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CN-224223242-U - Processing equipment

CN224223242UCN 224223242 UCN224223242 UCN 224223242UCN-224223242-U

Abstract

The application discloses processing equipment. The base is provided with a processing table. The three-dimensional vision mechanism is arranged on the outer side of the upper surface of the processing table, and the three-dimensional vision mechanism acquires 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 arranged at the tail end of the robot drilling and milling assembly, the measuring tool is in contact with a workpiece to acquire size information of the workpiece, the measuring tool is electrically connected with the controller, and the controller controls the cutter to machine the workpiece according to the position information and the gesture information transmitted by the three-dimensional visual mechanism and the size information transmitted by the measuring tool. The processing table is arranged at the end part of the base and is arranged at intervals with the processing mechanism, and at least part 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. The application solves the problem of low processing efficiency of processing equipment for large-scale structural parts in the prior art.

Inventors

  • SUN XIN
  • ZHANG YUANJU

Assignees

  • 浙江希尔机器人股份有限公司
  • 卧龙电气驱动集团股份有限公司

Dates

Publication Date
20260512
Application Date
20250516

Claims (10)

  1. 1. A processing apparatus, comprising: a base (10), wherein a processing table (11) is arranged on the base (10), and the processing table (11) is used for installing a workpiece; A three-dimensional vision mechanism (20), wherein the three-dimensional vision mechanism (20) is arranged on the outer side of the upper surface of the processing table (11), and the three-dimensional vision mechanism (20) is at least used for acquiring the position information and the gesture information of the workpiece; The machining mechanism (30), the machining mechanism (30) comprises a controller and a robot drilling and milling assembly (31), the controller is electrically connected with the robot drilling and milling assembly (31), the robot drilling and milling assembly (31) is arranged on the base (10), a measuring tool or a cutter is detachably arranged at the tail end of the robot drilling and milling assembly (31), the measuring tool is in contact with the workpiece to obtain size information of the workpiece, the measuring tool is electrically connected with the controller, and 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 (20) and the size information transmitted by the measuring tool; Wherein, along the length direction of base (10), processing platform (11) set up in the tip of base (10) and with processing agency (30) interval arrangement, three-dimensional vision mechanism (20) along the projection of the direction of height of base (10) at least partially fall into between processing platform (11) and processing agency (30).
  2. 2. The processing apparatus according to claim 1, wherein the three-dimensional vision mechanism (20) includes at least one of a structured light sensor that obtains the position information and the posture information of the workpiece by acquiring a pattern of the workpiece, and a laser scanner that obtains the position information and the posture information of the workpiece by transmitting a laser signal to the workpiece and receiving a laser signal reflected back from the workpiece.
  3. 3. The machining apparatus according to claim 1, wherein the robotic drilling and milling assembly (31) comprises: A mechanical arm (311), the mechanical arm (311) being electrically connected to the controller; The main shaft (312), main shaft (312) connect in the end of arm (311), just main shaft (312) deviate from one side of arm (311) is connected survey utensil with one of them in the cutter, controller control arm (311) drive survey utensil with the work piece contact is in order to obtain the size information of work piece, perhaps controller control arm (311) drive the cutter carries out the processing to the work piece.
  4. 4. A processing apparatus according to claim 3, wherein the spindle (312) is connected to the end of the robot arm (311) by a connecting member (32), the connecting member (32) comprising: The flange group (321) is connected to one side, close to the main shaft (312), of the mechanical arm (311); Dodge groove (322), dodge groove (322) connect in main shaft (312) with between flange group (321), follow dodge the groove depth direction in groove (322), dodge groove (322) keep away from one side of notch connect in flange group (321), just dodge the notch orientation in groove (322) main shaft (312), dodge and be provided with cooling mechanism in groove (322).
