A composite robotic machining apparatus

Abstract

The utility model relates to the technical field of wing manufacturing technique provides a kind of composite robot processing equipment, AGV dolly, manipulator being arranged on AGV dolly, main shaft and the abutting component of main shaft connection being arranged at the end of manipulator and processing tool, main shaft is used to drive processing tool rotation, and processing tool can be moved along the axis direction of processing tool relative to abutting component.It can be understood that the continuous abutment of abutting component can provide stable supporting force for processing tool, so as to offset the vibration or deviation force generated in the processing process, i.e. the close contact between abutting component and processing surface forms a temporary fixed fulcrum, which limits the shaking space of processing tool to some extent. Therefore, the processing tool can always run along the preset trajectory, avoiding the deviation of the trajectory caused by external interference, and finally ensuring the stability and processing accuracy of the processing operation. In this way, the punching effect is guaranteed, and the practicability of the equipment is better.

Description

Technical Field

[0001] This utility model relates to the field of wing manufacturing technology, specifically a composite robot processing equipment. Background Technology

[0002] In the manufacturing process of existing aircraft wings, the skin needs to be connected to the frame. Among them, the drilling operation is a key process for connecting the skin to the wing frame, which can directly affect the safety and aerodynamic performance of the aircraft.

[0003] Currently, the most common method for drilling is to use an AGV (Automated Guided Vehicle) equipped with a drilling tool to complete the automated operation. However, during the drilling process, the vibration generated by the drilling action can cause the drilling tool to shift, thus affecting the drilling effect and ultimately reducing the practicality of the device. Utility Model Content

[0004] In view of the above-mentioned shortcomings of the existing technology, the present invention provides a composite robot processing equipment.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] A composite robot processing device includes: an AGV trolley, a robot arm mounted on the AGV trolley, a contact component connected to a spindle at the end of the robot arm, and a processing tool. The spindle is used to drive the processing tool to rotate, and the processing tool can move relative to the contact component along the axial direction of the processing tool.

[0007] In some embodiments, the abutting assembly includes an abutting sleeve and an elastic member, one end of the elastic member being connected to the abutting sleeve and the other end being connected to the main shaft.

[0008] In some embodiments, the processing tool is housed within the abutting sleeve, and the processing tool is rotatable relative to the abutting sleeve.

[0009] In some embodiments, the abutment assembly further includes a connecting ring, the other end of the elastic element being connected to the spindle via the connecting ring, and the connecting ring being rotatably connected to the machining tool.

[0010] In some embodiments, the spindle is provided with a limiting rod, and the connecting ring is provided with a limiting groove that cooperates with the limiting rod. The connecting ring is connected to the spindle through the limiting groove and the limiting rod.

[0011] In some embodiments, the connecting ring is interference-fitted with both the spindle and the machining tool.

[0012] In some embodiments, a chip removal hole is provided on the side wall of the abutment sleeve.

[0013] In some embodiments, a tool magazine is also included, which is disposed on the AGV trolley. The tool magazine includes at least one machining device fixing member, which includes a base and a clamping part connected to the base. The base is used to support the machining tool, and the clamping part is used to clamp the abutment component.

[0014] In some embodiments, the end effector of the robotic arm is connected to a 3D vision mechanism.

[0015] In some embodiments, the 3D vision mechanism includes a vision control system and a 3D camera. The vision control system is mounted on the AGV trolley, and the 3D camera is connected to the end effector of the robotic arm. The vision control system is electrically connected to the 3D camera.

