platform 5 after it is mounted on the machine, thereby adjusting the relative angle of the workpiece to the machining angle.

[0029] It also includes a displacement and positioning mechanism that enables the five-axis machining robot 1 to change its machining station position relative to the workpiece.

[0030] This processing equipment also includes a linkage tool changing mechanism for performing tool replacement operations on the five-axis machining robot 1.

[0031] The five-axis machining robot 1 includes a mounting table 11, a moving platform 18, and an action unit for driving the moving platform 18 to perform actions. The moving platform 18 is provided with a swivel head assembly 19 for mounting machining tools, three rotating frames that can rotate independently relative to the mounting table 11, and three adjustment devices. Each adjustment device can extend and retract to adjust the swivel head assembly 19 to the position to be processed.

[0032] Specifically, the displacement and positioning mechanism includes a displacement seat 4 and a positioning frame. The five-axis machining robot 1 is mounted on the positioning frame. The bottom of the positioning frame is positioned on the displacement seat 4, enabling the five-axis machining robot 1 to change its machining position relative to the workpiece. The displacement seat 4 includes a moving platform along the line and a approach moving platform. A parallel guide rack is arranged along the horizontal transport direction of the processed part in the moving platform. The approach moving platform is slidably fitted above the moving platform and is driven by a power motor on the approach moving platform, which outputs a power gear that meshes with the parallel guide rack. The positioning frame is fixedly installed above the approach moving platform. A approach screw is provided on the top of the approach moving platform, and the approach screw is perpendicular to the parallel guide rack. Guide rails are provided on both sides of the approach screw, and a positioning frame mounting platform is provided on the guide rails. The bottom sides of the positioning frame mounting platform are slidably fitted with the guide rails, and the bottom of the positioning frame mounting platform moves in conjunction with the approach screw. The bottom of the positioning frame is fixedly mounted on the upper surface of the positioning frame mounting platform.

[0033] The five-axis machining robot 1 includes the mounting platform 11, the moving platform 18, and the motion unit for driving the moving platform 18 to move. The moving platform 18 is provided with a swivel head assembly 19 for mounting machining tools. The swivel head assembly 19 is provided with a vision sensor that scans toward the side of the machining tool.

[0034] The workpiece stage 5 is fixedly equipped with calibration blocks corresponding to the vision sensor. The vision sensor performs visual scanning on the calibration blocks to calibrate their coordinates. Four calibration blocks are provided, located at the four corners of the workpiece stage 5. Each calibration block has a triangular protrusion at its upper end for the vision sensor to calculate the coordinates. In this embodiment, the vision sensor is a 3D laser vision sensor. The vision sensor is electrically connected to an external system to transmit the coordinate position signals of the calibration blocks scanned by the vision sensor to the external system. By scanning the spatial position signals of the calibration blocks, the external system calculates and determines the spatial position of the workpiece through a program. The program then controls the hybrid robot body to process the workpiece after position calibration, avoiding significant deviations between the workpiece position and the processing program, thus improving the accuracy of workpiece processing.

[0035] See Figures 5-9 The actuating unit includes a first rotating frame 12, a second rotating frame 13, and a third rotating frame 14 mounted 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. Each of the three adjusting devices—first, second, and third—can extend or retract independently. The ends of each of the three adjusting devices are hinged to the moving platform 18.

[0036] The first rotating frame 12 rotates relative to the mounting platform 11 and has a first rotation axis L; the second rotating frame 13 rotates relative to the mounting platform 11 and has a second rotation axis M, with the first rotation axis L and the second rotation axis M being collinear; the third rotating frame 14 rotates relative to the mounting platform 11 and has a third rotation axis N, with the third rotation axis N being perpendicular to the first rotation axis L; the first adjusting device 15 rotates relative to the first rotating frame 12 and has a fourth rotation axis P, with the fourth rotation axis P being perpendicular to the first rotation axis L, providing high processing freedom and flexibility.

[0037] The mounting platform 11 is fixedly equipped with two opposing first mounting blocks, two opposing second mounting blocks, and two opposing third mounting blocks. A first rotating frame 12 is rotatably connected between the two first mounting blocks, a second rotating frame 13 is rotatably connected between the two second mounting blocks, and a third rotating frame 14 is rotatably connected between the two third mounting blocks. The first, second, and third mounting blocks are fixed to the mounting platform 11 by multiple bolts. A first bearing is provided between the mounting blocks and their corresponding rotating frames, resulting in smoother rotation and improved machining accuracy.

