CN220807391U - Movable robot milling platform - Google Patents

Abstract

The utility model provides a mobile robot milling platform, which comprises: AGV moving platform and expandable flexible tooling system; the AGV moving platform comprises a platform vehicle body, a platform steering wheel and an electric control locking module; the platform steering wheel and the electric control locking module are arranged on the platform vehicle body, the platform vehicle body moves through the platform steering wheel, and the electric control locking module is used for fixing the platform vehicle body; the platform car body is provided with a processing device; the expandable flexible tooling system comprises an expandable positioning tooling, a station surface calibration module and a station surface area identification module; the station face calibration module is arranged on the expandable positioning tool, the station face area identification module is arranged on one side of the expandable positioning tool, and the expandable positioning tool is used for placing a workpiece. The utility model realizes high-precision flexible multi-station processing of large-length parts and simultaneously greatly reduces the single machine size and the manufacturing cost of the mobile robot milling platform.

Description

Mobile Robot Milling Processing Platform

Technical Field

The utility model relates to the technical field of robot milling processing, in particular to a mobile robot milling processing platform.

Background technique

Robots are widely used in industrial production due to their advantages of easy programming and expansion, which greatly improves work efficiency. Robot-assisted milling equipment is highly flexible and can process a wide range of parts. In recent years, it has been widely used in the high-flexibility manufacturing of parts with a large variety and small batches. For the application of robot-assisted milling, high-precision positioning and adaptive programming at the end are the main keys. The basic principle is to calibrate the robot's mobile positioning accuracy through manual teaching or measurement, overcome the defect of poor absolute positioning accuracy of the robot, and greatly improve the accuracy of robot processing trajectory positioning mapping.

At present, the processing of long and large parts mainly adopts large gantry milling machines or multi-station fixed processing robots to assist in processing. This method is costly and not conducive to flexible expansion and flexible production. It can only complete a certain amount of specific processing tasks and cannot adapt to the prospect of widespread application of robot-assisted milling.

The patent document with publication number CN206937333U discloses a robot flexible curved surface milling production device, including: a loading bin, a lower bin, a workbench, a tool holder, an industrial robot component and a control system, wherein the upper and lower bins are used to store blanks and processed parts, the workbench is used to clamp workpieces and complete processing tasks, and the tool holder is used to place the electric spindle and vacuum suction cup; the industrial robot realizes automatic loading and unloading of multi-specification workpieces through the vacuum suction cup, and completes the curved surface milling processing through the electric spindle. However, the patent document still has the defect that it can only complete a certain amount of specific processing tasks.

Utility Model Content

In view of the defects in the prior art, the purpose of the utility model is to provide a mobile robot milling processing platform.

A mobile robot milling processing platform provided by the utility model includes: an AGV mobile platform and an expandable flexible tooling system;

The AGV mobile platform includes a platform body, a platform steering wheel and an electric control locking module; the platform steering wheel and the electric control locking module are arranged on the platform body, the platform body moves through the platform steering wheel, and the electric control locking module is used to fix the platform body; a processing device is arranged on the platform body;

The expandable flexible tooling system includes an expandable positioning tooling, a work surface calibration module and a work surface area identification module; the work surface calibration module is arranged on the expandable positioning tooling, the work surface area identification module is arranged on one side of the expandable positioning tooling, and the expandable positioning tooling is used to place workpieces.

Preferably, the processing device includes a reference base and a processing robot;

The processing robot is arranged on the reference base, and the reference base is arranged on the platform vehicle body.

Preferably, the processing device further comprises a high-speed electric spindle and a tool;

The high-speed electric spindle is arranged at the processing end of the processing robot, and the tool is arranged on the high-speed electric spindle.

Preferably, the processing device further comprises an auxiliary scanning measuring head;

The auxiliary scanning measuring head is arranged at the processing end of the processing robot.

Preferably, the processing device further comprises a micro-lubrication nozzle and a micro-lubrication device;

The micro-lubrication nozzle is arranged at the processing end of the processing robot, the micro-lubrication device is arranged on the platform body, and the micro-lubrication device is connected to the micro-lubrication nozzle.

Preferably, the processing device further comprises a robot controller and a vehicle body motion controller;

The robot controller and the vehicle body motion controller are arranged on the platform vehicle body;

The robot controller is electrically connected to the processing robot, and the vehicle body motion controller is electrically connected to the platform steering wheel and the electric-controlled locking module.