[0016] Compared with existing technologies, the beneficial effects of this invention are as follows: When the AGV moves to the designated position for processing, the abutment component first contacts the wing frame and maintains the abutment relationship. The spindle motor drives the processing tool to rotate, and the robot or other actuator drives the processing tool and the abutment component to move towards the wing frame, i.e., forward, so that the processing tool can drill. At this time, the abutment component cannot enter the wing frame with the processing tool. Therefore, the abutment part of the abutment component will be subjected to a backward thrust. Under the thrust of the wing frame, it moves backward along the axis of the processing tool and always maintains abutment with the processing surface of the wing frame. It can be understood that this continuous abutment can provide stable support for the processing tool, thereby offsetting the vibration or offset force generated during processing. That is, the close contact between the abutment component and the processing surface forms a temporary fixed fulcrum, which to a certain extent limits the shaking space of the processing tool. Therefore, the processing tool can always run along the preset trajectory, avoiding trajectory deviation caused by external interference, and ultimately ensuring the stability and processing accuracy of the processing operation. This ensures the drilling effect and makes the equipment more practical. Attached Figure Description

[0017] Figure 1 This is a three-dimensional structural diagram of the composite robot processing equipment of this utility model during operation;

[0018] Figure 2 This is a schematic diagram showing the structure of the main shaft, the abutment assembly, and the processing tool of this utility model in cooperation.

[0019] Figure 3 This is an exploded structural diagram showing the cooperation between the spindle, the abutment assembly, and the machining tool of this utility model;

[0020] Figure 4 This is a partial structural diagram of the tool magazine of this utility model;

[0021] Figure 5 This is a three-dimensional structural diagram of the composite robot processing equipment of this utility model in operation from another direction;

[0022] Figure 6 This is a partial structural schematic diagram of the AGV trolley of this utility model;

[0023] Figure 7 This is a partial structural diagram of the positioning and locking device of this utility model.

[0024] 10. Composite robot processing equipment;

[0025] 100. AGV trolley; 110. Frame; 120. AGV electronic control system; 130. Electric steering wheel; 140. LiDAR;

[0026] 200. Machining device; 210. 3D vision mechanism; 211. Vision control system; 220. Robotic arm; 221. Robotic arm control system; 222. Air compressor system; 230. Spindle; 231. Limiting rod; 232. Chuck; 240. Abutment assembly; 241. Connecting ring; 242. Connecting cylinder; 243. Elastic element; 244. Abutment sleeve; 250. Machining tool;

[0027] 300. Positioning and locking device; 310. Hydraulic mechanism; 320. Drive plate; 330. Limiting mechanism; 331. Positioning sleeve; 332. Positioning pin;

[0028] 400. High-voltage power supply device;

[0029] 500. Tool magazine; 510. Base; 511. Clamping part; 520. Tool setting assembly; 521. Frame; 522. Flexible telescopic table; 523. Sensor abutment; 524. Guide rail;

[0030] 600. Wing frame. Detailed Implementation

[0031] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. The described embodiments are some, but not all, of the embodiments of this utility model.

[0032] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0033] like Figures 1 to 3 As shown, a composite robot processing equipment 10 is provided, including: an AGV trolley 100, a robot arm 220 mounted on the AGV trolley 100, a spindle 230 mounted at the end of the robot arm 220 and an abutment component 240 connected to the spindle 230, and a processing tool 250. The spindle 230 is used to drive the processing tool 250 to rotate, and the processing tool 250 can move relative to the abutment component 240 along the axial direction of the processing tool 250.

[0034] Specifically, the AGV trolley 100 serves as the mounting platform for the processing device 200. The processing device 200 includes a robotic arm 220, a spindle motor, a spindle 230, and a processing tool 250. The robotic arm 220 can be, but is not limited to, a six-axis robotic arm. The spindle motor is connected to the robotic arm 220, and its output end is connected to the spindle 230. The processing tool 250 is connected to the spindle 230 and is driven by the spindle motor to perform processing. Furthermore, the cooperative installation and operation of the robotic arm 220, spindle motor, spindle 230, and processing tool 250 are known to those skilled in the art and are achievable; therefore, they will not be described in detail in this embodiment. The abutment component 240 is used to continuously abut against the part to be processed during processing by the processing tool 250. In this embodiment, the part to be processed is set as the wing frame 600. The abutment component 240 can slide along the axial direction of the processing tool 250 under the action of a certain external force and is normally in the initial position. Furthermore, the end of the abutment component 240 near the wing frame 600 protrudes from the processing tool 250 in the initial state, or the end of the abutment component 240 near the wing frame 600 is flush with the end of the processing tool 250 near the wing frame 600.

