CN105643028A - Processing industrial robot and electric arc discharge machining method thereof - Google Patents

Abstract

The invention provides a processing industrial robot and an arc discharge processing method thereof, which relate to the technical field of processing industry. The workpiece processing end of the robot body of the processing industrial robot is connected to the electrode device; a workpiece rotary positioning platform is arranged at the lower end of the electrode device; the workpiece rotary positioning platform is used to carry the workpiece to be processed; the electrode device and the workpiece to be processed are respectively connected to the two poles of the working power supply , the working power supply is used to generate arc discharge between the electrode device and the workpiece to be processed; the motion controller is connected to the robot body; the motion controller is used to control the movement of the robot body; the rotary flushing device is set at the electrode device; the rotary flushing device is used The working fluid is provided to the electrode device, so that the electrode device sprays the working fluid to the arc discharge area between the electrode device and the workpiece to be processed to form a working fluid medium. The invention can solve the problems that the current processing industrial robots have poor processing quality and are difficult to process large and high-strength workpiece materials.

Description

A processing industrial robot and arc discharge processing method thereof

technical field

The invention relates to the technical field of processing industry, in particular to a processing industrial robot and an arc discharge processing method thereof.

Background technique

At present, in the processing industry, it is more common to use processing industrial robots to process workpieces. The existing processing robots have the advantages of large motion range, good flexibility and high flexibility. In the field of cutting processing, they have begun to replace CNC machine tools to complete low-cost, high-quality, and high-efficiency automated processing methods.

At present, cutting processing robots are widely used in material removal processing such as grinding of welding parts, trimming of casting parts, deburring of stamping parts, polishing of complex shape parts such as hubs and molds, and welding, spraying, loading and unloading, coding Compared with stacking and other applications, the cutting process of industrial robots requires higher motion accuracy and more complex path planning. However, the kinematic actuators of current material removal processing robots are slender industrial arms with a cantilever beam structure. This makes the robot's end effector overhang when the robot has more degrees of freedom, which greatly reduces the overall rigidity of the robot, the load of the robot will drop sharply, and the motion accuracy will also decrease geometrically. In particular, the ability to carry loads perpendicular to the arm is poor, resulting in vibrations during cutting. The current machining objects of industrial robots are limited to soft and small workpiece materials, which inhibits the application of industrial robots in parts processing. Therefore, there is still great room for improvement in robot performance and process optimization. Among them, reducing or eliminating the impact of the overall stiffness of the robot on the processing process is an extremely important aspect of robot performance optimization, and it also has a very important impact on the robot's processing quality and processing stability.

Contents of the invention

Embodiments of the present invention provide a processing industrial robot and an arc discharge processing method thereof, so as to solve the problems that current processing industrial robots have poor processing quality and are difficult to process large and high-strength workpiece materials.

To achieve the above object, the present invention adopts the following technical solutions:

A processing industrial robot includes: a robot body, an electrode device, a working power supply, a rotary flushing device, and a motion controller;

The workpiece processing end of the robot body is connected to the electrode device; a workpiece rotary positioning platform is arranged at the lower end of the electrode device; the workpiece rotary positioning platform is used to carry the workpiece to be processed; the electrode device and the workpiece to be processed are respectively Connecting the two poles of the working power supply, the working power supply is used to generate arc discharge between the electrode device and the workpiece to be processed;

The motion controller is connected to the robot body; the motion controller is used to control the movement of the robot body;

The rotary flushing device is arranged at the electrode device; the rotary flushing device is used to provide working fluid to the electrode device, so that the electrode device sprays the working fluid to the arc discharge area between the electrode device and the workpiece to be processed, forming Working fluid medium.