Preferably, the processing device further comprises a control center component;

The control center component is electrically connected to the robot controller and the vehicle body motion controller.

Preferably, the processing device further includes an electric control cabinet;

The electric control cabinet is electrically connected to the control center component, the robot controller, and the vehicle body motion controller.

Preferably, the expandable positioning tool includes an absorbable ground surface and a marking line marked by a workstation surface area marking module;

The identification line is arranged around the adsorbable ground surface, and the identification line is used to identify the parking working area of the AGV mobile platform.

Compared with the prior art, the utility model has the following beneficial effects:

1. Aiming at the bottleneck of low processing precision and reliance on high-precision positioning chassis of mobile milling processing robots, the utility model proposes a mobile robot milling processing platform, which can realize high-precision flexible multi-station processing of long and large parts while greatly reducing the single machine size and manufacturing cost of the mobile robot milling processing platform;

2. The utility model proposes a flexible mobile robot milling processing platform for processing long and large parts, which can arrange processing positions and is suitable for mobile processing of large parts, reducing the size and cost of special machines;

3. The utility model adopts the auxiliary scanning measuring head of the robot end scanning measurement to detect the processing position; the utility model can realize the alignment of the current processing position of the robot, and can realize the alignment of the processing platform under non-precise positioning without the need for a high-precision mobile body, changing the processing method with absolute positioning accuracy and improving the robot milling processing accuracy; the utility model can greatly reduce the cost of a single machine while improving the processing accuracy of the mobile robot;

4. The utility model adopts an expandable flexible tooling system, combined with a mobile AGV mobile platform, which can be freely combined and is suitable for multi-station processing of parts of different sizes; at the same time, since the mobile robot milling processing platform does not require precise positioning and does not rely on specific tracks, the efficiency of flexible assembly lines can be greatly improved.

BRIEF DESCRIPTION OF THE DRAWINGS

Other features, objects and advantages of the present invention will become more apparent by reading the detailed description of non-limiting embodiments with reference to the following drawings:

FIG1 is a schematic structural diagram of a mobile robot milling processing platform of the present invention;

FIG. 2 is a schematic diagram of the three-dimensional structure of the AGV mobile platform and the expandable positioning tooling of the utility model.

The figure shows:

AGV mobile platform 1 Processing robot 302

Platform body 101 High-speed electric spindle 303

Platform steering wheel 102 tool 304

Electronically controlled locking module 103 Auxiliary scanning measuring head 305

Expandable flexible tooling system 2 Micro-lubrication nozzle 306

Expandable positioning fixture 201 Micro-lubrication device 307

Adsorbable ground 2011 robot controller 308

Identification line 2012 Vehicle motion controller 309

Workstation surface calibration module 202 control center component 310

Workstation area identification module 203 Electric control cabinet 311

Processing device 3 Workpiece 4

Reference base 301

Detailed ways

The utility model is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the utility model, but do not limit the utility model in any form. It should be pointed out that for those of ordinary skill in the art, several changes and improvements can be made without departing from the concept of the utility model. These all belong to the protection scope of the utility model.

Embodiment 1:

As shown in Figures 1 and 2, this embodiment provides a mobile robot milling processing platform, including: an AGV mobile platform 1 and an expandable flexible tooling system 2, the AGV mobile platform 1 includes a platform body 101, a platform steering wheel 102 and an electric-controlled locking module 103, the platform steering wheel 102 and the electric-controlled locking module 103 are arranged on the platform body 101, the platform body 101 is moved by the platform steering wheel 102, the electric-controlled locking module 103 is used to fix the platform body 101, and a processing device 3 is arranged on the platform body 101.

The expandable flexible tooling system 2 includes an expandable positioning tooling 201, a work surface calibration module 202 and a work surface area identification module 203; the work surface calibration module 202 is composed of a three-dimensional calibration measurement module for tool points and a standard body module for spatial stereo scanning, and is used to calibrate and calibrate the position of the post-processing device 3 of the AGV mobile platform 1 relative to the expandable flexible tooling system 2; the work surface calibration module 202 is set on the expandable positioning tooling 201, and the work surface area identification module 203 is set on one side of the expandable positioning tooling 201; the work surface area identification module 203 is composed of an area frame line and an identification code drawn on the ground, and is used to identify the moving stop point and work position of the AGV mobile platform 1; the work surface calibration module 202 is used in pairs with the work surface area identification module 203, and is distributed around the expandable positioning tooling 201; the expandable positioning tooling 201 is used to place the workpiece 4.