[0035] It is worth noting that when the AGV trolley 100 moves to the designated position for processing, the abutment component 240 first contacts the wing frame 600 and maintains the abutment relationship. The spindle motor drives the processing tool 250 to rotate, and the robot arm 220 or other driver drives the processing tool 250 and the abutment component 240 to move towards the wing frame 600, that is, to move forward, so that the processing tool 250 can drill holes. At this time, the abutment component 240 cannot enter the wing frame 600 with the processing tool 250. Therefore, the abutment part of the abutment component 240 will be subjected to a backward thrust. Under the thrust of the wing frame 600, it moves backward along the axis of the processing tool 250 and always maintains the abutment state with the processing surface of the wing frame 600. Understandably, this continuous contact provides stable support for the machining tool 250, thus counteracting vibrations or offset forces generated during machining. The close contact between the contact component 240 and the machining surface forms a temporary fixed fulcrum, limiting the wobbling space of the machining tool 250 to some extent. Therefore, the machining tool 250 can always run along the preset trajectory, avoiding deviations due to external interference, ultimately ensuring the stability and accuracy of the machining operation. This guarantees the drilling effect and improves the practicality of the equipment.

[0036] To facilitate the use of the mounting component 240, such as Figure 2 and Figure 3 As shown, in some embodiments, the abutment assembly 240 includes an abutment sleeve 244 and an elastic member 243, with one end of the elastic member 243 connected to the abutment sleeve 244 and the other end connected to the main shaft 230.

[0037] Specifically, the abutment sleeve 244 is used to movably abut against the wing frame 600, and the abutment sleeve 244 can only slide under a certain external force, and is normally in the initial position. Furthermore, the end of the abutment sleeve 244 near the wing frame 600 protrudes from the machining tool 250 in the initial state, or the end of the abutment sleeve 244 near the wing frame 600 is flush with the end of the machining tool 250 near the wing frame 600. The elastic element 243 can be, but is not limited to, a spring. When the abutment sleeve 244 retracts under the thrust of the wing frame 600, the elastic force of the elastic element 243 maintains the abutment relationship with the wing frame 600. This facilitates the use of the abutment assembly 240.

[0038] To improve the usability of the equipment, such as Figure 2 and Figure 3 As shown, in some embodiments, the processing tool 250 is housed within the abutment sleeve 244, and the processing tool 250 is rotatable relative to the abutment sleeve 244.

[0039] Specifically, the machining tool 250 is housed within the abutment sleeve 244 and can rotate within it. During machining, the abutment sleeve 244 covers the periphery of the machining tool 250, further restricting its movement. Therefore, the machining tool 250 always runs along a preset trajectory, preventing deviation due to external interference, ultimately ensuring the stability and accuracy of the machining operation and providing better limiting effect. On the other hand, it is understandable that the machining tool 250 generates a large amount of debris during machining. When the machining tool 250 is housed within the abutment sleeve 244, the generated debris is confined within the sleeve 244 and does not freely diffuse outwards in large quantities, preventing it from adhering to surrounding facilities over a large area and causing damage.

[0040] like Figure 2 and Figure 3 As shown, in some embodiments, the abutment component 240 further includes a connecting ring 241, and the other end of the elastic member 243 is connected to the spindle 230 through the connecting ring 241. The connecting ring 241 is rotatably connected to the machining tool 250. It can be understood that, compared to the previous embodiments where the abutment component 240 is connected to the spindle 230 through one end of the elastic member 243 (i.e., point connection), in this embodiment, the abutment component 240 is connected to the spindle 230 through the connecting ring 241 (i.e., surface or volume connection). The connection effect between the two is better, thereby enhancing the stability of the abutment component 240 and improving the abutment effect of the abutment sleeve 244.

[0041] Furthermore, the connecting ring 241 can be composed of one or more annular bodies with different outer diameters, and the processing tool 250 is rotatably disposed inside the connecting ring 241. The two can be connected by bearings or other conventional connecting parts, which are not limited here. With this configuration, the abutting component 240 is further connected to the processing tool 250 to further enhance the stability of the abutting component 240 and improve the abutting effect of the abutting sleeve 244.

