Processing equipment

Abstract

The utility model discloses machining equipment. A machining table is arranged on the base. The three-dimensional vision mechanism is arranged on the outer side of the upper surface of the machining table, and the three-dimensional vision mechanism obtains position information and posture information of the workpiece. The machining mechanism comprises a controller and a robot drilling and milling assembly, the controller is electrically connected with the robot drilling and milling assembly, the robot drilling and milling assembly is arranged on the base, a measuring tool or a cutter is detachably installed at the tail end of the robot drilling and milling assembly, the measuring tool makes contact with the workpiece to obtain size information of the workpiece, and the measuring tool is electrically connected with the controller. The controller controls the cutter to machine the workpiece according to the position information and the posture information transmitted by the three-dimensional vision mechanism and the size information transmitted by the measuring tool. The machining table is arranged at the end of the base, the machining table and the machining mechanism are arranged at intervals, and at least part of the projection of the three-dimensional vision mechanism in the height direction of the base falls between the machining table and the machining mechanism. The problem that in the prior art, machining efficiency of machining equipment for large structural components is low is solved.

Description

Technical Field

[0001] This application relates to the field of machining technology, and more specifically, to a machining equipment. Background Technology

[0002] Currently, gantry milling machines are primarily used for machining structural components. Large gantry milling machines are required for machining large structural components. However, due to the limited machining area and degrees of freedom of large gantry milling machines, complex workpieces often require two or more positioning operations before machining, resulting in low machining efficiency. Furthermore, large gantry milling machines occupy a large area and are expensive, leading to high machining costs for large structural components. Utility Model Content

[0003] The main objective of this application is to provide a processing device to solve the problem of low processing efficiency of existing processing devices for large structural components.

[0004] According to one aspect of this application, a processing apparatus is provided, comprising:

[0005] A base, on which a processing table is provided, the processing table being used to mount workpieces;

[0006] A three-dimensional vision mechanism is disposed on the outer side of the upper surface of the processing table, and the three-dimensional vision mechanism is used at least to acquire the position information and orientation information of the workpiece;

[0007] A machining mechanism includes a controller and a robotic drilling and milling assembly. The controller is electrically connected to the robotic drilling and milling assembly, which is mounted on a base. A measuring tool or a cutting tool is detachably mounted at the end of the robotic drilling and milling assembly. The measuring tool contacts the workpiece to obtain the workpiece's dimensional information, and is electrically connected to the controller. The controller controls the cutting tool to machine the workpiece based on the position and posture information transmitted by the three-dimensional vision mechanism and the dimensional information transmitted by the measuring tool.

[0008] Wherein, along the length direction of the base, the processing table is disposed at the end of the base and spaced apart from the processing mechanism, and at least a portion of the projection of the three-dimensional vision mechanism along the height direction of the base falls between the processing table and the processing mechanism.

[0009] Furthermore, the three-dimensional vision mechanism includes at least one of a structured light sensor and a laser scanner. The structured light sensor obtains the position information and the orientation information of the workpiece by acquiring the pattern of the workpiece. The laser scanner obtains the position information and the orientation information of the workpiece by emitting a laser signal to the workpiece and receiving a laser signal reflected back from the workpiece.

[0010] Furthermore, the robotic drilling and milling assembly includes:

[0011] A robotic arm, which is electrically connected to the controller;

[0012] A spindle is connected to the end of the robotic arm, and the side of the spindle facing away from the robotic arm can be selectively connected to either the measuring tool or the cutting tool. The controller controls the robotic arm to drive the measuring tool to contact the workpiece to obtain the workpiece's dimensional information, or the controller controls the robotic arm to drive the cutting tool to process the workpiece.

[0013] Furthermore, the spindle is connected to the end of the robotic arm via a connecting component, the connecting component comprising:

[0014] A flange assembly, which is connected to the side of the robotic arm near the spindle;

[0015] A clearance groove is provided between the main shaft and the flange assembly. Along the groove depth direction, the side of the clearance groove away from the groove opening is connected to the flange assembly, and the groove opening faces the main shaft. A heat dissipation mechanism is provided inside the clearance groove.

[0016] Furthermore, a rotating shaft is provided on the side of the robotic arm near the main shaft, and a rotating flange is fitted on the rotating shaft. The rotating shaft rotates around its own axis, driving the rotating flange to rotate. The rotating flange is provided with a plurality of first through holes, which are spaced apart along the outer periphery of the rotating flange. The flange assembly includes:

[0017] A first flange is fitted onto the rotating shaft. The first flange has a second through hole and a third through hole. Along the radial direction of the first flange, the third through hole is located inside the second through hole. A first locking member passes through the second through hole and the first through hole to connect the first flange to the side of the rotating flange near the main shaft.

[0018] The second flange is sleeved on the rotating shaft. The second flange has a fourth through hole and a fifth through hole. Along the radial direction of the second flange, the fifth through hole is located inside the fourth through hole. The second locking member passes through the fourth through hole and the third through hole to connect the second flange to the side of the first flange near the main shaft. The third locking member is connected to the bottom of the clearance groove through the fifth through hole.