The expandable positioning tool 201 includes an adsorbable ground 2011 and an identification line 2012 marked by a work surface area identification module 203. The adsorbable ground 2011 is composed of a high-precision horizontal workbench located in the ground. The identification line 2012 is set around the adsorbable ground 2011 and is used to mark the parking work area of the AGV mobile platform 1.

The processing device 3 includes a reference base 301 and a processing robot 302 . The processing robot 302 is disposed on the reference base 301 , and the reference base 301 is disposed on the platform vehicle body 101 .

The processing device 3 further includes a high-speed electric spindle 303 and a tool 304. The high-speed electric spindle 303 is arranged at the processing end of the processing robot 302, and the tool 304 is arranged on the high-speed electric spindle 303. The processing device 3 further includes an auxiliary scanning measuring head 305. The auxiliary scanning measuring head 305 is arranged at the processing end of the processing robot 302.

The processing device 3 further includes a robot controller 308 and a vehicle motion controller 309, which are arranged on the platform vehicle body 101, the robot controller 308 is electrically connected to the processing robot 302, and the vehicle motion controller 309 is electrically connected to the platform steering wheel 102 and the electric control locking module 103. The processing device 3 further includes a control center component 310, which is electrically connected to the robot controller 308 and the vehicle motion controller 309. The processing device 3 further includes an electric control cabinet 311, which is electrically connected to the control center component 310, the robot controller 308, and the vehicle motion controller 309.

The processing device 3 also includes a micro-lubrication nozzle 306 and a micro-lubrication device 307 . The micro-lubrication nozzle 306 is arranged at the processing end of the processing robot 302 , and the micro-lubrication device 307 is arranged on the platform vehicle body 101 . The micro-lubrication device 307 is connected to the micro-lubrication nozzle 306 .

This embodiment also provides a control method for a mobile robot milling processing platform, which is used for the above-mentioned mobile robot milling processing platform and specifically includes the following steps:

Step 1: Obtain the digital models of the AGV mobile platform 1, the expandable flexible tooling system 2 and the workpiece 4 through the control center component 310 of the processing device 3, and formulate the movement strategy of the AGV mobile platform 1 and the processing program of the processing robot 302 of the processing device 3 according to the acquired digital models.

Step 2: According to the movement strategy of the AGV mobile platform 1 formulated in step 1, the platform steering wheel 102 is controlled by the control center component 310 of the processing device 3 and the vehicle motion controller 309, and the AGV mobile platform 1 is driven by the platform steering wheel 102 to move to the processing stop area marked by the workstation surface area identification module 203.

Step 3: After the AGV mobile platform 1 arrives at the designated processing station, the control center component 310 of the processing device 3 and the vehicle body motion controller 309 control the platform steering wheel 102, and the AGV mobile platform 1 is lowered and placed on the ground through the platform steering wheel 102, and the electric control locking module 103 is controlled to automatically lock the AGV mobile platform 1 on the ground;

The process of AGV mobile platform 1 stop precision calibration and calibration: First, the control center component 310 formulates the movement strategy of the AGV mobile platform 1 according to the point information identified by the work surface area identification module 203, controls the AGV mobile platform 1 to move to the area identified by the work surface area identification module 203, and realizes the initial fixed-point stop; then, the control center component 310 controls the processing robot 302 of the processing device 3 to drive the end tool 304 to move to the initial calibration point of the tool point three-way calibration measurement module in the work surface calibration module 202 and then stop; thereafter, the control center component 310 controls the tool point three-way calibration measurement module to respectively measure the three-way offset of the current tool relative to the theoretical initial calibration point, so as to obtain the actual position of the processing device 3 relative to the work surface calibration module 202 at the current stop position of the AGV mobile platform 1, and the processing robot 302 resets its working coordinate system relative to the expandable positioning tooling 201 and the fixed work surface calibration module 202 according to the measured offset; thereby, the secondary calibration and calibration of the processing points of the non-precise mobile AGV mobile platform 1 are realized.