[0042] Furthermore, the connecting ring 241 can be configured to have an interference fit with both the machining tool 250 and the spindle 230, meaning the connection is relatively tight. However, under a large external force, the connecting ring 241 can slide along the axial direction on the machining tool 250. Under normal conditions, the connecting ring 241 remains stable in its initial position. Thus, during machining with the machining tool 250, the position of the connecting ring 241 remains stable, while only the displacement of the abutting sleeve 244 and the elastic element 243 changes. When further adjustment of the machining depth of the machining tool 250 is required, the machining tool 250 with the abutting component 240 is removed, and a thrust is applied to the connecting ring 241, causing the displacement of the connecting ring 241 on the machining tool 250 to change. The connecting ring 241 simultaneously drives the abutting sleeve 244 and the elastic element 243 to move, thereby adjusting the machining depth of the machining tool 250.

[0043] like Figure 2 and Figure 3 As shown, in some embodiments, the spindle 230 is provided with a limit rod 231, and the connecting ring 241 is provided with a limit groove that cooperates with the limit rod 231. The connecting ring 241 is connected to the spindle 230 through the limit groove and the limit rod 231 to restrict the circumferential rotation of the connecting ring 241.

[0044] Specifically, a limiting rod 231 is provided at the end of the main shaft 230 near the wing frame 600, and the limiting rod 231 is arranged along the axial direction of the machining tool 250. A limiting groove is formed on the outer periphery of the connecting ring 241, and the limiting rod 231 is engaged with the side wall of the limiting groove to restrict the rotation tendency of the connecting ring 241 and prevent the connecting ring 241 from rotating under the drive of the machining tool 250 through bearings or other conventional connecting parts. In this way, when the machining tool 250 rotates inside the connecting ring 241, the limiting rod 231 on the main shaft 230 has a limiting effect on the connecting ring 241, keeping it stationary relative to the main shaft 230, avoiding wear at the connection between the connecting ring 241 and the main shaft 230. In addition, the abutment sleeve 244 connected to the connecting ring 241 also remains stationary relative to the machining tool 250 to avoid wear between the abutment sleeve 244 and the part to be processed. Alternatively, two limit rods 231 can be provided, and the two limit rods 231 are arranged opposite each other, which provides a better limiting effect on the connecting ring 241. The number and specific arrangement of the limit rods 231 are not limited here, as long as they can limit the rotational tendency of the connecting ring 241.

[0045] To facilitate the use of the sleeve 244, such as Figure 2 and Figure 3 As shown, in some embodiments, the connecting ring 241 is connected to the connecting cylinder 242, the connecting cylinder 242 passes through the elastic member 243 and is slidably connected to the abutting sleeve 244, and the processing tool 250 can rotate relative to the connecting cylinder 242.

[0046] Specifically, a connecting cylinder 242 is provided at one end of the connecting ring 241 near the wing frame 600. The connecting cylinder 242 passes through the elastic member 243 and the abutting sleeve 244, and the outer surface of the connecting cylinder 242 is slidably connected to the inner surface of the abutting sleeve 244. In this way, the connecting cylinder 242 can provide a certain support for the abutting sleeve 244, thereby limiting the sliding direction of the abutting sleeve 244 to avoid the abutting sleeve 244 from shaking during the sliding process, and thus better limiting the shaking of the processing tool 250.

[0047] It is understood that in other embodiments, the connecting cylinder 242 may also be disposed on the abutting sleeve 244, or the abutting sleeve 244 and the connecting ring 241 may be respectively provided with a first connecting cylinder and a second connecting cylinder, and the first connecting cylinder and the second connecting cylinder are slidably connected relative to each other. The working principle of the above two arrangements of the connecting cylinder is exactly the same as that of the above embodiments, and will not be described again here.

[0048] To further limit the sliding of the abutment sleeve 244, such as Figure 2 As shown, in some embodiments, the connecting cylinder 242 is provided with a sliding groove, and the abutting sleeve 244 is provided with a slider that cooperates with the sliding groove, and the slider is slidably disposed in the sliding groove.