[0019] Furthermore, the processing equipment also includes:

[0020] A tool magazine is disposed on the base. The tool magazine has a tool setting edge. The tool magazine has a first position for accommodating the measuring tool and a second position for accommodating the cutting tool. Both the first position and the second position can be moved relative to the base to a position opposite to the tool setting edge. The measuring tool and the cutting tool are each provided with a first locking part. The spindle is provided with a second locking part that cooperates with the first locking part. The controller controls the spindle to move to a position opposite to the tool setting edge and drives the first locking part to engage or disengage from the second locking part.

[0021] Furthermore, the base is provided with at least two chip removal grooves, which are respectively located on opposite sides of the base in the width direction. The processing equipment further includes:

[0022] A chip guiding component is disposed on the base and surrounds the outer periphery of the processing table. A chip guiding channel is provided on the side of the chip guiding component near the base, and the chip guiding channel is interconnected with the chip discharge groove.

[0023] A chip conveyor is disposed on at least one side of the base along its length. The chip conveyor includes a chip collecting part and a suction part connected to each other. A chip collecting channel is provided in the chip collecting part, and the chip collecting channel is connected to the end of the chip discharge groove away from the chip guide channel.

[0024] Furthermore, the chip guiding component includes:

[0025] The chip guide block comprises multiple chips, which are disposed on the base and surround the outer wall of the processing table. Along the height direction of the base, the chip guide block has an inclined surface on the side away from the base, and the inclined surface is inclined towards the chip guide channel.

[0026] A surrounding plate is disposed on the base and surrounds the outside of the chip guide block. Along the width direction of the base, there is a gap between the inner wall surfaces of opposite sides of the surrounding plate and the outer periphery of the chip guide block, and the gap forms the chip guide channel.

[0027] Furthermore, the processing equipment also includes:

[0028] The protective mechanism includes a housing assembly and a base assembly. The base assembly is disposed on the upper surface of the base and extends at least partially to the outside edge of the base. The housing assembly is connected to the outer edge of the base assembly and forms a protective space with the base assembly. The upper surface of the processing table, the three-dimensional vision mechanism, and the robot drilling and milling assembly are all located within the protective space.

[0029] Furthermore, the base assembly includes multiple plates connected to the upper surface of the base, with adjacent plates detachably connected, and at least a portion of the outer edges of the plates abutting against the bottom end of the processing table and the bottom end of the robot drilling and milling assembly.

[0030] Furthermore, the controller includes a control panel, which is at least partially embedded in the housing assembly.

[0031] Furthermore, the housing assembly has an opening that communicates with the protective space and is positioned opposite to the processing table along the length of the base.

[0032] In this application, a 3D vision mechanism acquires the workpiece's position and orientation information, a measuring tool acquires the workpiece's dimensions, and a controller controls a robotic milling assembly to process the workpiece based on the position, orientation, and dimensions. The robotic milling assembly offers greater flexibility and freedom, enabling it to move to various positions on the workpiece for measurement and processing. This ensures the processing equipment can perform single-position processing of complex workpieces, effectively improving processing efficiency. Furthermore, the use of a robotic milling assembly significantly reduces the space occupied by the processing equipment, lowering purchase and site costs, and consequently reducing the processing cost of large structural components. A measuring tool or cutting tool is detachably mounted at the end of the robotic milling assembly. During actual processing, the assembly can flexibly change the measuring tool or cutting tool according to processing requirements, ensuring more convenient and faster processing. The machining table and processing mechanism are spaced apart, providing ample space for the robotic milling assembly to adjust its position, ensuring smooth transitions to the required orientation and enabling precise and rapid workpiece processing. Along the height direction of the base, at least part of the projection of the 3D vision mechanism falls between the processing table and the processing mechanism, so that the line of sight between the 3D vision mechanism and the workpiece is not obstructed. The 3D vision mechanism can obtain the position and posture information of the workpiece more accurately, ensuring the processing accuracy of the workpiece. Attached Figure Description

[0033] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0034] Figure 1 This is a schematic diagram of the processing equipment disclosed in this application;

[0035] Figure 2 This is a schematic diagram of the processing mechanism disclosed in this application;

[0036] Figure 3 This is a schematic diagram of the structure of the base disclosed in this application;

[0037] Figure 4 This is a schematic diagram of the chip guiding component disclosed in this application;

[0038] Figure 5 This is an exploded view of the chip guide component disclosed in this application;

[0039] Figure 6 This is a schematic diagram of the connecting component disclosed in this application.