Step 4: After the AGV mobile platform 1 is moved and arranged at the current processing position, according to the processing program of the processing robot 302 of the processing device 3, the robot controller 308 of the processing device 3 is controlled to start through the control center component 310, and the processing robot 302 is controlled by the robot controller 308 to move the auxiliary scanning measuring head 305 of the processing device 3 at the end to the work surface calibration module 202 corresponding to the current processing position, and the auxiliary scanning measuring head 305 is controlled by the control center component 310 to start scanning, and the processing robot 302 is controlled by the robot controller 308 to move to drive the auxiliary scanning measuring head 306 at the end to complete the scanning measurement of the work surface calibration module 202 corresponding to the current processing position and the partial area of the workpiece 4 adjacent to the work surface calibration module 202.

Step 5: Obtain the measurement point cloud data of the work surface calibration module 202 stored in the scanning field of view through the control center component 310, match the measurement point cloud data of the work surface calibration module 202 with the theoretical digital model of the calibration module corresponding to the scanning measurement program of the processing robot 302, and obtain the offset of the current physical calibration module relative to the theoretical digital model of the calibration module under the field of view of the current processing robot 302; thereby, the offset of the workpiece 4 placed on the current expandable positioning tooling 201 relative to the work surface calibration module 202 is obtained, and the calibration of the measured workpiece posture is realized.

Step 6: According to the physical calibration module offset on the tooling, the updated machining posture of the workpiece 4 is obtained through the control center component 310, and the machining program of the machining robot 302 is corrected according to the updated machining posture of the workpiece 4, and the workpiece 4 is processed according to the corrected machining program;

Step 7: After the current processing position is completed, the control center component 310 controls the AGV mobile platform 1 to move to the next processing position. Through the scanning measurement of the work station surface calibration module 202 and the autonomous alignment of the processing robot 302, the milling processing program of the processing robot 302 at the current processing position is updated, and the processing robot 302 is controlled to complete the processing task at the next processing position.

Embodiment 2:

Those skilled in the art may understand this embodiment as a more specific description of Embodiment 1.

The present embodiment provides a mobile robot milling processing platform, including an AGV mobile platform and an expandable flexible tooling system, wherein the AGV mobile platform includes an AGV mobile platform body, an AGV mobile platform steering wheel (which can lift the upper processing platform up and down, and when in place, lower the processing platform to the ground), and an electric-controlled locking module (which automatically locks the processing platform after it moves into place and is placed on the ground).

The mobile robot milling processing platform provided in this embodiment also includes a processing platform reference base, a processing robot, a high-speed electric spindle, a tool, an auxiliary scanning measuring head, a micro-lubrication device, a micro-lubrication nozzle, a robot controller, a body motion control center, an electric control cabinet, and a control center on the mobile platform body; the expandable flexible tooling system includes an expandable positioning tooling, a work station surface calibration module, a workpiece, and a work station surface area identification module (including an adsorbable ground and identification lines).

The present embodiment also provides a mobile robot milling processing platform and its intelligent control method. First, in the processing preparation stage, the robot milling processing platform control center obtains the AGV mobile platform, the flexible tooling system and the workpiece digital model, and formulates the AGV mobile platform movement strategy and the initial robot processing program according to the aforementioned digital model; then, the robot milling processing platform control center controls the AGV mobile platform steering wheel to drive the AGV mobile platform to move to the processing stop area marked by the workstation surface area identification module through the vehicle body motion control center according to the AGV mobile platform movement strategy; after arriving at the designated processing station, the vehicle body motion control center controls the AGV mobile platform steering wheel to lower the AGV mobile platform and place it on the ground, and then controls the electronically controlled locking module to automatically lock the processing platform on the ground to ensure reliable positioning during processing; thereby realizing the flexible and autonomous movement and positioning of the mobile robot milling processing platform and the initial positioning of the processing position.

During the processing, when the AGV mobile platform moves and is arranged at the current processing position, the robot milling processing platform control center controls the robot controller to start according to the robot processing program. First, the robot controller controls the processing robot to move and drive the auxiliary scanning and measuring device at the end to move to the work surface calibration module corresponding to the current processing position; then, the platform control center controls the auxiliary scanning and measuring device to start scanning, and controls the processing robot to move through the robot controller to drive the auxiliary scanning and measuring device at the end to complete the scanning and measurement of the work surface calibration module corresponding to the current processing position, thereby completing the calibration module scanning and measurement under non-precise positioning and no pre-calibration; robot milling processing The platform control center obtains the calibration module measurement point cloud data stored in the scanning field of view, and matches the calibration module measurement point cloud data with the calibration module theoretical digital model corresponding to the robot scanning measurement program, thereby obtaining the offset of the current physical calibration module relative to the calibration module theoretical digital model under the current robot field of view, thereby realizing the posture alignment of the non-precise positioning processing robot; on this basis, the robot milling processing platform control center obtains the updated part processing posture according to the physical calibration module offset on the tooling, and corrects the initial robot processing program according to the updated part processing posture, thereby realizing the milling processing program update after the non-precise positioning milling processing robot autonomously aligns.