[0049] Specifically, a groove is formed on the outer surface of the connecting cylinder 242, and a slider is provided on the inner surface of the abutting sleeve 244. When the abutting sleeve 244 slides on the connecting cylinder 242, the slider slides within the groove. This structure, with the groove and slider working together, restricts the rotational tendency of the limiting sleeve, further preventing the abutting sleeve 244 from wobbling during sliding. Furthermore, two sliders can be provided, with corresponding grooves, resulting in a better limiting effect on the abutting sleeve 244 and making its sliding process more stable.

[0050] like Figure 2 and Figure 3 As shown, in some embodiments, a chip removal hole is provided on the side wall of the abutment sleeve 244.

[0051] Specifically, the chip removal hole is designed as an arc-shaped opening to discharge chips generated during processing, preventing chip accumulation within the abutment sleeve 244 and its impact on subsequent processing. The chip removal hole can be connected to a chip removal component (such as a vacuum cleaner) for chip removal. Furthermore, two chip removal holes can be configured, positioned opposite each other, to improve dust removal efficiency. Additionally, the number of chip removal holes can be three or other values; this is not limited here and depends on actual production needs.

[0052] To facilitate processing by the composite robot processing equipment 10, such as Figure 4 and Figure 5 As shown, in some embodiments, the composite robot processing equipment 10 further includes a tool magazine 500, which is disposed on the AGV trolley 100. The tool magazine 500 includes at least one processing device fixing member, which includes a base 510 and a clamping part 511 connected to the base 510. The base 510 is used to support the processing tool 250, and the clamping part 511 is used to clamp the abutment component 240.

[0053] Specifically, the machining device fixing components can be configured in multiple sets to increase the variety of machining tools 250. The base 510 is located on one side of the top of the AGV trolley 100 and is adjacent to the robot arm 220. The base 510 has multiple mounting holes, as shown in the reference diagram. Figure 2 and Figure 3 Each mounting hole is used for positioning and mounting a machining tool 250 connected to a connecting ring 241, a connecting sleeve 242, an elastic element 243, and an abutment sleeve 244, for assembly after the spindle 230 is removed. A clamping part 511 is mounted on the base 510 and is configured as a clamping rod, which is embedded in the base 510 and limits its position against the connecting ring 241, thereby preventing the machining tool 250 from shaking during the movement of the AGV trolley 100.

[0054] To facilitate the operation of the composite robot processing equipment 10, such as Figure 3 , Figure 4 and Figure 5 As shown, in some embodiments, a chuck 232 is provided on the spindle 230, and the chuck 232 moves close to the tool magazine 500 to load tools.

[0055] Specifically, a collet 232 is connected to the spindle 230. The collet 232 securely mounts the machining tool 250 onto the spindle 230 via a mechanical structure or threaded locking method. The mechanical structure can be a spring collet, a hydraulic collet, etc., and is not limited here. The collet 232 not only prevents the machining tool 250 from falling off during high-speed rotation or cutting, but also transmits the rotational torque of the spindle motor to the machining tool 250. The collet 232 cooperates with the machining tool 250 in the tool magazine 500 to movably hold the tail end of the machining tool 250, thereby allowing the machining tool 250, which is connected to the connecting ring 241, connecting sleeve 242, elastic element 243, and abutment sleeve 244 in the mounting hole, to be removed, thus completing the tool loading.

[0056] For ease of processing, such as Figure 1 and Figure 4 As shown, in some embodiments, the tool magazine 500 is provided with a tool setting assembly 520, and the robot arm 220 is configured to cooperate with the tool setting assembly 520 to perform tool setting within the tool setting assembly 520.

[0057] Specifically, a tool setting assembly 520 is provided on one side of the base 510. The tool setting assembly 520, through automated or semi-automatic methods, quickly and accurately acquires the geometric parameters of the tool, such as its length, diameter, and radius, as well as the tool's installation position deviation on the spindle 230. This provides the CNC machine tool with precise tool compensation data, ensuring that different tools maintain coordinate system consistency after tool changes. It also measures the maximum feed depth of the machining tool 250.