[0040] The above figures include the following reference numerals:

[0041] 10. Base; 11. Machining table; 12. Chip conveyor; 20. 3D vision mechanism; 30. Machining mechanism; 31. Robotic drilling and milling assembly; 311. Robotic arm; 312. Spindle; 32. Connecting component; 321. Flange assembly; 3211. First flange; 32111. Second through hole; 32112. Third through hole; 3212. Second flange; 32121. Fourth through hole; 32122. Fifth through hole; 322. Clearance groove; 33. Rotary... Shaft; 331, Rotary flange; 3311, First through hole; 34, Control panel; 40, Tool magazine; 50, Chip guide component; 51, Chip guide channel; 52, Chip guide block; 53, Enclosure; 60, Chip conveyor; 61, Chip collection unit; 62, Suction unit; 70, Protective mechanism; 71, Housing assembly; 711, Opening; 712, Protective door; 713, Chiller; 714, Electrical cabinet; 715, Oil collection device; 72, Base assembly; 721, Plate. Detailed Implementation

[0042] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0043] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0044] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of this application. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following drawings denote similar items; therefore, once an item is defined in one drawing, it need not be further discussed in subsequent drawings.

[0045] See Figures 1 to 6 As shown, this application provides a processing device. The processing device includes a base 10, a three-dimensional vision mechanism 20, and a processing mechanism 30. A processing table 11 is disposed on the base 10, and the processing table 11 is used to mount workpieces. The three-dimensional vision mechanism 20 is disposed on the outer side of the upper surface of the processing table 11, and the three-dimensional vision mechanism 20 is used to acquire at least the position and orientation information of the workpiece. The processing mechanism 30 includes a controller and a robot milling assembly 31. The controller is electrically connected to the robot milling assembly 31. The robot milling assembly 31 is disposed on the base 10. A measuring tool or cutting tool is detachably mounted at the end of the robot milling assembly 31. The measuring tool contacts the workpiece to acquire the workpiece's dimensional information, and the measuring tool is electrically connected to the controller. The controller controls the cutting tool to process the workpiece according to the position and orientation information transmitted by the three-dimensional vision mechanism 20 and the dimensional information transmitted by the measuring tool. Wherein, along the length direction of the base 10 (e.g., ... Figure 1 (in the direction indicated by the middle arrow X), the processing table 11 is located at the end of the base 10 and spaced apart from the processing mechanism 30, and the three-dimensional vision mechanism 20 is along the height direction of the base 10 (e.g., ...). Figure 1 At least a portion of the projection of the direction indicated by the middle arrow Z falls between the machining table 11 and the machining mechanism 30.

[0046] In this embodiment, when machining the workpiece, the workpiece is first placed on the upper surface of the machining table 11 and fixed on the machining table 11 using a fixture. The 3D vision mechanism 20 scans the workpiece and acquires its position and orientation information. Simultaneously, the 3D vision mechanism 20 transmits the acquired position and orientation information to the controller. The controller obtains the workpiece's position, orientation, and type relative to the machining table 11 based on the information transmitted by the 3D vision mechanism 20. The controller controls the end effector of the robot milling assembly 31 to install a measuring tool based on the workpiece's position, orientation, and type, and drives the measuring tool to contact the workpiece to acquire its dimensional information. Afterward, the controller controls the end effector of the robot milling assembly 31 to remove the measuring tool and then install a cutting tool. The controller then controls the robot milling assembly 31 to move the cutting tool close to the workpiece and perform machining operations on it.

[0047] The 3D vision mechanism 20 acquires the workpiece's position and orientation information, the measuring tool acquires the workpiece's dimensions, and the controller controls the robotic milling assembly 31 to process the workpiece based on the position, orientation, and dimensions. The robotic milling assembly 31 offers greater flexibility and freedom, enabling it to move to various positions on the workpiece for measurement and processing. This ensures the processing equipment can perform one-time positioning and processing of complex workpieces, effectively improving processing efficiency. Furthermore, the use of the robotic milling assembly 31 significantly reduces the space occupied by the processing equipment, lowering purchase and site costs, and consequently reducing the processing cost of large structural components. The measuring tool or cutting tool is detachably mounted at the end of the robotic milling assembly 31. During actual processing, the robotic milling assembly 31 can flexibly change the measuring tool or cutting tool according to processing requirements, ensuring more convenient and faster processing operations. The processing table 11 and the processing mechanism 30 are arranged at intervals, providing ample space for the robotic milling assembly 31 to adjust its position and orientation, ensuring smooth transformation to the required posture and enabling precise and rapid processing of the workpiece. Along the height direction of the base 10, at least part of the projection of the three-dimensional vision mechanism 20 falls between the processing table 11 and the processing mechanism 30, so that the line of sight between the three-dimensional vision mechanism 20 and the workpiece is not obstructed. The three-dimensional vision mechanism 20 can obtain the position and posture information of the workpiece more accurately, ensuring the processing accuracy of the workpiece.

[0048] The workpiece's position information can be used to determine its specific coordinate position in space. In this embodiment, the workpiece's position information is the coordinate position of the workpiece relative to the upper surface of the processing table 11, which can be represented by three-dimensional coordinate values. The workpiece's posture information is used to describe the workpiece's direction or angle relative to the three-dimensional coordinate system. It can clarify the workpiece's orientation, such as whether the workpiece is placed horizontally, tilted at a certain angle, or vertically, as well as its rotation state around each coordinate axis.