Specifically, the robot body includes: a robot base, a base mechanism, a waist mechanism, a large arm mechanism, a forearm mechanism, a wrist mechanism, and an end effector;

The robot base is connected to the base mechanism through a base joint through a mandrel and a connecting key; the base mechanism is connected to one end of the waist mechanism; one end of the waist mechanism is connected to a waist joint through a mandrel and a connecting key connected; the other end of the waist mechanism is connected to the boom mechanism; the boom mechanism is connected to the big arm joint through a spindle and a connecting key; the boom mechanism is also connected to one end of the forearm mechanism, And one end of the forearm mechanism is connected to a forearm joint through a spindle and a connecting key; the other end of the forearm mechanism is connected to one end of the wrist mechanism; one end of the wrist mechanism is connected to a wrist through a spindle and a connecting key joint; the other end of the wrist mechanism is connected to one end of the end effector; one end of the end effector is connected to an end effector joint through a mandrel and a connection key.

Further, the processing industrial robot also includes a working fluid circulation system; the working fluid circulation system includes: working fluid storage tank, liquid supply pressure pump, waste liquid collection pressure pump, waste liquid storage tank, filtering device, digital pressure control and collection valves;

The outlet of the working fluid storage tank is connected to the inlet of the rotary flushing device; the liquid supply pressure pump and the collection valve are arranged on the connecting pipeline between the outlet of the working fluid storage tank and the inlet of the rotary flushing device;

The waste liquid storage tank is arranged at the lower end of the workpiece rotary positioning platform;

The outlet of the waste liquid storage tank is connected to the inlet of the working fluid storage tank; the waste liquid collection pressure pump and filter device are sequentially arranged on the connecting pipeline between the outlet of the waste liquid storage tank and the inlet of the working fluid storage tank;

The digital pressure controller is connected with the collection valve; the digital pressure controller is used to control the collection valve.

In addition, the other end of the end effector is fixedly connected to the rotary flushing device through bolts; the center of the lower end of the rotary flushing device is connected to the electrode device.

In addition, a tool electrode is installed at the center line of the electrode device; when the workpiece to be processed is processed by the electrode device, the rotation axis of the tool electrode coincides with the normal line of a point on the processing surface of the workpiece to be processed .

Specifically, the motion controller is respectively connected to the base joint, waist joint, upper arm joint, forearm joint, wrist joint, and terminal actuator joint; the motion controller is used to control the base joint, waist joint, and upper arm joint. joints, forearm joints, wrist joints, and end-executive joints.

Specifically, the robot base is a flat support structure; the robot base is fixed on a fixed work platform, a movable work platform or a machine tool motion platform through positioning bolts; Articulating base.

In addition, the processing industrial robot includes a plurality of workpiece rotating positioning platforms; the workpiece rotating positioning platforms are indexing positioning workbenches.

In addition, the working fluid is a water-based working fluid.

An arc discharge machining method for a processing industrial robot, which is applied to the above-mentioned processing industrial robot, and the arc discharge machining method for the processing industrial robot includes:

Control the workpiece rotary positioning table to move the workpiece to be processed to the lower end of the electrode device;

Control the robot body to move, and control the workpiece rotation positioning table to perform positioning movement, so that the rotation axis of the tool electrode of the electrode device coincides with the normal line of the point on the processing surface of the workpiece to be processed;

Control the working power to start, and control the tool electrode of the electrode device to rotate, so that arc discharge occurs between the electrode device and the workpiece to be processed, and control the rotating flushing device to provide working fluid to the electrode device, so that the electrode device supplies the electrode device with the workpiece to be processed The arc discharge area between the workpieces sprays the working fluid to form a working fluid medium for processing the workpieces to be processed.

Further, the action of controlling the robot body includes:

According to the pre-set motion track of the robot body, control the base joints to drive the movement of the base mechanism, control the waist joints to drive the movement of the waist mechanism, control the upper arm joints to drive the movement of the upper arm mechanism, and control the forearm joints to drive the movement of the forearm mechanism. And control the wrist joint to drive the movement of the wrist mechanism, and control the end effector joint to drive the movement of the end effector.

In addition, the arc discharge machining method of the processing industrial robot also includes:

Control the waste liquid collection pressure pump to pump the working fluid collected by the waste liquid storage tank to the working fluid storage tank;

The liquid supply pressure pump is controlled to pump the working fluid in the working fluid storage tank to the rotary flushing device.