[0038] The first adjustment device 15 includes a support arm 151, a sliding assembly 152, and a driving part for driving the sliding assembly 152 to slide relative to the support arm 151. One end of the support arm 151 is hinged to the moving platform 18. The sliding assembly 152 includes a nut and a lug connected to the nut. A second bearing is provided between the lug and the nut. The nut is rotatably connected to the first rotating frame 12 through the lug. The driving part includes a first motor 194 and a lead screw connected to the output end of the first motor 194. The first motor 194 is fixed to the support arm 151. The nut is correspondingly fitted onto the lead screw. The first motor 194 rotates forward or backward to drive the lead screw to rotate, so that the nut moves along the axial direction of the lead screw, thereby driving the lug to move closer to or away from the hinge point between the support arm 151 and the moving platform 18. The support arm 151 is equipped with a guide rail, and the nut is connected to a slider corresponding to the guide rail, making the sliding smoother and improving the machining 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 the motors of the three adjustment devices respectively, the moving platform 18 can be transported to the required position.

[0039] The first rotating frame 12 is provided with a first through groove, and the first adjusting device 15 is placed in the first through groove; the second rotating frame 13 is provided with a second through groove, and the second adjusting device 16 is placed in the second through groove; the third rotating frame 14 is provided with a third through groove, and the third adjusting device 17 is placed in the third through groove. All three rotating frames are hollow.

[0040] The oscillating head assembly 19 includes a rotating bracket 191 and a rotating block rotatably connected to the rotating bracket 191. A second motor 192 is mounted on the moving platform 18 to drive the rotating bracket 191 to rotate. The rotation direction of the motor shaft of the second motor 192 is the same as the rotation direction of the rotating bracket 191. The output end of the second motor 192 is connected to the rotating bracket 191. A third motor 193 is mounted on the rotating bracket 191 to drive the rotating block to rotate. The output end of the third motor 193 is connected to the rotating block via a transmission belt 2. The second motor 192 and the third motor 193 enable the rotating block to rotate in two degrees of freedom, further improving the machining freedom. The rotating block is provided with a tool mounting part 21 for mounting tool holders.

[0041] This processing equipment also includes a gantry frame 41 for installing auxiliary equipment, and the two gantry frames 41 on both sides of the five-axis processing robot 1 are arranged opposite each other.

[0042] The linked tool changing mechanism includes a tool changing platform 6, which is mounted on top of the equipment gantry 41. A robotic arm module and a tool holder 72 are slidably mounted on the tool changing platform 6. A tool clamping module is provided at one end of the robotic arm module. The robotic arm module and the tool holder 72 slide on the tool changing platform 6 to a tool changing position above the processing equipment. The robotic arm module controls the tool clamping module to move between the tool holder 72 and the processing equipment.

[0043] The tool changing platform 6 includes a positioning plate 61, guide rails 62, and a drive rack 63. The positioning plate 61 is fixedly mounted on the lower part of the tool changing platform 6, and the tool changing platform 6 is fixed to the top of the equipment gantry 41 via the positioning plate 61. The guide rails 62 are mounted on the side wall of the tool changing platform 6, with the upper and lower guide rails 62 slidingly engaging with the robotic arm module and the tool holder 72. The drive rack 63 is mounted on the side wall of the tool changing platform 6, parallel to the guide rails 62, and engages in transmission with the robotic arm module and the tool holder 72. A cable drag chain 64 is also provided on the tool changing platform 6 to protect the connecting cables of the tool changing platform 6 and the robotic arm module.

[0044] The robotic arm module is fixed to the drive base 7, and the direction of the drive base 7 is parallel to the running direction of the slide rail 8. The drive base 7 cooperates with the guide rail 62, and the drive base 7 is equipped with a drive motor 71. The drive motor 71 cooperates with the drive rack 63 through gears, enabling the drive base 7 to move horizontally on the guide rail 62. The tool holder 72 is provided with several tool slots for placing tools that are not in use temporarily.

[0045] The robotic arm module includes a robotic arm adjustment base 73, a first arm, a second arm, and a third arm. The bottom of the robotic arm adjustment base 73 is fixedly mounted on the drive base 7. The bottom of the first arm is driven to the robotic arm adjustment base 73. The tail of the second arm is driven to the first arm to form a hinge. The front of the second arm is driven to the tail of the third arm to form a hinge. The front end of the third arm is rotatably connected to the tool clamping module.

[0046] The tool clamping module includes an adjustment head 75 and clamping jaws. The adjustment head 75 is rotatably disposed at one end of the mechanical module away from the mechanical arm adjustment seat 73. The clamping jaws include a main clamping jaw and a secondary clamping jaw.

[0047] The angle adjustment mechanism includes a rotating device 31, with two rotating devices 31 respectively arranged opposite to each other on the equipment gantry 41. Each rotating device 31 has a locking part for engaging with the workpiece table 5, and the rotating device 31 drives the engaged workpiece table 5 to rotate.