[0049] The measuring tool is equipped with a high-precision probe. When the probe contacts the workpiece surface, it triggers a switching signal inside the probe. By obtaining the position of the probe in a three-dimensional coordinate system, the coordinates of points on the workpiece surface are determined. By triggering measurements at different positions on the workpiece, the coordinate information of multiple points is acquired. Then, the dimensions of the workpiece, such as length, width, height, and hole diameter, are calculated based on these coordinate data. Alternatively, the probe continuously scans along the workpiece surface while in contact with it. During the scanning process, the probe measures and records the coordinates of the contact points with the workpiece surface in real time. By analyzing and processing a large amount of continuous point coordinate data, the contour information of the workpiece is obtained, and the dimensions of the workpiece are then calculated. It is understood that the specific structure of the measuring tool can be set according to actual needs, and this embodiment is not limited to a single one.

[0050] In one embodiment, the 3D vision mechanism 20 includes at least one of a structured light sensor and a laser scanner. The structured light sensor acquires the workpiece's position and orientation information by observing its pattern. Utilizing the principle of light triangulation, the structured light sensor analyzes the deformation of the light pattern captured by the sensor to calculate the 3D coordinates of points on the workpiece surface, thereby obtaining the workpiece's position and shape. Different types of workpieces have different shapes and surface features; by analyzing and processing this 3D data, the type of workpiece can be identified. The laser scanner acquires the workpiece's position and orientation information by emitting laser signals to the workpiece and receiving laser signals reflected back from the workpiece. The distance between points on the workpiece surface and the laser scanner is calculated based on the laser's reflection time or phase change, thus constructing a 3D model of the workpiece. Analysis of the 3D model determines the workpiece's position and type. Alternatively, the 3D vision mechanism 20 may simultaneously employ a structured light sensor and a laser scanner to more accurately acquire the workpiece's position, orientation, and type.

[0051] In addition, the 3D vision mechanism 20 can also identify the type of workpiece. The controller confirms whether the workpiece installed on the machining table 11 is correct based on the information transmitted by the 3D vision mechanism 20. Only when the type of workpiece is correct will the controller control the robot drilling and milling assembly 31 to start the machining operation.

[0052] like Figures 2 to 3As shown, in one embodiment, the robotic drilling and milling assembly 31 includes a robotic arm 311 and a spindle 312. The robotic arm 311 is electrically connected to a controller. The spindle 312 is connected to the end of the robotic arm 311, and the side of the spindle 312 facing away from the robotic arm 311 can be selectively connected to either a measuring tool or a cutting tool. The controller controls the robotic arm 311 to move the measuring tool to contact the workpiece to obtain the workpiece's dimensional information, or the controller controls the robotic arm 311 to move the cutting tool to process the workpiece. The robotic arm 311 enables the robotic drilling and milling assembly 31 to move flexibly within a large spatial range, and can accurately deliver the measuring tool or cutting tool to the designated position for operation according to the different positions and orientations of the workpiece. Whether performing multi-position measurements on workpieces with complex shapes or performing drilling and milling operations on different parts, this can be achieved through the flexible movement of the robotic arm 311, greatly improving the adaptability of the processing equipment to different types and structures of workpieces. The spindle 312 can selectively connect to a measuring tool and a cutting tool, allowing the same spindle 312 to perform both measurement and machining operations, reducing the complexity and cost of machining equipment and saving workspace. The controller is electrically connected to the robotic arm 311, enabling precise control of its movement, including parameters such as position, speed, and attitude. During measurement, it ensures accurate contact between the measuring tool and the workpiece surface, acquiring high-precision dimensional information. During machining, the controller precisely controls the cutting tool's trajectory, ensuring machining accuracy and quality. Specifically, after the measuring tool measurement is completed, the controller can formulate a machining program based on the information transmitted from the measuring tool and the 3D vision mechanism 20, and control the cutting tool to move according to the program. The robotic arm 311 can be a six-degree-of-freedom robotic arm.

[0053] In one embodiment, the spindle 312 is connected to the end of the robotic arm 311 via a connecting component 32. The connecting component 32 includes a flange assembly 321 and a clearance groove 322. The flange assembly 321 is connected to the side of the robotic arm 311 closest to the spindle 312. The clearance groove 322 connects the spindle 312 and the flange assembly 321. Along the groove depth direction, the side of the clearance groove 322 away from the groove opening is connected to the flange assembly 321, and the groove opening of the clearance groove 322 faces the spindle 312. A heat dissipation mechanism is provided within the clearance groove 322. The clearance groove 322 provides installation space for the heat dissipation mechanism, and through its reasonable layout along the groove depth direction, it cleverly avoids interference problems that may occur when the spindle 312 is connected to the flange assembly 321, ensuring the stability and reliability of the connection between the spindle 312 and the robotic arm 311. A heat dissipation mechanism is installed within the clearance groove 322, which effectively reduces the heat generated by the spindle 312 during operation, preventing thermal deformation of the spindle 312, measuring tool, or cutting tool due to excessive temperature, thereby ensuring the machining accuracy of the workpiece. The integrated design of the heat dissipation mechanism and the snap-fit ​​structure eliminates the need for additional space, achieving a compact structure. The spindle 312 and the robotic arm 311 are connected by the connecting component 32, making the spindle 312, robotic arm 311, and connecting component relatively independent modules, facilitating individual maintenance and repair, and allowing for easy disassembly and replacement, reducing maintenance costs and difficulty. The heat dissipation mechanism can absorb at least a portion of the heat generated by the spindle 312.