The embodiment of the present invention provides a processing industrial robot and an arc discharge processing method thereof. The workpiece processing end of the robot body of the processing industrial robot is connected to an electrode device; a workpiece rotary positioning platform is arranged at the lower end of the electrode device; It is used to carry the workpiece to be processed; the electrode device and the workpiece to be processed are respectively connected to the two poles of the working power supply, and the working power is used to generate arc discharge between the electrode device and the workpiece to be processed; the motion controller is connected to the robot body; the motion controller is used to control the robot The body moves; the rotary flushing device is installed at the electrode device; the rotary flushing device is used to provide working fluid to the electrode device, so that the electrode device sprays working fluid to the arc discharge area between the electrode device and the workpiece to be processed to form a working fluid medium . In this way, the present invention combines the processing industrial robot with the arc discharge processing technology, realizes efficient and precise processing of parts, and can process high-strength and difficult-to-cut materials, avoiding the poor processing quality of current processing industrial robots , and it is difficult to process large and high-strength workpiece materials. In addition, the present invention combines the processing industrial robot with the arc discharge processing technology and also overcomes the problems of low processing efficiency and small processing space when the current arc discharge processing technology is applied to a limited space range such as a machine tool.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention. For those skilled in the art, other drawings can also be obtained according to these drawings without any creative effort.

Fig. 1 is a structural schematic diagram 1 of a processing industrial robot provided by an embodiment of the present invention;

Fig. 2 is a structural schematic diagram II of a processing industrial robot provided by an embodiment of the present invention;

Fig. 3 is a flow chart of an arc discharge machining method for a machining industrial robot provided by an embodiment of the present invention.

detailed description

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

As shown in FIG. 1 , an embodiment of the present invention provides a processing industrial robot including: a robot body 10 , an electrode device 20 , a working power source 30 , a rotary flushing device 40 and a motion controller 50 .

The workpiece processing end of the robot body 10 is connected with the electrode device 20 . The workpiece rotary positioning platform 60 is provided at the lower end of the electrode device 20; the workpiece rotary positioning platform 60 is used to carry the workpiece 601 to be processed; Arc discharge is generated between the workpiece 601 and the workpiece to be processed. The working power supply 30 can be a DC or pulse power supply with a high discharge peak current (10-20000A), providing an energy source for the high energy density arc generated by the electrode device 20 and the workpiece 601 to be processed.

The motion controller 50 is connected with the robot body 10; the motion controller 50 can control the movement of the robot body 10.

The rotary flushing device 40 is arranged at the electrode device 20; the rotary flushing device 40 is used to provide working fluid to the electrode device 20, so that the electrode device 20 sprays the working fluid to the arc discharge area between the electrode device 20 and the workpiece 601 to be processed, Form the working fluid medium.

In addition, the working fluid can be a water-based working fluid.

Further, as shown in FIG. 2 , the robot body 10 includes: a robot base 101 , a base mechanism 102 , a waist mechanism 103 , a large arm mechanism 104 , a forearm mechanism 105 , a wrist mechanism 106 , and an end effector 107 .

The robot base 101 is connected to the base mechanism 102 through a base joint 108 through a spindle and a connection key (not shown in the figure), so that the base mechanism 102 can rotate around an axis. The base mechanism 102 is connected to one end of the waist mechanism 103 . One end of the waist mechanism 103 is connected to a waist joint 109 through a spindle and a connecting key, so that the waist mechanism 103 can rotate and swing around the axis. The other end of the waist mechanism 103 is connected with the boom mechanism 104 . The boom mechanism 104 is connected to the boom joint 110 through a spindle and a connecting key, so that the boom mechanism 104 can rotate and swing around the axis. The large arm mechanism 104 is also connected to one end of the forearm mechanism 105, and a forearm joint 111 is connected to one end of the forearm mechanism 105 through a spindle and a connecting key, so that the forearm mechanism 105 can rotate around the axis. The other end of the forearm mechanism 105 is connected to one end of the wrist mechanism 106 . One end of the wrist mechanism 106 is connected to a wrist joint 112 through a spindle and a connecting key, so that the wrist mechanism 106 can rotate and swing around the axis. The other end of the wrist mechanism 106 is connected to one end of the end effector 107 . One end of the end effector 107 is connected to an end effector joint 113 through a spindle and a connecting key, so that the end effector 107 can rotate around the axis.