[0048] The rotating device 31 includes a rotating table 32 and a first driving unit for driving the rotating table 32 to rotate. The rotating table 32 has a fifth rotation axis Z when rotating. The locking part includes a ball-type differential ring disposed on the rotating table 32. The workpiece stage 5 is provided with a sleeve for interlocking with the ball-type differential ring. The ball-type differential ring includes balls that can expand / contract, and the balls expand / contract under program control. The inner sidewall of the sleeve has a groove corresponding to the balls. A first positioning post is provided on one side of the ball-type differential ring, and a first positioning hole corresponding to the first positioning post is provided on the sleeve. The locking part also includes a plug-in post disposed on the rotating table 32 and a cylinder for driving the plug-in post to slide along its own axial direction. The axis of the plug-in post is parallel to the horizontal plane. The workpiece stage 5 is provided with slots corresponding to the insertion pins. Several second positioning pins are provided on the upper side of the lifting unit, and several second positioning holes corresponding to the second positioning pins are provided on the lower side of the workpiece stage 5. When the lifting unit raises the workpiece stage 5 to a height where it can engage with the corresponding engaging part, the insert sleeve engages with the ball-type differential ring. At this time, the ball is controlled to expand outwards, causing the ball to fall into the slot. The first positioning pin is positioned by being guided into the first positioning hole. The lower end of the first positioning pin has a chamfer to facilitate its insertion into the first positioning hole, ensuring accurate engagement between the ball-type differential ring and the insert sleeve. When the rotary table 32 engages with the workpiece stage 5, the cylinder drives the insertion pin to extend and insert into the slot. By engaging the insertion pin with the slot of the workpiece stage 5, the rotary table 32's ability to bear the weight of the workpiece stage 5 is enhanced.

[0049] The rotary table 32 is equipped with a guiding and positioning mechanism, which includes a first positioning block on the rotary table 32 and a second positioning block on the workpiece table 5. The first positioning block corresponds to the second positioning block. The first positioning block is provided with a first guide slope and a vertically placed roller, and the second positioning block is provided with a second guide slope corresponding to the first guide slope. The first driving unit includes a fourth motor 33, and the output end of the fourth motor 33 is connected to the rotary table 32.

[0050] The lifting unit includes a lifting platform 35 and a second drive unit for driving the lifting platform 35 to move up and down. The workpiece table 5 is placed on the upper side of the lifting platform 35. The second drive unit includes a workpiece mounting base, a scissor frame, and an electric cylinder. The scissor frame is connected between the lifting platform 35 and the workpiece mounting base. The electric cylinder is mounted on the workpiece mounting base, and its output end is connected to the scissor frame and drives the scissor frame to fold / unfold.

[0051] During the lifting of the workpiece stage 5, the rollers are guided and abutted against the second positioning block, so that the workpiece stage 5 is clamped and positioned between the rollers of the two rotating stages 32. The first drive unit includes a fourth motor 33, the output end of which is connected to the rotating stage 32, and the fourth motors 33 on the two equipment gantry frames 41 rotate synchronously. In this embodiment, the fourth motor 33 is a servo motor. When the scissor frame is unfolded, it drives the lifting platform 35 to rise. When the scissor frame is folded, it drives the lifting platform 35 to fall, making lifting and lowering convenient.

[0052] The horizontal conveying unit includes a slide rail 8 laid on the ground and a battery-powered conveying trolley 81 running along the slide rail 8. Multiple sets of five-axis machining robots 1 are arranged on both sides of the slide rail 8, each set capable of performing different machining operations. The wheels of the conveying trolley 81 are mounted on the slide rail 8 and roll. A workpiece mounting seat is located on the upper side of the conveying trolley 81, and the horizontal conveying unit transports the workpiece to the desired position.

[0053] During processing, the workpiece table 5 is placed above the lifting unit and positioned by engaging with the second positioning pin and the second positioning hole. The angle adjustment mechanism can automatically lift the workpiece table 5 to mid-air for rotational positioning, with a large rotation range, facilitating the rotation of the workpiece on the workpiece table 5 to the required tilt angle for processing. Before processing, the lifting unit raises the workpiece table 5 to a height that allows it to engage with the engaging part. The height of the workpiece table 5 during engagement is required to allow it to complete one full rotation. Then, the engaging part engages with the workpiece table 5. After engagement, the lifting unit lowers to the initial height, and the rotating device 31 rotates the workpiece table 5 to the required tilt angle for positioning, so that the five-axis machining robots 1, equipped with machining tools and located on both sides of the equipment gantry 41, can process the workpiece individually or in parallel with multiple robots.