[0054] like Figure 6As shown, in one embodiment, a rotating shaft 33 is provided on the side of the robotic arm 311 near the spindle 312. A rotating flange 331 is fitted onto the rotating shaft 33, and the rotation of the rotating shaft 33 around its own axis drives the rotating flange 331 to rotate. The rotating flange 331 rotates through the rotating shaft 33, and the circumferential angle of the spindle 312 can be adjusted according to processing requirements. Combined with the multi-axis motion of the robotic arm 311, this significantly improves the spatial positioning flexibility of the tool or measuring instrument. When the processing equipment performs complex curved surface processing or multi-angle measurement, the angle of the spindle 312 can be pre-adjusted through the rotating flange 331, reducing the motion load on the robotic arm 311 and improving processing efficiency. The rotating flange 331 is provided with a plurality of first through holes 3311, which are spaced apart along the outer periphery of the rotating flange 331. The flange assembly 321 includes a first flange 3211 and a second flange 3212. A first flange 3211 is fitted onto a rotating shaft 33. The first flange 3211 has a second through hole 32111 and a third through hole 32112. Along the radial direction of the first flange 3211, the third through hole 32112 is located inside the second through hole 32111. A first locking member passes through the second through hole 32111 and the first through hole 32111 to connect the first flange 3211 to the side of the rotating flange 331 closest to the main shaft 312. A second flange 3212 is fitted onto the rotating shaft 33. The second flange 3212 has a fourth through hole 32121 and a fifth through hole 32122. Along the radial direction of the second flange 3212, the fifth through hole 32122 is located inside the fourth through hole 32121. The second locking member passes through the fourth through hole 32121 and the third through hole 32112 to connect the second flange 3212 to the side of the first flange 3211 near the spindle 312. The third locking member connects to the bottom of the clearance groove 322 through the fifth through hole 32122. The spindle 312, clearance groove 322, second flange 3212, first flange 3211, and rotary flange 331 are sequentially and detachably connected to form a modular structure, which facilitates installation and disassembly. The second flange 3212, first flange 3211, and rotary flange 331 form a standardized connection interface, allowing for quick replacement and adaptation of spindles 312 of different specifications, improving the versatility of the processing equipment. In actual use, different types of spindles 312 can be replaced according to requirements. The third locking component directly connects the second flange 3212 and the clearance groove 322, transmitting the axial force generated by the main spindle 312 during operation to the robotic arm 311 through the shortest path, thereby reducing the risk of structural deformation.

[0055] In one embodiment, the machining equipment further includes a tool magazine 40. The tool magazine 40 is mounted on the base 10 and has a tool setting edge. The tool magazine 40 has a first position for accommodating a measuring tool and a second position for accommodating a cutting tool. Both the first and second positions can be moved relative to the base 10 to a position opposite to the tool setting edge. Both the measuring tool and the cutting tool have a first engaging portion, and the spindle 312 has a second engaging portion that mates with the first engaging portion. The controller controls the spindle 312 to move to a position opposite to the tool setting edge and drives the first engaging portion to engage or disengage with the second engaging portion. The tool magazine 40 has different positions for accommodating measuring tools and cutting tools, and can move relative to the base 10 to a position opposite to the tool setting edge. Combined with the second engaging portion on the spindle 312, the controller enables automatic changing of measuring tools and cutting tools. This process eliminates the need for manual operation, greatly improving the automation level of the machining process and reducing the impact of human factors on machining. During the machining process, when it is necessary to switch from the measurement step to the machining step, or to change to different types of tools for different machining operations, the required measuring tools or tools can be quickly retrieved from the tool magazine 40. This eliminates the need to spend a lot of time searching for, installing, and debugging tools, effectively shortening machining auxiliary time and improving overall machining efficiency. The tool magazine 40 provides dedicated storage locations for tools and measuring tools, making their management more standardized and orderly. Different tools and measuring tools are placed in their corresponding locations, facilitating identification and retrieval, and reducing the possibility of tool damage or loss due to haphazard placement. The tool magazine 40 can store various types and specifications of tools and measuring tools, enabling the machining equipment to adapt to various machining tasks and workpiece types. Simply select the appropriate tool from the tool magazine 40 according to the specific machining requirements, enhancing the equipment's versatility and flexibility, and improving the utilization rate of the machining equipment.