The base joint 108 here may be composed of a servo motor, a reducer, a spindle, a bracket, a connecting keyway, and a support bearing (not shown in the figure), so as to realize the positioning and rotating motion of the base mechanism 102 .

The lumbar joint 109 here may be composed of a servo motor, a reducer, a spindle, a bracket, a connecting keyway and a supporting bearing (not shown in the figure), so as to realize the positioning movement of the lumbar mechanism 103 .

The boom joint 110 here can be composed of a servo motor, a reducer, a spindle, a bracket, a connecting keyway and a supporting bearing (not shown in the figure), so as to realize the positioning movement of the boom mechanism 104 .

Here the forearm joint 111 can be made up of servo motor, reducer, spindle, bracket, connecting keyway, coupling and supporting bearing etc.

The wrist joint 112 here can be composed of a servo motor, a reducer, a spindle, a bracket, a connecting keyway and a supporting bearing (not shown in the figure), so that the positioning movement of the wrist mechanism 106 can be realized.

The end effector joint 113 here may be composed of a servo motor, a reducer, a spindle, a bracket, a connecting keyway and a supporting bearing (not shown in the figure), so that the positioning movement of the end effector 107 can be realized.

It is worth noting that the motion of the robot body 10 can be a multi-degree-of-freedom motion, or the robot motion actuator can be a multi-axis motion, which can be set to 2, 3, 4, 5, 6 degrees of freedom or more as required, but not limited to here. In addition, the size of the robot body 10 can be 10-60000 mm, but not limited thereto; the working space radius of the robot body 10 can be 1-100000 mm, but not limited thereto.

Further, as shown in FIG. 2 , the processing industrial robot also includes a working fluid circulation system 70 . It includes: a working fluid storage tank 701 , a supply fluid pressure pump 702 , a waste fluid collection pressure pump 703 , a waste fluid storage tank 704 , a filtering device 705 , a digital pressure controller 706 and a collection valve 707 .

The outlet of the working fluid storage tank 701 is connected to the inlet of the rotary flushing device 40; the liquid supply pressure pump 702 and the collection valve 707 are arranged on the connecting pipeline between the outlet of the working fluid storage tank 701 and the inlet of the rotary flushing device 40 . The working fluid can be pumped to the rotary flushing device 40 through the fluid supply pressure pump 702 , and then enters the electrode device 20 , and then flows into the discharge gap at high speed through the tool electrode 201 of the electrode device 20 .

The waste liquid storage tank 704 can be arranged at the lower end of the workpiece rotating positioning table 60 to receive the working liquid that falls after being applied at the discharge gap. The outlet of the waste liquid storage tank 704 is connected to the inlet of the working fluid storage tank 701; the waste liquid collection pressure pump 703 and the filtering device 705 are sequentially arranged on the connecting pipeline between the outlet of the waste liquid storage tank 704 and the inlet of the working fluid storage tank 701. Impurities such as processing debris carried by the working fluid can be filtered through the filter device 705 .

The digital pressure controller 706 is connected with the collection valve 707 , and the digital pressure controller 706 can control the collection valve 707 to adjust the pressure and flow rate of the working fluid provided by the rotary flushing device 40 .

In addition, as shown in FIG. 2 , the other end of the end effector 107 can be fixedly connected to the rotary flushing device 40 through bolts (not shown in the figure); the center of the lower end of the rotary flushing device 40 can be connected to the electrode device 20 .