After the current processing position is completed, the robot milling processing platform control center controls the AGV mobile platform to move to the next processing position. Through the scanning measurement of the calibration module and the autonomous alignment of the robot posture, the milling processing program of the current processing position is updated, and then the processing robot is controlled to complete the processing task at the next processing position, thereby realizing high-precision mobile robot milling processing of ultra-large parts.

The utility model realizes high-precision flexible multi-station processing of long and large parts and at the same time greatly reduces the unit size and manufacturing cost of the mobile robot milling processing platform.

In the description of the present application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. In the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other at will.

Claims (9)

1. A mobile robotic milling platform, comprising: an AGV moving platform (1) and an expandable flexible tool system (2);

The AGV moving platform (1) comprises a platform vehicle body (101), a platform steering wheel (102) and an electric control locking module (103); the platform steering wheel (102) and the electric control locking module (103) are arranged on the platform car body (101), the platform car body (101) moves through the platform steering wheel (102), and the electric control locking module (103) is used for fixing the platform car body (101); the platform car body (101) is provided with a processing device (3);

The expandable flexible tooling system (2) comprises an expandable positioning tooling (201), a station surface calibration module (202) and a station surface area identification module (203); the station face calibration module (202) is arranged on the expandable positioning tool (201), the station face area identification module (203) is arranged on one side of the expandable positioning tool (201), and the expandable positioning tool (201) is used for placing a workpiece (4).

2. The mobile robotic milling platform of claim 1, wherein the machining device (3) comprises a reference base (301) and a machining robot (302);

The processing robot (302) is arranged on the reference base (301), and the reference base (301) is arranged on the platform vehicle body (101).

3. The mobile robotic milling platform of claim 2, wherein the machining device (3) further comprises a high-speed motorized spindle (303) and a cutter (304);

The high-speed motorized spindle (303) is arranged at a processing end of the processing robot (302), and the cutter (304) is arranged on the high-speed motorized spindle (303).

4. A mobile robotic milling platform as claimed in claim 3, wherein the machining device (3) further comprises an auxiliary scanning measurement head (305);

The auxiliary scanning measuring head (305) is arranged at the processing end of the processing robot (302).

5. The mobile robotic milling platform of claim 4, wherein the machining device (3) further comprises a micro lubrication injector (306) and a micro lubrication device (307);

The micro-lubrication spray head (306) is arranged at the processing end of the processing robot (302), the micro-lubrication device (307) is arranged on the platform vehicle body (101), and the micro-lubrication device (307) is communicated with the micro-lubrication spray head (306).

6. The mobile robotic milling platform of claim 5, wherein the machining device (3) further comprises a robot controller (308) and a body motion controller (309);

The robot controller (308) and the vehicle body motion controller (309) are provided on the platform vehicle body (101);

The robot controller (308) is electrically connected with the processing robot (302), and the vehicle body motion controller (309) is electrically connected with the platform steering wheel (102) and the electric control locking module (103).

7. The mobile robotic milling platform of claim 6, wherein the machining device (3) further comprises a control center assembly (310);

The control center assembly (310) is electrically connected with the robot controller (308) and the vehicle body motion controller (309).

8. The mobile robotic milling platform of claim 7, wherein the machining device (3) further comprises an electrical control cabinet (311);

The electric control cabinet (311) is electrically connected with the control center assembly (310), the robot controller (308) and the vehicle body movement controller (309).

9. The mobile robotic milling platform of claim 1, wherein the expandable positioning tooling (201) comprises an adsorbable floor (2011) identified by a station face area identification module (203) and an identification line (2012);

The identification line (2012) is arranged around the adsorbable ground (2011), and the identification line (2012) is used for identifying a stop work area of the AGV mobile platform (1).