[0056] like Figures 4 to 5 As shown, in one embodiment, the base 10 is provided with at least two chip removal grooves 12, and the at least two chip removal grooves 12 are respectively located in the width direction of the base 10 (e.g., Figure 1The processing equipment also includes a chip guide component 50 and a chip conveyor 60. The chip guide component 50 is disposed on the base 10 and surrounds the outer periphery of the processing table 11. A chip guide channel 51 is provided on the side of the chip guide component 50 near the base 10, and the chip guide channel 51 is interconnected with the chip conveying groove 12. The chip conveyor 60 is disposed on at least one side of the base 10 in the length direction. The chip conveyor 60 includes a chip collecting part 61 and a suction part 62 connected to each other. A chip collecting channel is provided in the chip collecting part 61, and the chip collecting channel is interconnected with the end of the chip conveying groove 12 away from the chip guide channel 51. At least two chip conveying grooves 12 are provided on opposite sides in the width direction of the base 10, which increases the chip removal area, can collect the chips generated during the processing in a timely manner, avoid the accumulation of chips in the processing area, thereby ensuring the smooth progress of processing and improving processing efficiency. The chip guiding component 50 surrounds the outer periphery of the processing table 11. Its chip guiding channel 51, located near the base 10, connects to the chip discharge groove 12, quickly and accurately guiding chips from the processing table 11 to the chip discharge groove 12, preventing chips from scattering and making the chip removal process more orderly. The chip collecting section 61 of the chip conveyor 60 connects to the chip discharge groove 12 via a chip collecting channel, and the suction section 62 connects to the chip collecting section 61. The suction section 62 can promptly collect chips from the chip collecting channel, achieving automatic chip collection and conveying, reducing manual intervention, and improving the automation level of chip removal. The chip conveyor 60 is located on at least one side of the base 10 along its length, occupying minimal space. It fits tightly with the chip discharge groove 12 and the chip guiding component 50 on the base 10, resulting in a compact and reasonable overall layout that facilitates equipment operation and maintenance while effectively utilizing space.

[0057] The chip guiding component 50 includes chip guiding blocks 52 and a surrounding plate 53. Multiple chip guiding blocks 52 are disposed on the base 10 and surround the outer wall of the machining table 11. Along the height direction of the base 10, a slope is provided on the side of the chip guiding block 52 facing away from the base 10, and the slope is inclined towards the chip guiding channel 51. The surrounding plate 53 is disposed on the base 10 and surrounds the outer side of the chip guiding blocks 52. Along the width direction of the base 10, gaps are provided between the inner wall surfaces of opposite sides of the surrounding plate 53 and the outer periphery of the chip guiding blocks 52, forming the chip guiding channel 51. The inclined slope on the side of the chip guiding block 52 facing away from the base 10 guides the chips to slide down the slope into the chip guiding channel 51, accelerating chip flow using gravity, improving chip guiding efficiency, and ensuring that the chips can quickly leave the machining area. The surrounding plate 53 surrounds the chip guide block 52, and the gap between it and the chip guide block 52 forms a chip guide channel 51, which effectively restrains the chips, allowing them to flow directionally within the channel and preventing them from splashing or scattering, thus ensuring smooth and orderly chip removal. The arrangement of multiple chip guide blocks 52 and the surrounding plate 53 facilitates disassembly and installation. When cleaning or maintenance of the chip guide channel 51 is required, the chip guide blocks 52 and the surrounding plate 53 can be easily removed for internal cleaning or component replacement, reducing the difficulty and cost of equipment maintenance. The gap between the surrounding plate 53 and the chip guide block 52 not only forms the chip guide channel 51 but also allows operators to observe the internal chip removal process, promptly identifying any blockages or other problems that may occur during chip removal and addressing them in a timely manner. The arrangement of multiple chip guide blocks 52 can be flexibly adjusted and arranged according to the size and shape of the machining table 11, adapting to different specifications of machining tables 11 and improving the versatility of the chip guide component 50.

[0058] In one embodiment, the processing equipment further includes a protective mechanism 70. The protective mechanism 70 includes a housing assembly 71 and a base assembly 72. The base assembly 72 is disposed on the upper surface of the base 10 and extends at least partially beyond the edge of the base 10. The housing assembly 71 is connected to the outer edge of the base assembly 72 and forms a protective space with the base assembly 72. The upper surface of the processing table 11, the 3D vision mechanism 20, and the robotic drilling and milling assembly 31 are all located within the protective space. The base assembly 72, disposed on the upper surface of the base 10 and extending at least partially beyond the edge of the base 10, and the housing assembly 71 and the base assembly 72 forming a protective space, enclose the upper surface of the processing table 11, the 3D vision mechanism 20, and the robotic drilling and milling assembly 31, effectively preventing external dust, debris, coolant, and other contaminants from entering the equipment, avoiding damage such as wear, corrosion, or short circuits to equipment components, and extending the service life of the equipment. By isolating hazardous areas during processing from the outside environment, operators are prevented from accidentally touching moving parts or flying chips while the equipment is running, reducing the risk of accidental injury and ensuring personnel safety. The protective space confines chips and dust generated during processing within a certain area, facilitating centralized cleaning and helping to maintain a clean and hygienic processing area, thus improving the working environment. Specifically, the 3D vision mechanism 20 is connected to the inner wall of the protective space.