In addition, as shown in FIG. 2 , a tool electrode 201 is installed at the centerline of the electrode device 20 , so that the tool electrode 201 can approach the surface of the workpiece to be processed in a high-speed milling manner. When the workpiece 601 to be processed is processed by the electrode device 20 , the rotation axis of the tool electrode 201 may coincide with the normal of a point on the processing curved surface of the workpiece 601 to be processed. In addition, the motion controller 50 can also be connected with the electrode device 20 to control the rotational speed of the tool electrode 201 . The electrode device 20 can be composed of a spindle motor, a mandrel, a shaft coupling, a flushing device, a connecting bracket, a support bearing, and a sealing gasket, so as to realize high-speed rotational movement of the tool electrode.

Specifically, the motion controller 50 can be respectively connected with the base joint 108 , the waist joint 109 , the upper arm joint 110 , the forearm joint 111 , the wrist joint 112 , and the end effector joint 113 . The motion controller 50 can control the movement of the base joint 108 , the waist joint 109 , the upper arm joint 110 , the forearm joint 111 , the wrist joint 112 , and the end execution joint 113 .

The motion controller 50 here may be composed of key elements such as an upper computer, an offline programming system, a lower computer motion control card, a servo driver, and a control cabinet, but is not limited thereto. The upper computer can manage, feed back and display information such as the process, status and fault alarm of arc discharge machining. The off-line programming system establishes a CAD-CAM-ROBOT data link. According to the three-dimensional information of the processed parts, a CAD (Computer Aided Design) digital model can be established, and a CAM (Computer Aided Manufacturing) processing code can be generated. The processing code can be moved by the robot. The motion trajectory of each mechanical arm is accurately calculated by the reverse solution method of the scientific model, ensuring that the rotation axis of the tool electrode coincides with the normal of any point on the surface of the workpiece to be processed during the processing; after post-processing, the robot can identify Motion code; the motion control card of the lower computer can process the robot code generated by offline programming, and convert the code into the angle value of the servo motor corresponding to the movement of each mechanical arm; the servo driver receives the motion command of the lower computer motion control card, and through displacement and speed planning , to drive the movement of each servo motor.

Specifically, as shown in FIG. 2 , the robot base 101 may be a flat support structure. The robot base 101 can be fixed on a fixed working platform, a movable working platform or a machine tool moving platform through positioning bolts, so as to ensure that the robot body 10 will not overturn. The robot base 101 can be connected with the base joint 108 through positioning bolts.

In addition, the processing industrial robot in the embodiment of the present invention can include a plurality of workpiece rotary positioning platforms 60, and each workpiece rotary positioning platform 60 can be arranged in a circular array, a circular array or other array combinations; the workpiece rotary positioning platform 60 can be indexed positioning workbench. The indexing positioning of the workpiece during the machining process can be realized through the indexing positioning workbench, which avoids the positioning error caused by the secondary clamping of the workpiece and improves the positioning accuracy.

It is worth noting that the current arc discharge machining process generally occurs on the motion platform of the CNC machine tool. Restricted by the motion platform of CNC machine tools, the motion curve of tool electrodes in these processes is limited in a specific space, and spatially distributed processing cannot be performed. Limited by the single-axis motion range of CNC machine tools, arc discharge machining does not show the flexibility it should have when processing larger-sized parts, nor can it realize a variety of processing methods according to the processing characteristics of the parts.

When processing large-sized parts, the processing industrial robot has the difficulties of small processing load, great influence on the rigidity of the workpiece, small removal of workpiece material and complex processing path planning, but has the advantages of high processing efficiency, high flexibility and low cost; while arc The electric discharge machining process has the difficulties of low processing flexibility, small workpiece space, inflexible on-site operation and high equipment cost, but it has the advantages of large workpiece material removal and is not affected by workpiece stiffness. It can be seen that the processing robot technology and the arc discharge processing technology have the characteristics of complementary advantages. The present invention combines the two organically to realize a new type of arc discharge processing robot technology, which can be used in the high-efficiency, high-flexibility and low-cost processing of large-sized parts. A breakthrough has been made. In addition, the robot arc discharge machining method can be derived from milling, grinding, turning, drilling, polishing and grinding processing methods, so that according to the characteristics of the complex surface of the workpiece, several robot arc discharge machining methods can be combined to achieve high efficiency of parts processing.