[0058] To facilitate tool setting, such as Figure 4 As shown, in some embodiments, the tool setting assembly 520 includes a frame 521, an elastic telescopic platform 522, and a sensing abutment 523. The frame 521 is mounted on the base 510, the sensing abutment 523 is mounted on the frame 521, and the elastic telescopic platform 522 is vertically mounted on the frame 521, with its top surface normally higher than the top surface of the sensing abutment 523. The elastic telescopic platform 522 has an insertion hole. When the machining tool 250 moves down in the insertion hole, the abutment sleeve 244 presses against the elastic telescopic platform 522 until the abutment sleeve 244 abuts against the sensing abutment 523.

[0059] Specifically, the frame 521 is located on one side of the base 510, and the elastic telescopic platform 522 is vertically mounted on the frame 521. Under normal conditions, it maintains a stable height and can only descend under pressure. The elastic telescopic platform 522 has a vertically oriented insertion hole, and a sensing abutment 523 is located on the side of the frame 521 near the insertion hole, with the sensing abutment 523 partially overlapping the insertion hole. Thus, during tool setting, the abutment sleeve 244 abuts against the elastic telescopic platform 522, and the machining tool 250 is inserted above the insertion hole and descends vertically. Simultaneously, the abutment sleeve 244 presses down on the elastic telescopic platform 522, causing the machining tool 250 to descend continuously under driving action until the abutment sleeve 244 abuts against the sensing abutment 523. At this point, the maximum machining depth of the machining tool 250 can be measured through the sensing abutment 523.

[0060] To facilitate the use of the flexible telescopic platform 522, such as Figure 4 As shown, in some embodiments, a guide rail 524 is provided on the frame 521, and an elastic telescopic platform 522 is slidably disposed on the guide rail 524 to rise and fall along the direction of the guide rail 524.

[0061] Specifically, the guide rail 524 is located on one side of the frame 521 and is arranged vertically. The elastic telescopic platform 522 is connected to a slider, which is slidably mounted on the guide rail 524. In this way, when the elastic telescopic platform 522 is subjected to pressure and descends, it can descend along the guide rail 524 via the slider.

[0062] To facilitate drilling of the AGV 100, such as Figure 1 As shown, in some embodiments, the end of the robotic arm 220 is connected to a 3D vision mechanism 210.

[0063] Specifically, the 3D vision mechanism 210 is used to scan the scene to assist the AGV 100 in path planning. The 3D vision mechanism 210 includes a vision control system 211 and a 3D camera, etc. The vision control system 211 is mounted on the AGV 100, and the 3D camera is mounted on the end effector of the robotic arm 220, with the vision control system 211 and the 3D camera electrically connected. The way the vision control system 211 and the 3D camera cooperate to operate is a technique known to those skilled in the art and is achievable; therefore, it will not be described in detail in this embodiment.

[0064] like Figure 1 , Figure 5 and Figure 6 As shown, in some embodiments, the AGV trolley 100 mainly includes a frame 110, an AGV electronic control system 120, a battery system, an electric steering wheel 130, and a lidar 140. The AGV electronic control system 120, the battery system, and the lidar 140 are housed within the frame 110, and the electric steering wheel 130 is located at the bottom of the frame 110 to drive the AGV trolley 100 to move. The AGV electronic control system 120, the battery system, and the lidar 140 drive the electric steering wheel 130 to move, enabling the AGV trolley 100 to automatically move using a laser SLAM navigation system. Thus, after receiving an instruction, the composite robot processing equipment 10, under permissible conditions, autonomously navigates and moves to the designated workstation. The connection methods of the various structures of the AGV trolley 100 and their cooperative working methods are techniques known to those skilled in the art and are achievable; therefore, they are not described in detail in this embodiment.

[0065] To facilitate the use of the AGV 100, such as Figure 5 and Figure 6 As shown, in some embodiments, the composite robot processing equipment 10 further includes a positioning and locking device 300 for fixing the AGV trolley on the ground, the positioning and locking device 300 being disposed on the AGV trolley.

[0066] Specifically, the positioning and locking device 300 is located at the bottom of the AGV trolley and is used to prevent the AGV trolley from shifting during the drilling process.