[0059] The base assembly 72 includes multiple plates 721 connected to the upper surface of the base 10. Adjacent plates 721 are detachably connected. At least some of the outer edges of the plates 721 abut against the bottom end of the machining table 11 and at least some of the outer edges of the plates 721 abut against the bottom end of the robotic drilling and milling assembly 31. The contact between the plates 721 and the bottom ends of the machining table 11 and the robotic drilling and milling assembly 31 prevents chips and other contaminants from entering the gaps between the plates 721 and the machining table 11 or between the plates 721 and the robotic drilling and milling assembly 31, effectively preventing chips, machining fluids, etc., from falling onto the ground and protecting the ground from contamination.

[0060] The controller includes a control panel 34, which is at least partially embedded in the housing assembly 71. By making efficient use of the space in the housing assembly 71, the overall structure of the processing equipment becomes more compact. The embedded control panel 34 allows operators to conveniently operate and monitor the equipment from near the equipment, improving operational convenience and efficiency.

[0061] The protective space is also equipped with partitions to divide the protective space into at least two parts. At least one part is used to accommodate the processing table 11, the three-dimensional vision mechanism 20 and the robot drilling and milling assembly 31, and at least the other part is used to accommodate the electrical cabinet 714, etc.

[0062] A chiller 713 is provided outside the housing assembly 71, which provides a cooling source for the heat dissipation mechanism.

[0063] The upper side wall of the housing assembly 71 is provided with an oil collection device 715, which can collect pollutants such as oil mist, smoke and dust generated during the processing.

[0064] The housing assembly 71 has an opening 711 that communicates with the protective space and is positioned opposite the machining table 11 along the length of the base 10. The opening 711 facilitates operator access to the machining table 11 for operations such as installing workpieces and changing tools. Because the opening 711 is opposite the machining table 11, operators can reach the operating position more directly, reducing obstacles and improving efficiency. Operators can visually observe the machining process on the machining table 11 through the opening 711, such as the cutting status of the tool and the machining progress of the workpiece. This helps operators promptly identify problems during machining, such as tool wear or loose workpiece clamping, allowing for timely intervention to ensure machining quality. A protective door 712 is rotatably connected to the opening 711.

[0065] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0066] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be construed as limiting the scope of protection of this application.

[0067] The above are merely preferred embodiments of this application and are not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A processing equipment, characterized in that, include: A base (10) is provided with a processing table (11) for mounting workpieces; A three-dimensional vision mechanism (20) is disposed on the outer side of the upper surface of the processing table (11). The three-dimensional vision mechanism (20) is used at least to acquire the position information and orientation information of the workpiece. The machining mechanism (30) includes a controller and a robot drilling and milling assembly (31). The controller is electrically connected to the robot drilling and milling assembly (31). The robot drilling and milling assembly (31) is disposed on the base (10). A measuring tool or a cutting tool is detachably mounted at the end of the robot drilling and milling assembly (31). The measuring tool contacts the workpiece to obtain the size information of the workpiece. The measuring tool is electrically connected to the controller. The controller controls the cutting tool to process the workpiece according to the position information and posture information transmitted by the three-dimensional vision mechanism (20) and the size information transmitted by the measuring tool. Along the length of the base (10), the processing table (11) is disposed at the end of the base (10) and spaced apart from the processing mechanism (30), and at least part of the projection of the three-dimensional vision mechanism (20) along the height direction of the base (10) falls between the processing table (11) and the processing mechanism (30).

2. The processing equipment according to claim 1, characterized in that, The three-dimensional vision mechanism (20) includes at least one of a structured light sensor and a laser scanner. The structured light sensor obtains the position information and the orientation information of the workpiece by acquiring the pattern of the workpiece. The laser scanner obtains the position information and the orientation information of the workpiece by emitting a laser signal to the workpiece and receiving a laser signal reflected back from the workpiece.

3. The processing equipment according to claim 1, characterized in that, The robotic drilling and milling assembly (31) includes: A robotic arm (311) is electrically connected to the controller; A spindle (312) is connected to the end of the robotic arm (311), and the side of the spindle (312) away from the robotic arm (311) is connected to either the measuring tool or the cutting tool. The controller controls the robotic arm (311) to drive the measuring tool to contact the workpiece to obtain the size information of the workpiece, or the controller controls the robotic arm (311) to drive the cutting tool to process the workpiece.