A processing industrial robot provided by an embodiment of the present invention, the workpiece processing end of the robot body of the processing industrial robot is connected to an electrode device; a workpiece rotary positioning platform is provided at the lower end of the electrode device; the workpiece rotary positioning platform is used to carry workpieces to be processed; The electrode device and the workpiece to be processed are respectively connected to the two poles of the working power supply. The working power is used to generate arc discharge between the electrode device and the workpiece to be processed; the motion controller is connected to the robot body; the motion controller is used to control the movement of the robot body; The device is arranged at the electrode device; the rotary flushing device is used to provide working fluid to the electrode device, so that the electrode device sprays the working fluid to the arc discharge area between the electrode device and the workpiece to be processed to form a working fluid medium. In this way, the present invention combines the processing industrial robot with the arc discharge processing technology, realizes efficient and precise processing of parts, and can process high-strength and difficult-to-cut materials, avoiding the poor processing quality of current processing industrial robots , and it is difficult to process large and high-strength workpiece materials. In addition, the present invention combines the processing industrial robot with the arc discharge processing technology and also overcomes the problems of low processing efficiency and small processing space when the current arc discharge processing technology is applied to a limited space range such as a machine tool.

As shown in FIG. 3 , an embodiment of the present invention provides an arc discharge machining method for a processing industrial robot, which is applied to the processing industrial robot shown in FIG. 1 and FIG. 2 above. The arc discharge machining method for the processing industrial robot includes:

Step 301 , controlling the workpiece rotary positioning platform to move the workpiece to be processed to the lower end of the electrode device.

Step 302 : Control the robot body to move, and control the workpiece rotation positioning platform to perform positioning movement, so that the rotation axis of the tool electrode of the electrode device coincides with the normal line of the point on the processing surface of the workpiece to be processed.

Here, controlling the workpiece rotary positioning table to perform positioning movement can realize the indexing processing of complex multi-curved surfaces of the workpiece.

Step 303, control the working power supply to start, and control the tool electrode of the electrode device to rotate, so that an arc discharge is generated between the electrode device and the workpiece to be processed, and control the rotating flushing device to provide the working fluid to the electrode device, so that the electrode device is supplied to the electrode device The arc discharge area between the workpiece and the workpiece to be processed sprays the working fluid to form a working fluid medium for processing the workpiece to be processed.

Here, the material removal rate, tool electrode wear rate and Processing performance such as surface roughness.

It is worth noting that the control of the robot body in the above step 302 to perform actions can be achieved in the following manner:

According to the pre-set motion track of the robot body, control the base joints to drive the movement of the base mechanism, control the waist joints to drive the movement of the waist mechanism, control the upper arm joints to drive the movement of the upper arm mechanism, and control the forearm joints to drive the movement of the forearm mechanism. And control the wrist joint to drive the movement of the wrist mechanism, and control the end effector joint to drive the movement of the end effector.

In addition, as shown in Figure 3, in order to recover the working fluid, the arc discharge machining method of the processing industrial robot may also include:

Step 304, controlling the waste liquid collection pressure pump to pump the working fluid collected by the waste liquid storage tank to the working fluid storage tank.

Step 305 , controlling the liquid supply pressure pump to pump the working fluid in the working fluid storage tank to the rotary flushing device. After step 305, it may return to step 303.

It is worth noting that, for a specific implementation of an arc discharge machining method for a processing industrial robot provided in an embodiment of the present invention, reference may be made to the above-mentioned device embodiments corresponding to FIG. 1 and FIG. 2 , and details will not be repeated here.