  5. 5. The processing apparatus according to claim 4, wherein a rotating shaft (33) is disposed on a side of the mechanical arm (311) near the spindle (312), a rotating flange (331) is sleeved on the rotating shaft (33), the rotating shaft (33) rotates around a self axis to drive the rotating flange (331) to rotate, a plurality of first through holes (3311) are disposed on the rotating flange (331), the plurality of first through holes (3311) are disposed along an outer periphery of the rotating flange (331) at intervals, and the flange group (321) includes: The first flange plate (3211), the first flange plate (3211) is sleeved on the rotating shaft (33), a second through hole (32111) and a third through hole (32112) are formed in the first flange plate (3211), the third through hole (32112) is located at the inner side of the second through hole (32111) along the radial direction of the first flange plate (3211), and a first locking piece penetrates through the second through hole (32111) and the first through hole (3311) to connect the first flange plate (3211) to one side, close to the main shaft (312), of the rotating flange plate (331); the second flange plate (3212), second flange plate (3212) cover is located on pivot (33), be provided with fourth through-hole (32121) and fifth through-hole (32122) on second flange plate (3212), along the radial of second flange plate (3212), fifth through-hole (32122) are located the inboard of fourth through-hole (32121), the second retaining member pass fourth through-hole (32121) with third through-hole (32112) will second flange plate (3212) connect in first flange plate (3211) is close to one side of main shaft (312), the third retaining member passes through fifth through-hole (32122) with dodge the tank bottom of groove (322).
  6. 6. A processing apparatus according to claim 3, further comprising: The tool magazine (40), tool magazine (40) set up in on base (10), be provided with on tool magazine (40) and to the edge of a knife, be provided with in tool magazine (40) and hold the first position of surveying tool with hold the second position of cutter, first position with the second position is all can be relative base (10) motion to with the position opposite to the edge of a knife, survey the tool with all be provided with first joint portion on the cutter, be provided with on main shaft (312) with first joint portion complex second joint portion, the controller control main shaft (312) move to with the position opposite to the edge of a knife and drive first joint portion with second joint portion joint or separation.
  7. 7. The machining apparatus according to any one of claims 1 to 6, wherein the base (10) is provided with at least two junk slots (12), the at least two junk slots (12) being located on opposite sides of the base (10) in the width direction, respectively, the machining apparatus further comprising: The chip guiding component (50) is arranged on the base (10) and surrounds the periphery of the processing table (11), a chip guiding channel (51) is arranged on one side, close to the base (10), of the chip guiding component (50), and the chip guiding channel (51) is communicated with the chip discharging groove (12); Chip removal machine (60), chip removal machine (60) set up in at least one side of the length direction of base (10), chip removal machine (60) are including interconnect's collection bits portion (61) and suction portion (62), be provided with album bits passageway in collection bits portion (61), collection bits passageway with chip groove (12) are kept away from one end intercommunication each other of guide bits passageway (51).
  8. 8. The machining apparatus according to claim 7, wherein the chip guide member (50) includes: The chip guiding blocks (52), the chip guiding blocks (52) comprise a plurality of pieces, the chip guiding blocks (52) are arranged on the base (10) and are arranged on the outer side wall of the processing table (11) in a surrounding mode, an inclined surface is arranged on one side, away from the base (10), of the chip guiding blocks (52) along the height direction of the base (10), and the inclined surface is inclined towards the chip guiding channel (51); The coaming (53), coaming (53) set up in on base (10) and enclose and locate the outside of guide bits piece (52), follow the width direction of base (10), the internal wall face of coaming (53) both sides relatively with be provided with the clearance between the periphery edge of guide bits piece (52), the clearance forms guide bits passageway (51).
  9. 9. The processing apparatus according to any one of claims 1 to 6, further comprising: The protection mechanism (70), protection mechanism (70) include casing subassembly (71) and base subassembly (72), base subassembly (72) set up in the upper surface of base (10) and at least part extend to the border outside of base (10), casing subassembly (71) with the outside edge of base subassembly (72) is connected and with base subassembly (72) enclose and establish and form the protection space, the upper surface of processing platform (11) three-dimensional vision mechanism (20) and robot bores and mills subassembly (31) all to be located in the protection space.
  10. 10. The processing apparatus according to claim 9, wherein the base assembly (72) comprises a plurality of plate bodies (721), wherein a plurality of plate bodies (721) are connected to the upper surface of the base (10), wherein two adjacent plate bodies (721) are detachably connected, wherein at least part of the outer edges of the plate bodies (721) are abutted with the bottom end of the processing table (11), at least part of the outer edges of the plate bodies (721) are abutted with the bottom end of the robot drilling and milling assembly (31), The controller comprises a control panel (34), wherein the control panel (34) is at least partially embedded in the shell component (71), and/or, An opening (711) is formed in the shell assembly (71), the opening (711) is communicated with the protection space, and the opening (711) and the processing table (11) are arranged opposite to each other along the length direction of the base (10).