4. The processing equipment according to claim 3, characterized in that, The main shaft (312) is connected to the end of the robotic arm (311) via a connecting component (32), the connecting component (32) comprising: A flange assembly (321) is connected to the side of the robotic arm (311) near the spindle (312); A clearance groove (322) is connected between the main shaft (312) and the flange assembly (321). Along the groove depth direction of the clearance groove (322), the side of the clearance groove (322) away from the groove opening is connected to the flange assembly (321), and the groove opening of the clearance groove (322) faces the main shaft (312). A heat dissipation mechanism is provided in the clearance groove (322).

5. The processing equipment according to claim 4, characterized in that, The robotic arm (311) has a rotating shaft (33) on the side near the main shaft (312). A rotating flange (331) is fitted on the rotating shaft (33). The rotating shaft (33) rotates around its own axis, causing the rotating flange (331) to rotate. The rotating flange (331) has a plurality of first through holes (3311), which are spaced apart along the outer periphery of the rotating flange (331). The flange assembly (321) includes: A first flange (3211) is sleeved on the rotating shaft (33). The first flange (3211) is provided with a second through hole (32111) and a third through hole (32112). Along the radial direction of the first flange (3211), the third through hole (32112) is located inside the second through hole (32111). A first locking member passes through the second through hole (32111) and the first through hole (3311) to connect the first flange (3211) to the rotating flange (331) on the side near the main shaft (312). The second flange (3212) is sleeved on the rotating shaft (33). The second flange (3212) is provided with a fourth through hole (32121) and a fifth through hole (32122). Along the radial direction of the second flange (3212), the fifth through hole (32122) is located inside the fourth through hole (32121). The second locking member passes through the fourth through hole (32121) and the third through hole (32112) to connect the second flange (3212) to the side of the first flange (3211) near the main shaft (312). The third locking member is connected to the bottom of the clearance groove (322) through the fifth through hole (32122).

6. The processing equipment according to claim 3, characterized in that, Also includes: Tool magazine (40) is disposed on base (10). Tool magazine (40) is provided with tool setting edge. Tool magazine (40) is provided with a first position for accommodating the measuring tool and a second position for accommodating the cutting tool. The first position and the second position can be moved relative to base (10) to a position opposite to the tool setting edge. The measuring tool and the cutting tool are provided with a first locking part. The spindle (312) is provided with a second locking part that cooperates with the first locking part. The controller controls the spindle (312) to move to a position opposite to the tool setting edge and drives the first locking part to engage or disengage with the second locking part.

7. The processing equipment according to any one of claims 1 to 6, characterized in that, The base (10) is provided with at least two chip removal grooves (12), the at least two chip removal grooves (12) being located on opposite sides of the base (10) in the width direction, and the processing equipment further includes: A chip guiding component (50) is disposed on the base (10) and surrounds the outer periphery of the processing table (11). A chip guiding channel (51) is provided on the side of the chip guiding component (50) near the base (10). The chip guiding channel (51) is connected to the chip discharge groove (12). A chip conveyor (60) is disposed on at least one side of the base (10) along its length. The chip conveyor (60) includes a chip collecting part (61) and a suction part (62) connected to each other. A chip collecting channel is provided in the chip collecting part (61), and the chip collecting channel is connected to the end of the chip discharge groove (12) away from the chip guide channel (51).

8. The processing equipment according to claim 7, characterized in that, The chip guide component (50) includes: Chip guide block (52), the chip guide block (52) includes multiple blocks, the multiple chip guide blocks (52) are disposed on the base (10) and surround the outer side wall of the processing table (11), along the height direction of the base (10), the chip guide block (52) has an inclined surface on the side away from the base (10), the inclined surface is inclined to the chip guide channel (51); A surrounding plate (53) is disposed on the base (10) and surrounds the outside of the chip guide block (52). Along the width direction of the base (10), there is a gap between the inner wall surfaces of the opposite sides of the surrounding plate (53) and the outer periphery of the chip guide block (52), and the gap forms the chip guide channel (51).

9. The processing equipment according to any one of claims 1 to 6, characterized in that, Also includes: The protective mechanism (70) includes a housing assembly (71) and a base assembly (72). The base assembly (72) is disposed on the upper surface of the base (10) and extends at least partially to the outside edge of the base (10). The housing assembly (71) is connected to the outer edge of the base assembly (72) and forms a protective space with the base assembly (72). The upper surface of the processing table (11), the three-dimensional vision mechanism (20), and the robot drilling and milling assembly (31) are all located within the protective space.

10. The processing equipment according to claim 9, characterized in that, The base assembly (72) includes multiple plates (721) connected to the upper surface of the base (10). Adjacent plates (721) are detachably connected. At least a portion of the outer edges of the plates (721) abut against the bottom end of the processing table (11), and at least a portion of the outer edges of the plates (721) abut against the bottom end of the robot drilling and milling assembly (31); and / or, The controller includes a control panel (34), which is at least partially embedded in the housing assembly (71); and / or, The housing assembly (71) has an opening (711) that communicates with the protective space. Along the length of the base (10), the opening (711) is positioned opposite to the processing table (11).

Images