The embodiment of the present invention provides an arc discharge machining method for a processing industrial robot. The workpiece processing end of the robot body of the processing industrial robot is connected to an electrode device; a workpiece rotary positioning platform is arranged at the lower end of the electrode device; the workpiece rotary positioning platform is used for Carry the workpiece to be processed; the electrode device and the workpiece to be processed are respectively connected to the two poles of the working power supply, and the working power is used to generate arc discharge between the electrode device and the workpiece to be processed; the motion controller is connected to the robot body; the motion controller is used to control the robot body Movement; the rotary flushing device is arranged at the electrode device; the rotary flushing device is used to provide working fluid to the electrode device, so that the electrode device sprays working fluid to the arc discharge area between the electrode device and the workpiece to be processed to form a working fluid medium. In this way, the present invention combines the processing industrial robot with the arc discharge processing technology, realizes efficient and precise processing of parts, and can process high-strength and difficult-to-cut materials, avoiding the poor processing quality of current processing industrial robots , and it is difficult to process large and high-strength workpiece materials. In addition, the present invention combines the processing industrial robot with the arc discharge processing technology and also overcomes the problems of low processing efficiency and small processing space when the current arc discharge processing technology is applied to a limited space range such as a machine tool.

Those skilled in the art should understand that the embodiments of the present invention may be provided as methods, systems, or computer program products. Accordingly, the present invention can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.

The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It should be understood that each procedure and/or block in the flowchart and/or block diagram, and a combination of procedures and/or blocks in the flowchart and/or block diagram can be realized by computer program instructions. These computer program instructions may be provided to a general purpose computer, special purpose computer, embedded processor, or processor of other programmable data processing equipment to produce a machine such that the instructions executed by the processor of the computer or other programmable data processing equipment produce a An apparatus for realizing the functions specified in one or more procedures of the flowchart and/or one or more blocks of the block diagram.

These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing apparatus to operate in a specific manner, such that the instructions stored in the computer-readable memory produce an article of manufacture comprising instruction means, the instructions The device realizes the function specified in one or more procedures of the flowchart and/or one or more blocks of the block diagram.

These computer program instructions can also be loaded onto a computer or other programmable data processing device, causing a series of operational steps to be performed on the computer or other programmable device to produce a computer-implemented process, thereby The instructions provide steps for implementing the functions specified in the flow chart or blocks of the flowchart and/or the block or blocks of the block diagrams.

In the present invention, specific examples have been applied to explain the principles and implementation methods of the present invention. The description of the above examples is only used to help understand the method of the present invention and its core idea; meanwhile, for those of ordinary skill in the art, according to this The idea of the invention will have changes in the specific implementation and scope of application. To sum up, the contents of this specification should not be construed as limiting the present invention.

Claims (12)