Description

Processing equipment Technical Field The application relates to the technical field of machining, in particular to machining equipment. Background At present, a gantry machine tool is mainly used for processing structural parts. When large structural parts with a large volume are to be machined, a large gantry machine tool is required. Because of the limitation of the processing area and the degree of freedom of the large gantry machine tool, the workpiece with a complex structure usually needs to be processed after being positioned twice or more times, so that the processing efficiency of the workpiece is low. In addition, the large gantry machine tool occupies a larger area and is more expensive, so that the processing cost of the large structural component is higher. Disclosure of utility model The application mainly aims to provide processing equipment for solving the problem of low processing efficiency of processing equipment for large structural parts in the prior art. According to an aspect of the present application, there is provided a processing apparatus comprising: The base is provided with a processing table which is used for installing a workpiece; The three-dimensional visual mechanism is arranged on the outer side of the upper surface of the processing table and is at least used for acquiring the position information and the 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 arranged at the tail end of the robot drilling and milling assembly, the measuring tool is in contact with the workpiece to obtain the size information of the workpiece, the measuring tool is electrically connected with the controller, and 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 processing table is arranged at the end part of the base and is arranged at intervals with the processing mechanism along the length direction of the base, and at least part of the projection of the three-dimensional vision mechanism along the height direction of the base falls into the space between the processing table and the processing mechanism. Further, the three-dimensional vision mechanism includes at least one of a structured light sensor that obtains the positional information and the posture information of the workpiece by acquiring a pattern of the workpiece, and a laser scanner that obtains the positional information and the posture information of the workpiece by transmitting a laser signal to the workpiece and receiving a laser signal reflected back from the workpiece. Further, the robotic drilling and milling assembly includes: the mechanical arm is electrically connected with the controller; The main shaft is connected to the tail end of the mechanical arm, one side, away from the mechanical arm, of the main shaft is selectively connected with one of the measuring tool and the cutter, the controller controls the mechanical arm to drive the measuring tool to be in contact with the workpiece so as to obtain the size information of the workpiece, or controls the mechanical arm to drive the cutter to process the workpiece. Further, the spindle is connected to the end of the mechanical arm through a connection part, the connection part including: The flange group is connected to one side, close to the main shaft, of the mechanical arm; Dodge the groove, dodge the groove connect in the main shaft with between the flange group, follow dodge the groove depth direction in groove, dodge the groove keep away from one side of notch connect in the flange group, just dodge the notch orientation in groove the main shaft, dodge the inslot and be provided with heat dissipation mechanism. Further, the arm is close to one side of main shaft is provided with the pivot, the cover is equipped with rotatory ring flange in the pivot, the pivot is rotatory around self axis drives rotatory ring flange is rotatory, be provided with a plurality of first through-holes on the rotatory ring flange, a plurality of first through-holes are followed rotatory ring flange's periphery is along the interval arrangement, the flange group includes: The first flange plate is sleeved on the rotating shaft, a second through hole and a third through hole are formed in the first flange plate, the third through hole is located at the inner side of the second through hole along the radial direction of the first flange plate, and the first locking piece penetrates through the second through hole and the first through hole to connect the first flange plate to one side, close to the main shaft, of the rotating f