[0054] During processing, the oscillating head assembly 19 is transported to the required processing position by the extension and retraction adjustment of the three adjustment devices. The extension and retraction of the three adjustment devices are calculated by the program. The three adjustment devices are installed on the three rotating frames respectively. The three rotating frames can rotate independently relative to the mounting table 11, which provides a high degree of processing freedom and facilitates the processing of complex workpieces.

[0055] After the workpiece is processed, the rotating device 31 drives the workpiece table 5 to rotate to the horizontal state before processing. The lifting part is then raised again to the height of the snap-fit, so that the second positioning pin is snapped into the second positioning hole for positioning. The snap-fit ​​part is reset to the state before snap-fit. At this time, the lifting part drives the workpiece table 5 to descend to the preset height so that the processed workpiece can be picked up or transported away later.

[0056] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered exemplary and not restrictive in all respects. The scope of this invention is defined by the appended claims, not by the foregoing description, and is therefore intended to encompass all variations falling within the meaning and scope of equivalents of the claims. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0057] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A truss-type five-axis machining equipment based on a hybrid structure, characterized in that: This includes several five-axis machining robots used for processing workpieces. It also includes a conveying device for the five-axis machining robot used to send workpieces to or from the processing position. 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 rise and fall. A workpiece mounting seat for fixing the workpiece is provided on the workpiece table. It also includes an angle adjustment mechanism for rotating the workpiece table after it is mounted on the machine, thereby adjusting the relative angle of the workpiece to the machining angle. It also includes a displacement and positioning mechanism that enables the five-axis machining robot to change its machining station position 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 aforementioned five-axis machining robots are arranged on opposite sides to form a parallel working state and simultaneously process the same workpiece, or several of the aforementioned five-axis machining robots are arranged on the same side to form a serial working state, and the working steps of the several of the aforementioned five-axis machining robots are connected in series through the aforementioned conveying device.

2. The truss-type five-axis machining equipment based on a hybrid structure according to claim 1, characterized in that: The five-axis machining robot includes a mounting table, a moving platform, and a motion unit for driving the moving platform to move. The moving platform is equipped with a swivel head assembly for mounting machining tools, three rotating frames that can rotate independently relative to the mounting table, and three adjustment devices. Each adjustment device can extend and retract to adjust the swivel head assembly to the required machining position.

3. The truss-type five-axis machining equipment based on a hybrid structure according to claim 1, characterized in that: The displacement and positioning mechanism includes a displacement seat and a positioning frame. The five-axis machining robot is mounted on the positioning frame. The bottom of the positioning frame is disposed on the displacement seat. The displacement seat includes a line-moving stage and a approach moving stage.

4. The truss-type five-axis machining equipment based on a hybrid structure according to claim 3, characterized in that: The approach moving platform is slidably fitted above the line-moving platform, and the positioning frame is fixedly installed above the approach moving platform. An approach lead screw is provided on the top of the approach moving platform, and guide rails are provided on both sides of the approach lead screw. A positioning frame mounting platform is provided on the guide rails. The bottom sides of the positioning frame mounting platform are slidably fitted with the guide rails, and the bottom of the positioning frame mounting platform moves in cooperation with the approach lead screw. The bottom of the positioning frame is fixedly installed 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, characterized in that: It also includes a gantry for installing auxiliary equipment, with two gantry on each side of the five-axis machining robot arranged opposite each other.

6. The truss-type five-axis machining equipment based on a hybrid structure according to claim 5, characterized in that: The linkage tool changing mechanism includes a tool changing platform, which is set on the top of the equipment gantry. A robotic arm module and a tool holder are slidably mounted on the tool changing platform. A tool clamping module is provided at one end of the robotic arm module. The robotic arm module controls the tool clamping module to move between the tool holder 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, characterized in that: The tool changing platform includes a positioning plate, guide rails, and a drive rack. The positioning plate is fixedly installed at the lower part of the tool changing platform, and the tool changing platform is fixed to the top of the equipment gantry through the positioning plate. The guide rails are installed on the side wall of the tool changing platform, and the upper and lower guide rails slide in cooperation with the robotic arm module and the tool holder. The drive rack is in transmission cooperation with the robotic arm module and the tool holder.

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

9. The truss-type five-axis machining equipment based on a hybrid structure according to claim 1, characterized in that: The horizontal conveying unit 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 unit. Several groups of the five-axis machining robots are arranged along the extension direction of the slide rail. Each group of the five-axis machining robots completes the corresponding processing steps. The wheels of the conveying trolley are installed on the slide rail and roll.

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