1. A processing industrial robot, characterized in that it comprises: a robot body, an electrode device, a working power supply, a rotary flushing device and a motion controller; The workpiece processing end of the robot body is connected to the electrode device; a workpiece rotary positioning platform is arranged at the lower end of the electrode device; the workpiece rotary positioning platform is used to carry the workpiece to be processed; the electrode device and the workpiece to be processed are respectively Connecting the two poles of the working power supply, the working power supply is used to generate arc discharge between the electrode device and the workpiece to be processed; The motion controller is connected to the robot body; the motion controller is used to control the movement of the robot body; The rotary flushing device is arranged at the electrode device; the rotary flushing device is used to provide working fluid to the electrode device, so that the electrode device sprays the working fluid to the arc discharge area between the electrode device and the workpiece to be processed, forming Working fluid medium. 2. The processing industrial robot according to claim 1, wherein the robot body comprises: a robot base, a base mechanism, a waist mechanism, a large arm mechanism, a forearm mechanism, a wrist mechanism, and an end effector; The robot base is connected to the base mechanism through a base joint through a mandrel and a connecting key; the base mechanism is connected to one end of the waist mechanism; one end of the waist mechanism is connected to a waist joint through a mandrel and a connecting key connected; the other end of the waist mechanism is connected to the boom mechanism; the boom mechanism is connected to the big arm joint through a spindle and a connecting key; the boom mechanism is also connected to one end of the forearm mechanism, And one end of the forearm mechanism is connected to a forearm joint through a spindle and a connecting key; the other end of the forearm mechanism is connected to one end of the wrist mechanism; one end of the wrist mechanism is connected to a wrist through a spindle and a connecting key joint; the other end of the wrist mechanism is connected to one end of the end effector; one end of the end effector is connected to an end effector joint through a mandrel and a connecting key. 3. The processing industrial robot according to claim 2, characterized in that, the processing industrial robot also includes a working fluid circulation system; the working fluid circulation system includes: working fluid storage tank, liquid supply pressure pump, waste liquid collection Pressure pump, waste liquid storage tank, filter device, digital pressure controller and collection valve; The outlet of the working fluid storage tank is connected to the inlet of the rotary flushing device; the liquid supply pressure pump and the collection valve are arranged on the connecting pipeline between the outlet of the working fluid storage tank and the inlet of the rotary flushing device; The waste liquid storage tank is arranged at the lower end of the workpiece rotary positioning platform; The outlet of the waste liquid storage tank is connected to the inlet of the working fluid storage tank; the waste liquid collection pressure pump and filter device are sequentially arranged on the connecting pipeline between the outlet of the waste liquid storage tank and the inlet of the working fluid storage tank; The digital pressure controller is connected with the collection valve; the digital pressure controller is used to control the collection valve. 4. The processing industrial robot according to claim 3, wherein the other end of the end effector is fixedly connected to the rotary flushing device through bolts; the center of the lower end of the rotary flushing device is connected to the electrode device . 5. The processing industrial robot according to claim 4, wherein a tool electrode is installed at the center line of the electrode device; when processing the workpiece by the electrode device, the rotation of the tool electrode The axis coincides with the normal of a point on the machining surface of the workpiece to be machined. 6. The processing industrial robot according to claim 5, wherein the motion controller is respectively connected to the base joint, waist joint, arm joint, forearm joint, wrist joint, and terminal execution joint; The controller is used to control the movement of the base joint, waist joint, arm joint, forearm joint, wrist joint, and end effector joint. 7. The processing industrial robot according to claim 6, wherein the robot base is a flat support structure; the robot base is fixed on a fixed work platform, a movable work platform or a machine tool by positioning bolts. on the platform; the robot base is jointed with the base through positioning bolts. 8. The processing industrial robot according to claim 7, characterized in that, the processing industrial robot comprises a plurality of said workpiece rotary positioning platforms; said workpiece rotary positioning platforms are indexing positioning workbenches. 9. The processing industrial robot according to claim 8, wherein the working fluid is a water-based working fluid. 10. An arc discharge processing method for a processing industrial robot, characterized in that it is applied to the processing industrial robot according to any one of claims 1-9, and the arc discharge processing method for the processing industrial robot comprises: Control the workpiece rotary positioning table to move the workpiece to be processed to the lower end of the electrode device; Control the robot body to move, and control the workpiece rotation positioning table to perform positioning movement, so that the rotation axis of the tool electrode of the electrode device coincides with the normal line of the point on the processing surface of the workpiece to be processed; Control the working power to start, and control the tool electrode of the electrode device to rotate, so that arc discharge occurs between the electrode device and the workpiece to be processed, and control the rotating flushing device to provide working fluid to the electrode device, so that the electrode device supplies the electrode device with the workpiece to be processed The arc discharge area between the workpieces sprays the working fluid to form a working fluid medium for processing the workpieces to be processed. 11. The arc discharge machining method of a processing industrial robot according to claim 10, wherein said controlling the action of the robot body comprises: According to the pre-set motion track of the robot body, control the base joints to drive the movement of the base mechanism, control the waist joints to drive the movement of the waist mechanism, control the upper arm joints to drive the movement of the upper arm mechanism, and control the forearm joints to drive the movement of the forearm mechanism. And control the wrist joint to drive the movement of the wrist mechanism, and control the end effector joint to drive the movement of the end effector. 12. The arc discharge machining method of the processing industrial robot according to claim 10, further comprising: Control the waste liquid collection pressure pump to pump the working fluid collected by the waste liquid storage tank to the working fluid storage tank; The liquid supply pressure pump is controlled to pump the working fluid in the working fluid storage tank to the rotary flushing device.