[0067] To facilitate the use of the positioning and locking device 300, such as Figure 5 and Figure 6 As shown, in some embodiments, the positioning and locking device 300 further includes a hydraulic mechanism 310, which is connected to the AGV trolley 100. The output end of the hydraulic mechanism 310 extends out to voluntarily abut against the ground and lift the AGV trolley 100.

[0068] Specifically, the hydraulic mechanism 310 includes a hydraulic cylinder, which is installed inside the frame 110. After the AGV trolley 100 reaches the designated position, the output end of the hydraulic cylinder extends, which lifts the AGV trolley 100 until the bottom end of the electric steering wheel 130 is suspended in the air. Therefore, the AGV trolley 100 is prevented from rolling, thus fixing the AGV trolley 100.

[0069] To facilitate the hydraulic mechanism 310 in lifting the AGV trolley 100, such as Figure 6 and Figure 7 As shown, in some embodiments, the positioning and locking device 300 further includes a drive plate 320 and a limiting mechanism 330. The output end of the hydraulic mechanism 310 is connected to the drive plate 320, and the drive plate 320 is connected to the limiting mechanism 330 to limit the connection with the AGV trolley 100.

[0070] Specifically, the output end of the hydraulic cylinder passes through the frame 110 and connects to the drive plate 320, which is located below the frame 110. The hydraulic cylinder drives the drive plate 320 to move downward, thereby lifting the AGV trolley 100 until the bottom end of the electric steering wheel 130 is suspended in the air, thus preventing the AGV trolley 100 from rolling. The limiting mechanism 330 includes a driver, a positioning sleeve 331, and a positioning pin 332. The driver is installed inside the frame 110 and can be configured as a motor. The positioning sleeve 331 is provided on the output end of the driver, and the positioning pin 332 is provided on the top surface of the lifting plate. The positioning sleeve 331 and the positioning pin 332 are movably inserted, that is, the driver drives the positioning sleeve 331 to insert the positioning pin 332, thereby further completing the locking and fixing of the frame 110 and the lifting plate, preventing displacement and other phenomena. The positioning and locking mechanism 330, which works in cooperation with the AGV trolley 100, drive plate 320, and limiting mechanism 330, is a technique known to those skilled in the art. Similarly, the operation of the hydraulic cylinder and drive mechanism is also a technique known to those skilled in the art, and all are feasible. Therefore, they will not be described in detail in this embodiment. Furthermore, multiple limiting mechanisms 330 can be provided to improve the limiting effect, such as two on the left and right sides.

[0071] like Figure 1 and Figure 6 As shown, in some embodiments, the processing apparatus 200 also includes a robot control system 221, an inverter, a battery system, and an air compressor system 222, etc. The robot 220 is mounted on the frame 110, and the inverter, battery system, and air compressor system 222 are mounted inside the frame 110. The robot control system 221 is used to drive the robot 220 to move.

[0072] like Figure 1As shown, in some embodiments, the composite robot processing equipment 10 also includes a high-voltage power supply device 400, which is located on one side of the AGV trolley 100 and electrically connected to the AGV trolley 100 and the processing device 200. After the AGV is positioned, the high-voltage power supply device 400 begins docking. After docking, the inverter starts supplying power to the robotic arm control system 221 of the AGV trolley 100 and the processing device 200 at a voltage of 380V, thereby linking the end effector of the robotic arm 220 to carry the spindle 230, the contact component 240, and the processing tool 250 for processing operations. Furthermore, the AGV trolley 100 automatically docks with the high-voltage power supply device 400 using a two-stage floating device.

[0073] Therefore, refer to Figure 1 , Figure 5 and Figure 6 The specific working steps of the composite robot processing equipment 10 are as follows: Upon starting the equipment and receiving a movement command, the AGV 100 sends the command to the AGV electronic control system 120. Based on the LiDAR 140, positioning and map building are completed, driving the electric steering wheel 130 to rotate, thus moving the AGV 100 to the designated position. During the movement of the AGV 100, a laser SLAM navigation system, combined with a 3D vision mechanism 210, is used to monitor changes in the surrounding environment in real time, achieving autonomous navigation. Simultaneously, it actively avoids people or facilities that are constantly moving within the factory. After reaching the designated position, the AGV 100 refers to… Figure 6 and Figure 7 The main control system starts the hydraulic mechanism 310, and the hydraulic cylinder pushes the drive plate 320 to lift the entire AGV trolley 100 off the ground. Then, the motor pushes the positioning sleeve 331 to engage with the positioning pin 332, completing the positioning of the AGV trolley 100 and the drive plate 320. This fixes the AGV trolley 100 on the ground, preventing displacement during operation and affecting processing accuracy. After positioning is completed, refer to... Figure 2 , Figure 3 and Figure 4 That is, the robot arm 220 moves to the tool magazine 500 for tool loading. After tool loading, the tool is set in the tool setting assembly 520. After tool setting, the robot arm 220 moves the machining tool 250 to the machining position. (Refer to...) Figure 1 and Figure 2 The abutment sleeve 244 first abuts against the wing frame 600. The spindle motor drives the machining tool 250 to rotate. Other drivers or robotic arms 220 drive the abutment sleeve 244 and the machining tool 250 to move forward for machining. During the machining process, the abutment sleeve 244 always abuts against the machining surface through elasticity, maintaining the stability of the machining.

[0074] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0075] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this utility model is in use. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first," "second," and "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0076] Furthermore, terms such as "horizontal," "vertical," and "sag" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal relative to "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0077] In this invention, unless otherwise expressly specified and limited, "above or below" the first feature may include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on" the first feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the first feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0078] Although the description of this utility model has been given in conjunction with the specific embodiments described above, it is obvious to those skilled in the art that many substitutions, modifications, and variations can be made based on the above description. Therefore, all such substitutions, modifications, and variations are included within the spirit and scope of the appended claims.

Claims

1. A composite robot processing equipment, characterized in that, include: An AGV (Automated Guided Vehicle) trolley, a robotic arm mounted on the AGV trolley, a spindle mounted at the end of the robotic arm and connected to the spindle, and a processing tool, wherein the spindle is used to drive the processing tool to rotate, and the processing tool can move relative to the abutment assembly along the axial direction of the processing tool.

2. The composite robot processing equipment according to claim 1, characterized in that, The abutting assembly includes an abutting sleeve and an elastic element, with one end of the elastic element connected to the abutting sleeve and the other end connected to the main shaft.

3. The composite robot processing equipment according to claim 2, characterized in that, The processing tool is housed within the abutting sleeve, and the processing tool is rotatable relative to the abutting sleeve.

4. The composite robot processing equipment according to claim 3, characterized in that, The abutment assembly also includes a connecting ring, and the other end of the elastic element is connected to the spindle through the connecting ring. The connecting ring is rotatably connected to the machining tool.

5. A composite robot processing equipment according to claim 4, characterized in that, The main shaft is provided with a limiting rod, and the connecting ring is provided with a limiting groove that cooperates with the limiting rod. The connecting ring is connected to the main shaft through the limiting groove and the limiting rod.

6. The composite robot processing equipment according to claim 4, characterized in that, The connecting ring is interference-fitted with both the spindle and the machining tool.

7. A composite robot processing equipment according to any one of claims 2 to 6, characterized in that, The abutment sleeve has a chip removal hole on its side wall.

8. A composite robot processing equipment according to any one of claims 2 to 6, characterized in that, It also includes a tool magazine, which is mounted on the AGV. The tool magazine includes at least one machining device fixing component, which includes a base and a clamping part connected to the base. The base is used to support the machining tool, and the clamping part is used to clamp the abutment component.

9. A composite robot processing equipment according to any one of claims 2 to 6, characterized in that, The robotic arm is equipped with a 3D vision mechanism at its end.

10. A composite robot processing equipment according to claim 9, characterized in that, The 3D vision mechanism includes a vision control system and a 3D camera. The vision control system is mounted on the AGV trolley, and the 3D camera is connected to the end of the robotic arm. The vision control system is electrically connected to the 3D camera.

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